CN106346462A - Snake-like amphibious robot provided with modular joints - Google Patents
Snake-like amphibious robot provided with modular joints Download PDFInfo
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- CN106346462A CN106346462A CN201610833622.1A CN201610833622A CN106346462A CN 106346462 A CN106346462 A CN 106346462A CN 201610833622 A CN201610833622 A CN 201610833622A CN 106346462 A CN106346462 A CN 106346462A
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- shell
- buoyancy
- scissors
- amphibious robot
- hydraulic cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a snake-like amphibious robot provided with modular joints. The robot comprises multiple universal modules which are connected in series end to end, one of two adjacent universal modules which are movably connected can have pitching motion or/and yawing motion relative to the other universal module, and the first universal module and the last universal module of the snake-like amphibious robot are provided with a cylindrical head protective case and a cone-like tail protective case respectively. The snake-like amphibious robot provided with the modular joints has the advantages of flexible action, simple structure, low cost, reliable and stable performance and the like which existing products do not have.
Description
Technical field
The present invention relates to robot field, the snakelike amphibious robot of particularly a kind of modularized joint.
Background technology
Today's society, roboticses high speed development, robot can replace the mankind in much high-risk occasion operations,
The mankind can also be replaced to explore the unknown world in some occasions.Snakelike amphibious robot is exactly typical case's generation of this kind of robot
Table, not only can be as traditional underwater robot, flexible motion in water, can also flexibly environment and land under water
Environment changing, can be good at adapting to various complex environments.
Snakelike amphibious robot have good stability, cross section little, flexible the features such as, can be various coarse, precipitous, rugged
Complicated landform up walk, and can scale obstacles, travelling in water, this is using wheel or lower limb as the robot of walking instrument
It is difficult to.In existing snake-shaped robot at present, the overwhelming majority is to be applied to terrestrial environment, this kind of snake-shaped robot
It is not suitable for amphibious environment.
Existing snake-shaped robot has the technological deficiencies such as complex structure, very flexible, stability deficiency, and described defect is tight
Limit this area to develop further along and popularization and application again.
In view of this, it is an object of the invention to provide a kind of new technical scheme is to solve existing technological deficiency.
Content of the invention
In order to overcome the deficiencies in the prior art, the present invention provides a kind of snakelike amphibious robot of modularized joint, solves
There is the technological deficiencies such as complex structure, stability and poor reliability, motility deficiency in existing similar-type products.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of snakelike amphibious robot of modularized joint, including multiple general modules, the plurality of general module head and the tail are connected
Connect, one of two adjacent general modules of flexible connection general module can another general module elevating movement or inclined relatively
Shipping is moved.
As the improvement of technique scheme, first general module of described snakelike amphibious robot leads to last
It is respectively arranged with stem containment vessel and tail part protection shell with module, described stem containment vessel is in cylinder, described tail part protection shell
The cone in class.
As the improvement further of technique scheme, it is provided with telescopic anti-between described two adjacent general modules
Water ripples sheath, described waterproof corrugate sheath two ends are connected to the adjacent corresponding end of two general modules.
As the improvement further of technique scheme, described general module includes both ends shell and is connected to described two
Connection shell between end enclosure, described end enclosure and connection shell surround the tube structure forming a hollow, described cylinder
Inside configuration is provided with the driving gear component of two steering wheels, steering wheel fixing device and supporting described steering wheel application, and described two is general
It is connected with cardan universal joint component between module.
As the improvement further of technique scheme, two steering wheels in described same general module are in parallel plane
Mutually stagger 90 ° and arrange, in two adjacent general modules, two close steering wheels mutually stagger 90 ° of cloth in parallel plane
Put.
As the improvement further of technique scheme, described end enclosure adopts damascene structures phase to interconnect with being connected shell
Connect, described connection shell two ends have embedded ladder position, and one end of described end enclosure is embedded on described embedded ladder position, described
O type circle mounting groove is provided with embedded ladder position, described o type circle mounting groove is provided with o type circle, described o type circle outer abuts to
The internal face of end enclosure simultaneously makes end enclosure mutually be tightly connected with being connected shell phase.
