CN106346462B - A kind of snakelike amphibious robot of modularized joint - Google Patents
A kind of snakelike amphibious robot of modularized joint Download PDFInfo
- Publication number
- CN106346462B CN106346462B CN201610833622.1A CN201610833622A CN106346462B CN 106346462 B CN106346462 B CN 106346462B CN 201610833622 A CN201610833622 A CN 201610833622A CN 106346462 B CN106346462 B CN 106346462B
- Authority
- CN
- China
- Prior art keywords
- shell
- general module
- buoyancy
- scissors
- amphibious robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of snakelike amphibious robots of modularized joint; including multiple general modules; the multiple general module head and the tail are connected in series; the general module in two adjacent general modules being flexibly connected can be with respect to another general module pitching movement or/and yawing rotation; first general module and the last one general module of the snakelike amphibious robot are respectively arranged with stem protective shell and tail part protection shell; the stem protective shell is cylindrical, and the tail part protection shell is in class cone.The snakelike amphibious robot of this kind of modularized joint has the advantages that not available for the existing products such as flexible movements, structure are simple, at low cost, reliable performance is stablized.
Description
Technical field
The present invention relates to robot field, the snakelike amphibious robot of especially a kind of modularized joint.
Background technique
Today's society, robot technology high speed development, robot can replace the mankind in many high-risk occasion operations,
The mankind can also be replaced to explore the unknown world in some occasions.Snakelike amphibious robot is exactly the typical 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 has the characteristics that stability is good, cross section is small, flexible, can be various coarse, precipitous, rugged
Complicated landform on walk, and can scale obstacles, move about in water, this is using wheel or leg as the robot of walking tool
It is difficult to.In current existing snake-shaped robot, most is all to be applied to terrestrial environment, this kind of snake-shaped robot
It is not suitable for amphibious environment.
Existing snake-shaped robot has technological deficiencies, the defects such as structure is complicated, flexibility is poor, stability deficiency tight
This field is limited again to develop and promote and apply further along.
In view of this, the purpose of the present invention is to provide a kind of new technical solutions to solve existing technological deficiency.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of snakelike amphibious robot of modularized joint, solves
There are the technological deficiencies such as structure is complicated, stability and poor reliability, flexibility deficiency in existing similar-type products.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of snakelike amphibious robot of modularized joint, including multiple general modules, the multiple general module head and the tail
It is connected in series, a general module in the adjacent general module of the two of flexible connection can be with respect to another general module pitching movement
Or yawing rotation.
As an improvement of the above technical solution, first general module of the snakelike amphibious robot is logical with the last one
It is respectively arranged with stem protective shell and tail part protection shell with module, the stem protective shell is cylindrical, the tail part protection shell
In class cone.
As a further improvement of the above technical scheme, it is provided between described two adjacent general modules telescopic anti-
Water ripples sheath, waterproof corrugate sheath both ends are connected to the adjacent corresponding end of two general modules.
As a further improvement of the above technical scheme, the general module includes both ends shell and is connected to described two
Connection shell between end enclosure, the end enclosure and connection shell are surrounded into a hollow tube structure, the cylinder
Inside configuration is equipped with the driving gear component of the fixed device of two steering engines, steering engine and the mating steering engine application, and described two is general
Cardan universal joint component is connected between module.
As a further improvement of the above technical scheme, two steering engines in the same general module are in parallel plane
Mutually stagger 90 ° of arrangements, two close steering engines mutually stagger 90 ° of cloth in parallel plane in two adjacent general modules
It sets.
As a further improvement of the above technical scheme, the end enclosure uses damascene structures mutually to interconnect with shell is connect
It connects, the connection shell both ends have insertion ladder position, and one end of the end enclosure is embedded on the insertion ladder position, described
Insertion is provided with O-ring mounting groove on ladder position, and the O-ring mounting groove is equipped with O-ring, and the O-ring outer abuts to
The inner wall of end enclosure and make end enclosure with connect shell phase and be mutually tightly connected.