The hollow member being formed in one as the improvement further of technique scheme, described connection shell, connects in shell
Portion is evenly distributed with eight and strengthens rib towards the convex connecting the extension of shell cylindrical center line direction.
As the improvement further of technique scheme, described general module lateral part is provided with flank, general module two
End is provided with sealing flange, and the two ends of described flank are fixed on sealing flange.
As the improvement further of technique scheme, described general module has pitching and two degree of freedom of driftage, can
Freely-movable in the range of ± 45 °.
As the improvement further of technique scheme, also include buoyancy regulating device, described buoyancy regulating device includes
Two joint shell and the connecting seat being arranged on described two joint shell, are provided with outside water-proof elastic between described two joint shell
Skin, the opposite one side of described two connecting seats is provided with scissors-type mechanism fixture, and the scissors-type mechanism on described two connecting seats is solid
Determine between part, to be provided with the scissors-type mechanism with Telescopic, one of described two connecting seats are provided with retractable driving device,
Be provided between described two connecting seats described scissors-type mechanism can be driven to stretch, the flexible company being driven by described retractable driving device of contracing
Extension bar.
As the improvement further of technique scheme, the described scissors-type mechanism fixture being arranged on connecting seat is hinged on
Scissors-type mechanism two ends, described scissors-type mechanism fixture includes the fixture with circular hinge hole and has consolidating of waist type movable span
Determine part, two connecting portions of described scissors-type mechanism one end are flexibly connected by described hinge hole and waist type movable span respectively.
As the improvement further of technique scheme, described scissors-type mechanism has two groups, connects between Liang Zu scissors-type mechanism
It is connected to connecting pin.
Add buoyancy regulating device as technique scheme, its first enforcement improves, and described telescoping drive mechanism is
Motor, described flexible connecting rod is the positive/negative thread connecting rod being driven by described motor.
As the improvement further of technique scheme, it is described positive and negative that the middle position of described two connecting seats is provided with cooperation
The screwed hole of threaded rod, the positive/negative thread junction of described positive/negative thread connecting rod is located at the line of centres of described two connecting seats
On midpoint.
Implement to improve as technique scheme, described telescoping drive mechanism is driving hydraulic cylinder, described flexible connecting rod
Output piston bar for described driving hydraulic cylinder.
As the improvement further of technique scheme, described driving hydraulic cylinder is two-pass hydraulic cylinder, driving hydraulic cylinder
It is fixed on one of two connecting seats, the first stroke outfan of driving hydraulic cylinder is connected to another in two connecting seats, institute
State driving hydraulic cylinder the second stroke outfan be connected with driven by described driving hydraulic cylinder and protractile to outside articular shell
The buoyancy wing in space.
As the improvement further of technique scheme, the described articular shell being provided with the buoyancy wing offers cooperation institute
State the chute of the buoyancy wing, the described buoyancy wing can slide in described chute and complete the overhanging or interior action receiving the buoyancy wing, described
Buoyancy wing connecting rod is hinged with the buoyancy wing, it is defeated that the free end of described buoyancy wing connecting rod is hinged on described driving hydraulic cylinder second stroke
Go out the end at end.
The invention has the beneficial effects as follows: the invention provides a kind of snakelike amphibious robot of modularized joint, described machine
Device people's structure is simple, can effectively simplify production technology, reduces production cost；By two rudders are arranged on each general module
The amphibious activity of snakelike amphibious robot realized by machine and supporting driving gear component, cardan universal joint component etc., and has good
Dexterity of action, each group of general module is respectively provided with two degree of freedom；The containment members such as described waterproof corrugate sheath can make entirely
Amphibious robot has good sealing water resistance；In addition, the flank of general module outer setting can ensure robot in water
Stability during lower motion.The snakelike amphibious robot of this kind of modularized joint, solves existing similar-type products and there is structure
Complexity, stability and the technological deficiency such as poor reliability, motility deficiency.
Brief description
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of amphibious robot in the present invention；
Fig. 2 is the structural representation of general module in the present invention；
Fig. 3 is the structural representation of another angle of general module in the present invention；
Fig. 4 is the sectional view in a-a direction in Fig. 3；
Fig. 5 is the structural representation connecting shell in the present invention；
Fig. 6 is the structural representation of buoyancy regulating device in the embodiment of the present invention 1；
Fig. 7 is the structural representation of buoyancy regulating device second angle in the embodiment of the present invention 1；
Fig. 8 is the sectional view in b-b direction in Fig. 7；
Fig. 9 is the structural representation that in the embodiment of the present invention 1, buoyancy regulating device removes after two joint shell and water-proof elastic crust
Figure；
Figure 10 is the attachment structure schematic diagram of buoyancy regulating device and snakelike amphibious robot in the embodiment of the present invention 1；
Figure 11 is the structural representation of buoyancy regulating device in embodiment 2 in the present invention；
Figure 12 is the structural representation of buoyancy regulating device second angle in the embodiment of the present invention 2；
Figure 13 is the sectional view in c-c direction in Figure 12.
Specific embodiment
Technique effect below with reference to the design, concrete structure and generation to the present invention of embodiment and accompanying drawing is carried out clearly
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this
Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment being obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, being related in patent
All connection/annexations, not singly refer to component and directly connect, and refer to can according to the situation that is embodied as, by adding or
Reduce connection auxiliary, to form more excellent draw bail.Each technical characteristic in the invention, in not conflicting conflict
On the premise of can be with combination of interactions, reference picture 1-13.
Embodiment 1: reference picture 1-10.
Referring in particular to Fig. 1-5, a kind of snakelike amphibious robot of modularized joint is including multiple general modules 1, described many
Individual general module 1 head and the tail are connected in series, first general module 1 and last general module of described snakelike amphibious robot
1 is respectively arranged with stem containment vessel 3 and tail part protection shell 4, and in the present embodiment, described stem containment vessel 3 is in cylinder, described
Tail part protection shell 4 is in class cone, implements in process of the present invention actual, and implementer can select suitably first according to implementation condition
Portion's containment vessel 3 and the profile of tail part protection shell 4, are provided with telescopic anti-water ripples between described two adjacent general modules 1
Sheath 2, described waterproof corrugate sheath 2 two ends are connected to the adjacent corresponding end of two general module 1, described waterproof corrugate sheath
2 one aspects possess water resistance, required stretching when on the other hand also having adjacent general module 1 activity in cooperation robot
Function.
One of two adjacent general modules 1 of above-mentioned flexible connection general module 1 can another general module 1 relatively be bowed
Face upward motion or/and yawing rotation, the structure that described realization is flexibly connected function is the universal joint being arranged between two general modules
Assembly 15.Preferably, described general module 1 includes both ends shell 11 and the connection being connected between described both ends shell 11
Shell 12, described end enclosure 11 and connection shell 12 surround the tube structure forming a hollow, install inside described tube structure
There are two steering wheels 13 and the driving gear component 14 of supporting described steering wheel 13 application, be connected with universal between described two general modules 1
Section assembly 15.
Preferably, described general module 1 includes both ends shell 11 and the company being connected between described both ends shell 11
Body contact 12 it is preferable that described end enclosure 11 is connected with each other using damascene structures with being connected shell 12, described connection shell 12 two ends
There is embedded ladder position 121, one end of described end enclosure 11 is embedded on described embedded ladder position 121, described embedded ladder
It is provided with o type circle mounting groove 122, described o type circle mounting groove 122 is provided with o type circle, and described o type circle outer abuts on position 121
The internal face of end enclosure 11 simultaneously makes end enclosure 11 and is connected shell and 12 seals against each other connection.
In the present embodiment, described two steering wheels 13 are pitch-control motor and yaw control motor, on being embodied as structure, described universal
Section assembly 15 includes the two universal joint connecting rods being extended out by general module 1 end and is arranged on described universal joint connecting rod
On universal joint main body.