As a further improvement of the above technical scheme, the hollow member that the connection shell is integrally formed, connects in shell
Portion is evenly distributed with eight and reinforces rib towards the convex that connection shell cylindrical center line direction extends.
As a further improvement of the above technical scheme, the general module outside portion is provided with flank, general module two
End is provided with sealing flange, and the both ends of the flank are fixed on sealing flange.
As a further improvement of the above technical scheme, the general module has two freedom degrees of pitching and yaw, can
The free movement within the scope of ± 45 °.
It as a further improvement of the above technical scheme, further include buoyancy regulating device, the buoyancy regulating device includes
Two joint shell and the attachment base being arranged on the two joint shell are provided with outside water-proof elastic between the two joint shell
Skin is provided with scissors-type mechanism fixing piece on the opposite one side of two attachment base, and the scissors-type mechanism on two attachment base is solid
Determine to be provided with the scissors-type mechanism with Telescopic between part, one in two attachment base is provided with retractable driving device,
Be provided between two attachment base scissors-type mechanism can be driven to stretch, the flexible company driven by the retractable driving device of contracing
Extension bar.
As a further improvement of the above technical scheme, the scissors-type mechanism fixing piece being arranged on attachment base is hinged on
Scissors-type mechanism both ends, scissors-type mechanism fixing piece include with the round fixing piece of hinge hole and consolidating with waist type movable span
Determine part, two interconnecting pieces of scissors-type mechanism one end are flexibly connected by the hinge hole and waist type movable span respectively.
As a further improvement of the above technical scheme, the scissors-type mechanism has two groups, connects between Liang Zu scissors-type mechanism
It is connected to connecting pin.
Buoyancy regulating device is added as above-mentioned technical proposal, the first implements to improve, and the telescoping drive mechanism is
Driving motor, the bar that is telescopically connected to is the positive/negative thread connecting rod driven by the driving motor.
As a further improvement of the above technical scheme, it is described positive and negative to be provided with cooperation for the central location of two attachment base
The threaded hole of threaded rod, the positive/negative thread junction of the positive/negative thread connecting rod are located at the line of centres of two attachment base
On midpoint.
Implement to improve as above-mentioned technical proposal, the telescoping drive mechanism is driving hydraulic cylinder, described to be telescopically connected to bar
For the output piston bar of the driving hydraulic cylinder.
As a further improvement of the above technical scheme, the driving hydraulic cylinder is two-pass hydraulic cylinder, driving hydraulic cylinder
One be fixed in two attachment bases, the first stroke output end of driving hydraulic cylinder are connected to another in two attachment bases, institute
The second stroke output end for stating driving hydraulic cylinder is connected with to be driven and protractile to outside articular shell by the driving hydraulic cylinder
The buoyancy wing in space.
As a further improvement of the above technical scheme, cooperation institute is offered on the articular shell for being equipped with the buoyancy wing
The sliding slot of the buoyancy wing is stated, the buoyancy wing can slide in the sliding slot and complete the overhanging or interior movement for receiving the buoyancy wing, described
Buoyancy wing connecting rod is hinged on the buoyancy wing, it is defeated that the free end of the buoyancy wing connecting rod is hinged on the driving hydraulic cylinder second stroke
The end of outlet.