It is mounted on bearing in the cylindrical fixedly connected part of driving gear component 14 and universal joint main body, described bearing can
Ensure the even running of driving gear component 14 and cardan universal joint component 15.Each joint has eight bearings, wherein, universal joint master
Four at body, the driving gear component being connected with universal joint main body 14 4.
The centre position of described end enclosure 11 and universal joint main body offers hole not of uniform size.This kind of open-celled structure one
Come ensure structural strength while can also loss of weight, reduce robot weight, reduce material cost；Two can assist away
Line, the holding wire between the steering wheel of adjacent general module 1 and power line can be connected with each other through this some holes.
Described each general module 1 all has pitching and two degree of freedom of driftage, can be freely-movable in the range of ± 45 °,
When the quantity of the general module 1 of amphibious robot increases, the degree of freedom quantity of amphibious robot can correspond to increase, entirely amphibious
The degree of flexibility of the activity of robot is very high, and adaptable environment is also more many.
Preferably, two steering wheels 13 in described same general module 1 mutually stagger in parallel plane 90 ° and arrange, phase
In two adjacent general modules 1, two close steering wheels 13 mutually stagger in parallel plane 90 ° and arrange so that each Universal Die
Block 1 has pitching and the function of driftage.
Preferably, the hollow member that described connection shell 12 is formed in one, connects and has inside shell 12 towards connection shell 12
The convex that cylindrical center's line direction extends strengthens rib 123.Described convex is strengthened rib 123 and both can have been increased the intensity of robot, with
When also opened screwed hole thereon, opened screwed hole does not drill through, do not result in leak it is ensured that connect shell sealing.
Preferably, described general module 1 lateral part is provided with flank 16, and general module 1 two ends are provided with sealing flange 17,
The two ends of described flank 16 are fixed on sealing flange 17, and described flank 16 is fixedly connected with sealing flange 17 by screw.?
In actual application, described flank 16 1 aspect can effectively lift the stability in water exercise for the whole amphibious robot；Separately
On the one hand, the stability of walking in land walking, can be strengthened by one or two flank 16；Further, described flank 16 with
The attachment structure of sealing flange 17 can greatly strengthen the structural strength of whole general module 1 and amphibious robot, impact resistance
More preferably, service life is guaranteed.When being embodied as the present invention, the vertically disposed flank 16 of described general module 1 outer surface
On the equipment such as auxiliomotor follower and fin oar can be installed.
Described end enclosure 11 can open up hole with being connected shell 12, and above-mentioned flank 16 can be fixed on outside end by these perforates
Shell 11 be connected on shell 12.And, end enclosure 11 has reserved the boss being connected with flank 16 it is ensured that flank 16 with being connected shell 12
With end enclosure 11 and be connected shell 12 connection compactness.
In the present embodiment, the perforate of end enclosure 11 is through hole, and the perforate connecting shell 12 is screwed hole.
There are in the middle of described flank 16 three holes, flank 16 is fixed by screws in end enclosure 11 and is connected shell on 12.
So can ensure that flank 16 can have good stationarity in the case of the only single flange in two ends.
In addition, the both sides of flank 16 are further opened with some device to holes (the present embodiment is two device to holes), can be by outside described hole
Hang the equipment that the auxiliary robots such as auxiliary oar, follower move in different terrain.
In application:
Described pitch-control motor drives coupled gear drive, drives universal joint by the rotation of driving gear component 14
On assembly 15, the gear of setting, completes the elevating movement centered on cardan universal joint component 15；
Described yaw control motor drives coupled driving gear component 14 to drive the gear of setting on cardan universal joint component 15, completes
The 90 ° of cloth that mutually stagger in parallel plane of the yawing rotation centered on cardan universal joint component 15, yaw control motor and pitch-control motor
Put；
In specific motor process, snakelike amphibious robot can have multi-motion modes, pitch-control motor and yaw control motor with
Certain differential seat angle is moved, and drives each modularized joint of snakelike amphibious robot, realizes the motion of s shape, the motion of u shape, spiral
The two-dimentional three-dimensional motion such as shape motion, in Land Movement, mainly relies on the frictional force between robot and terrestrial environment to obtain dynamic
Power, in water exercise, is then the part and water collective effect that each joint is contacted with water, thus obtaining power.