The beneficial effects of the present invention are: the present invention provides a kind of snakelike amphibious robot of modularized joint, the machine
Device people's structure is simple, can effectively simplify production technology, reduces production cost；By the way that two rudders are arranged on each general module
Machine and matched driving gear component, cardan universal joint component etc. realize the amphibious activity of snakelike amphibious robot, and have good
Dexterity of action, each group of general module all have two freedom degrees；The containment members such as the waterproof corrugate sheath can make entirely
Amphibious robot has good sealing waterproof performance；In addition, the flank of general module outer setting can guarantee robot in water
Stability when lower movement.The snakelike amphibious robot of this kind of modularized joint, solving existing similar-type products, there are structures
The technological deficiencies such as complicated, stability and poor reliability, flexibility deficiency.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of amphibious robot in the present invention；
Fig. 2 is the structural schematic diagram of general module in the present invention；
Fig. 3 is the structural schematic diagram of another angle of general module in the present invention；
Fig. 4 is the cross-sectional view in the direction A-A in Fig. 3；
Fig. 5 is the structural schematic diagram that shell is connected in the present invention；
Fig. 6 is the structural schematic diagram of buoyancy regulating device in the embodiment of the present invention 1；
Fig. 7 is the structural schematic diagram of buoyancy regulating device second angle in the embodiment of the present invention 1；
Fig. 8 is the cross-sectional view in the direction B-B in Fig. 7；
Fig. 9 is the structure that buoyancy regulating device removes after two joint shell and water-proof elastic crust in the embodiment of the present invention 1
Schematic diagram；
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 schematic diagram of buoyancy regulating device in embodiment 2 in the present invention；
Figure 12 is the structural schematic diagram of buoyancy regulating device second angle in the embodiment of the present invention 2；
Figure 13 is the cross-sectional view in the direction C-C in Figure 12.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, being related in patent
All connection/connection relationships, not singly refer to that component directly connects, and refer to can according to specific implementation situation, by addition or
Reduce couple auxiliary, Lai Zucheng more preferably coupling structure.Each technical characteristic in the invention, in not conflicting conflict
Under the premise of can with combination of interactions, referring to Fig.1-13.
Embodiment 1: referring to Fig.1-10.
Referring in particular to Fig. 1-5, a kind of snakelike amphibious robot of modularized joint, including multiple general modules 1, it is described more
A general module 1 is connected in series from beginning to end, first general module 1 and the last one general module of the snakelike amphibious robot
1 is respectively arranged with stem protective shell 3 and tail part protection shell 4, and in the present embodiment, the stem protective shell 3 is cylindrical, described
Tail part protection shell 4 is in class cone, and in actual implementation process of the present invention, implementer can select suitable first according to implementation condition
The shape of portion's protective shell 3 and tail part protection shell 4 is provided with telescopic anti-water ripples between described two adjacent general modules 1
Sheath 2,2 both ends of waterproof corrugate sheath are connected to the adjacent corresponding end of two general module 1, the waterproof corrugate sheath
2 one side have waterproof performance, on the other hand also have required when 1 activity of general module adjacent in cooperation robot stretch
Function.
A general module 1 in the adjacent general module 1 of the two of above-mentioned flexible connection can bow with respect to another general module 1
Movement or/and yawing rotation are faced upward, it is described to realize that being flexibly connected the structure of function is the universal joint being arranged between two general modules
Component 15.Preferably, the general module 1 includes both ends shell 11 and the connection being connected between the both ends shell 11
Shell 12, the end enclosure 11 and connection shell 12 are surrounded into a hollow tube structure, tube structure inside installation
There is the driving gear component 14 of two steering engines 13 and the application of the mating steering engine 13, is connected between two general module 1 universal
Save component 15.
Preferably, the general module 1 includes both ends shell 11 and the company being connected between the both ends shell 11
Body contact 12, it is preferable that the end enclosure 11 uses damascene structures to be connected with each other with shell 12 is connect, 12 both ends of connection shell
With insertion ladder position 121, one end of the end enclosure 11 is embedded on the insertion ladder position 121, the insertion ladder
It is provided with O-ring mounting groove 122 on position 121, the O-ring mounting groove 122 is equipped with O-ring, and the O-ring outer abuts to
The inner wall of end enclosure 11 simultaneously makes end enclosure 11 seal against each other connection with shell 12 is connect.
In the present embodiment, two steering engine 13 be pitch-control motor and yaw control motor, specific implementation structure on, it is described universal
Section component 15 includes the two universal joint connecting rods to be extended out by 1 end of general module and is mounted on the 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, the bearing can
Guarantee 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 connect with universal joint main body 14 4.