Reference picture 6-10, this kind of amphibious robot also includes buoyancy regulating device 5, when implementing, described buoyancy adjustment dress
Put the 5 initial and end portions being arranged on robot, described buoyancy regulating device 5 includes two joint shell 51 and is arranged on described two joint
Connecting seat 52 on shell 51, is provided with water-proof elastic crust 53, described two connecting seat 52 phase between described two joint shell 51
To one side on be provided with scissors-type mechanism fixture 54, between the scissors-type mechanism fixture 54 on described two connecting seats 52 arrange
There is the scissors-type mechanism 55 with Telescopic, one of described two connecting seats 52 are provided with retractable driving device, described two even
Be provided between joint chair 52 described scissors-type mechanism 55 can be driven to stretch, the flexible connection being driven by described retractable driving device of contracing
Bar.
Preferably, the described scissors-type mechanism fixture 54 being arranged on connecting seat 52 is hinged on scissors-type mechanism 55 two ends, institute
State fixture and the fixture with waist type movable span that scissors-type mechanism fixture 54 includes having circular hinge hole, described scissors-type
Two connecting portions of mechanism one end are flexibly connected by described hinge hole and waist type movable span respectively, and described scissors-type mechanism 55 has
Two groups, between Liang Zu scissors-type mechanism 55, it is connected with connecting pin 56.
In the present embodiment, described telescoping drive mechanism is driving hydraulic cylinder 59, and described flexible connecting rod is described driving liquid
The output piston bar 60 of cylinder pressure 59.
Preferably, described driving hydraulic cylinder 59 is two-pass hydraulic cylinder, and driving hydraulic cylinder 59 is fixed in two connecting seats 52
One, the first stroke outfan of driving hydraulic cylinder 59 is connected to another in two connecting seats 52, described driving hydraulic cylinder
59 the second stroke outfan be connected with driven by described driving hydraulic cylinder 59 and protractile to articular shell 51 space outerpace
The buoyancy wing 61.
Preferably, the described articular shell 51 being provided with the buoyancy wing 61 offers the chute coordinating the described buoyancy wing 61,
The described buoyancy wing 61 can slide in described chute and complete the overhanging or interior action receiving the buoyancy wing 61, and the described buoyancy wing 61 cuts with scissors
It is connected to buoyancy wing connecting rod 62, the free end of described buoyancy wing connecting rod 62 is hinged on described driving hydraulic cylinder 59 second stroke outfan
End.
In the present embodiment, described buoyancy regulating device completes buoyancy by driving hydraulic cylinder 59 and its output piston end
Adjust, its principle is substantially the same manner as Example 2, in addition, in the present embodiment, adjustment buoyancy has two processes: first stage,
On the premise of the flexible crust 53 of the waterproof ensureing two articular shell 51 does not damage, increase the distance of two articular shell 51,
Improve displacement of volume, increase buoyancy；Second stage, hydraulic cylinder outfan continues to stretch, and (the present embodiment is floating to drive link gear
The buoyancy wing 61 can be the wing of the flat board wing or airfoil by power wing connecting rod 62) stretch out articular shell 51, the buoyancy wing 62 removes
Displacement of volume can be increased to be provided beyond buoyancy, may also provide equilibrant, makes snakelike amphibious robot floating, the mistake of dive
More stable in journey.
With reference to 1, Figure 10, articular shell 51 one end of described buoyancy regulating device 5 is provided with the sealing company of buoyancy regulating device 5
Acting flange 65, the described flange 65 that is tightly connected is provided with mounting shell 66, described mounting shell 66 be provided with steering wheel, driving gear component with
And steering wheel fixing device, connect shell 66 and the one end being tightly connected flange 65 is provided with second is tightly connected flange 67；Install
Steering wheel within mounting shell 66, driving gear component are passed through with the stem of snakelike amphibious robot or the general module 1 of afterbody
Above-mentioned cardan universal joint component 15 is flexibly connected, and therefore, whole buoyancy regulating device 5 can pass through its steering wheel, driving gear component, rudder
Machine fixing device and the adjacent corresponding steering wheel of general module 1, driving gear component and described cardan universal joint component realize Serpentiss
The elevating movement in shape amphibious robot initial and end portion or/and yawing rotation, flexible movements.
One end of buoyancy regulating device 5 is flexibly connected with the general module 1 of snakelike amphibious robot initial and tail sections, and welfare is adjusted
The other end of device 5 is tightly connected with stem containment vessel 3 or tail part protection shell 4 after installing sealing flange.
Further, described snakelike amphibious robot is also provided with camera module, and described camera module includes
Photographic head, the concrete installation site of described photographic head can need to determine according to specific implementation environment and application.
Ambient conditions around snakelike amphibious robot can be recorded or real-time live broadcast by described photographic head, can be effective
Snakelike amphibious robot is assisted to carry out various research application.
In addition, supporting on snakelike amphibious robot the light source module mating described camera module, described light can be arranged
Source module is preferably by LED light source.Described light source module can be the shooting head mould of snakelike amphibious robot in dark surrounds
Block provides more preferable light condition, improves imaging effect.
Embodiment 2: reference picture 11-13.
The present embodiment is substantially the same manner as Example 1, and its difference is:
In the present embodiment, described telescoping drive mechanism is motor 57, and described flexible connecting rod is by described motor 57
The positive/negative thread connecting rod 58 driving.
Preferably, the middle position of described two connecting seats 52 is provided with the screwed hole coordinating described positive/negative thread connecting rod 58,
The positive/negative thread junction of described positive/negative thread connecting rod 58 is located on the midpoint of the line of centres of described two connecting seats 52.
In the present embodiment, described motor is screw thread motor, and when motor 57 rotates forward, drive is attached thereto
Positive/negative thread connecting rod 58 rotate, rotation direction is identical with motor 57 rotation direction.Positive/negative thread connecting rod 58 is in two companies
When rotating in the positive/negative thread hole on joint chair 52, the position on positive/negative thread connecting rod 58 of connecting seat 52 changes, to spiral shell
The movement outside of rasp bar, leads to the distance in the middle of two connecting seats 52 to increase, has snakelike amphibious machine in the middle of two connecting seats 52
People's water-proof elastic crust 53 coats, and because the diameter in space between connecting seat 52 is constant, axial distance becomes big, so the water arranging
Volume increase, buoyancy is consequently increased, and buoyancy regulating device 5 completes the regulation of buoyancy increase.
When motor 57 rotates backward, the positive/negative thread connecting rod 58 that is attached thereto is driven to rotate, rotation direction and driving
Motor 57 rotation direction is identical.When positive/negative thread connecting rod 58 rotates in the positive/negative thread hole on two connecting seats 52, connecting seat
52 positions on positive/negative thread connecting rod 58 change, to the medial motion of threaded rod, lead in the middle of two connecting seats away from
From reduction, there is snakelike amphibious robot water-proof elastic crust cladding in the middle of two connecting seats 52, due to space between connecting seat 52
Diameter constant, axial distance diminishes, so the volume of the water arranging reduces, buoyancy also reduces therewith, and buoyancy regulating device 5 is complete
Become the regulation that buoyancy reduces.
When the overall buoyancy of robot is equal with gravity, thus in water not by external force when be suspended state.Work as initial and tail sections
Buoyancy regulating device 5 be adjusted to simultaneously buoyancy be more than gravity state when, snakelike amphibious robot can complete float motion；
When the buoyancy regulating device 5 of initial and tail sections is adjusted to the state that buoyancy is less than gravity simultaneously, snakelike amphibious robot can complete
Dive campaign.
When stem buoyancy is more than gravity, and afterbody buoyancy is equal to gravity, the power that tail swing produces can be relied on simultaneously
And the buoyancy of stem completes motion of floating jointly, while increasing ascent rate, reduce the consumption of energy；When stem buoyancy is less than
Gravity, when afterbody buoyancy is equal to gravity, can rely on the power of tail swing generation and the gravity of stem jointly to complete down simultaneously
Latent motion, while increasing diving speed, reduces the consumption of energy.
It is more than that the preferable enforcement to the present invention is illustrated, but the invention is not limited to described enforcement
Example, those of ordinary skill in the art also can make a variety of equivalent variations without prejudice on the premise of present invention spirit or replace
Change, these equivalent deformation or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of modularized joint snakelike amphibious robot it is characterised in that: include multiple general modules (1), the plurality of
General module (1) is connected in series from beginning to end, and one of two adjacent general modules (1) of flexible connection general module (1) can be relatively
(1) elevating movement of another general module or/and yawing rotation.
2. a kind of modularized joint according to claim 1 snakelike amphibious robot it is characterised in that: described snakelike two
Dwell first general module (1) of robot and last general module (1) is respectively arranged with stem containment vessel (3) and afterbody
Containment vessel (4), described stem containment vessel (3) is in cylinder, and described tail part protection shell (4) is in class cone.
3. a kind of modularized joint according to claim 1 snakelike amphibious robot it is characterised in that: described two is adjacent
General module (1) between be provided with telescopic waterproof corrugate sheath (2), described waterproof corrugate sheath (2) two ends are connected to
The adjacent corresponding end of two general modules (1).
4. a kind of modularized joint according to claim 1 snakelike amphibious robot it is characterised in that: described Universal Die
Block (1) includes both ends shell (11) and the connection shell (12) being connected between described both ends shell (11), outside described end
The tube structure forming a hollow is surrounded in shell (11) and connection shell (12), is provided with two steering wheels (13) inside described tube structure
And the driving gear component (14) that supporting described steering wheel (13) is applied, and steering wheel fixing device, described two general modules (1) it
Between be connected with cardan universal joint component (15), two steering wheels (13) in described same general module (1) are mutually wrong in parallel plane
Open 90 ° of arrangements, in two adjacent general modules (1), two close steering wheels (13) are mutually staggered 90 ° of cloth in parallel plane
Put.
5. a kind of modularized joint according to claim 4 snakelike amphibious robot it is characterised in that: outside described end
Shell (11) is connected with each other using damascene structures with being connected shell (12), and described connection shell (12) two ends have embedded ladder position
(121), one end of described end enclosure (11) is embedded on described embedded ladder position (121), on described embedded ladder position (121)
It is provided with o type circle mounting groove (122), described o type circle mounting groove (122) is provided with o type circle, described o type circle outer abuts to end
The internal face of portion's shell (11) simultaneously makes end enclosure (11) and is connected shell (12) and seals against each other connection.
6. a kind of modularized joint according to claim 4 snakelike amphibious robot it is characterised in that: described connection shell
(12) hollow member being formed in one, connects shell (12) inner homogeneous and is distributed with eight towards connection shell (12) cylindrical center line
The convex that direction extends strengthens rib (123).
7. a kind of modularized joint according to claim 1 snakelike amphibious robot it is characterised in that: described Universal Die
Block (1) lateral part is provided with flank (16), and general module (1) two ends are provided with sealing flange (17), and the two of described flank (16)
End is screwed on sealing flange (17).
8. a kind of modularized joint according to claim 1 snakelike amphibious robot it is characterised in that: also include buoyancy
Adjusting means (5), described buoyancy regulating device (5) includes two joint shell (51) and is arranged on described two joint shell (51)
Connecting seat (52), be provided with water-proof elastic crust (53), described two connecting seats (52) phase between described two joint shell (51)
To one side on be provided with scissors-type mechanism fixture (54), scissors-type mechanism fixture (54) on described two connecting seats (52) it
Between be provided with the scissors-type mechanism (55) with Telescopic, one of described two connecting seats (52) be provided with telescopic drive dress
Put, be provided between described two connecting seats (52) and described scissors-type mechanism (55) can be driven to stretch, contract and move and by described telescopic drive
The flexible connecting rod that device drives, described scissors-type mechanism fixture (54) being arranged on connecting seat (52) is hinged on scissors-type mechanism
(55) two ends, described scissors-type mechanism fixture (54) inclusion has the fixture of circular hinge hole and has consolidating of waist type movable span
Determine part, two connecting portions of described scissors-type mechanism one end are flexibly connected by described hinge hole and waist type movable span respectively, described
Scissors-type mechanism (55) has two groups, is connected with connecting pin (56) between Liang Zu scissors-type mechanism (55).
9. a kind of modularized joint according to claim 8 snakelike amphibious robot it is characterised in that: described flexible drive
Motivation structure is motor (57), and described flexible connecting rod is the positive/negative thread connecting rod being driven by described motor (57)
(58), the middle position of described two connecting seats (52) is provided with the screwed hole coordinating described positive/negative thread connecting rod (58), described just
The positive/negative thread junction of left-hand thread connecting rod (58) is located on the midpoint of the line of centres of described two connecting seats (52).
10. a kind of modularized joint according to claim 8 snakelike amphibious robot it is characterised in that: described flexible
Drive mechanism is driving hydraulic cylinder (59), and described flexible connecting rod is the output piston bar (60) of described driving hydraulic cylinder (59),
Described driving hydraulic cylinder (59) is two-pass hydraulic cylinder, and driving hydraulic cylinder (59) is fixed on one of two connecting seats (52), drives
First stroke outfan of hydrodynamic cylinder pressure (59) is connected to another in two connecting seats (52), described driving hydraulic cylinder (59)
Second stroke outfan be connected with driven by described driving hydraulic cylinder (59) and protractile to articular shell (51) space outerpace
The buoyancy wing (61), the described articular shell (51) being provided with the buoyancy wing (61) offers the cunning coordinating the described buoyancy wing (61)
Groove, the described buoyancy wing (61) can be slided in described chute and complete the overhanging or interior action receiving the buoyancy wing (61), described buoyancy
Buoyancy wing connecting rod (62) is hinged with the wing (61), the free end of described buoyancy wing connecting rod (62) is hinged on described driving hydraulic cylinder
The end of (59) second stroke outfans.
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| CN108527318A (en) * | 2018-01-16 | 2018-09-14 | 华侨大学 | A kind of portable ancon exoskeleton robot |
| CN111687823A (en) * | 2020-05-21 | 2020-09-22 | 天津大学 | Amphibious snake-shaped robot with spiral drive |
| CN111594619A (en) * | 2020-05-27 | 2020-08-28 | 哈尔滨工业大学 | Friction damping type foot end mechanism |
| CN112550505A (en) * | 2020-12-18 | 2021-03-26 | 航天恒星科技有限公司 | Modular robot suitable for narrow and small space operation |
| CN113232804A (en) * | 2021-04-19 | 2021-08-10 | 北京化工大学 | Modular underwater snake-shaped robot |
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| CN113479306A (en) * | 2021-08-03 | 2021-10-08 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
| CN113479306B (en) * | 2021-08-03 | 2024-02-27 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
| RU2772503C1 (en) * | 2022-01-24 | 2022-05-23 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики (ЦНИИ РТК) | Underwater reconfigurable modular robot |
| CN114260885A (en) * | 2022-01-27 | 2022-04-01 | 同济大学 | Bionic CPG motion regulation and control system and method of snake-like robot |
| CN115256361A (en) * | 2022-08-08 | 2022-11-01 | 西南科技大学 | Pneumatic multi-degree-of-freedom two-dimensional motion snake-shaped flexible mechanical arm |
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