The middle position of the end enclosure 11 and universal joint main body offers hole not of uniform size.This kind of open-celled structure one
With loss of weight, to reduce the weight of robot while guaranteeing structural strength, reduce material cost；Two can assist away
Line, signal wire and power supply line between the steering engine of adjacent general module 1 can pass through this some holes and be connected with each other.
Each general module 1 all have pitching and yaw two freedom degrees, can the free movement within the scope of ± 45 °,
When the quantity of the general module 1 of amphibious robot increases, the freedom degree quantity of amphibious robot can correspond to increase, entire amphibious
The movable degree of flexibility of robot is very high, and the environment being suitable for is also more more.
Preferably, two steering engines 13 in the same general module 1 mutually stagger 90 ° of arrangements, phase in parallel plane
Two close steering engines 13 mutually stagger 90 ° of arrangements in parallel plane in two adjacent general modules 1, so that each Universal Die
Block 1 has the function of pitching and yaw.
Preferably, the hollow member that the connection shell 12 is integrally formed, connecting inside shell 12 has towards connection shell 12
The convex that cylindrical center's line direction extends reinforces rib 123.The convex, which reinforces rib 123, can both increase the intensity of robot, together
When also opened threaded hole on it, opened threaded hole does not drill through, and not will cause leak, ensure that connection shell leakproofness.
Preferably, 1 outside portion of general module is provided with flank 16, and 1 both ends of general module are provided with sealing flange 17,
The both ends of the flank 16 are fixed on sealing flange 17, and the flank 16 is fixedly connected by screw with sealing flange 17.?
In actual application, on the one hand the flank 16 can effectively promote the stability that entire amphibious robot moves in water；Separately
On the one hand, in land walking, the stability of walking can be enhanced by one or two flank 16；Further more, the flank 16 with
The connection structure of sealing flange 17 can greatly enhance the structural strength of entire general module 1 and amphibious robot, impact resistance
More preferably, service life is guaranteed.When the present invention is embodied, the vertically disposed flank 16 in 1 outer surface of general module
On the equipment such as follower and the fin paddle of synkinesia can be installed.
The end enclosure 11 can open up hole with shell 12 is connect, and above-mentioned flank 16 can be fixed on outside end by these apertures
Shell 11 with connect on shell 12.Also, end enclosure 11 has reserved the boss connecting with flank 16 with shell 12 is connect, and guarantees flank 16
With end enclosure 11 and connect shell 12 connection compactness.
In the present embodiment, the aperture of end enclosure 11 is through-hole, and the aperture of connection shell 12 is threaded hole.
Tool is there are three hole among the flank 16, flank 16 be fixed by screws in end enclosure 11 with connect on shell 12.
It can guarantee that flank 16 can have good stationarity when two ends only have single flange in this way.
In addition, the two sides of flank 16 are also provided with several device to hole (the present embodiment be two device to hole), can be by the hole outside
Hang the equipment that the auxiliary robots such as auxiliary paddle, follower are moved in different terrain.
In application:
The pitch-control motor drives coupled gear drive, drives ten thousand by the rotation of driving gear component 14
The gear being arranged on section component 15, completes the pitching movement centered on cardan universal joint component 15；
The yaw control motor drives coupled driving gear component 14 to drive the gear being arranged on cardan universal joint component 15,
Yawing rotation of the completion centered on cardan universal joint component 15, yaw control motor and pitch-control motor mutually stagger in parallel plane
90 ° of arrangements；
In specific motion process, snakelike amphibious robot can there are many motor pattern, pitch-control motor and yaw rudders
Machine is poor at an angle to be moved, and each modularized joint of snakelike amphibious robot is driven, realization S-shaped moves, U-shaped moves,
The two dimension three-dimensional motion such as spiralling is mainly obtained by the frictional force between robot and terrestrial environment in Land Movement
Power is obtained, is then the part and water collective effect that each joint is contacted with water, to obtain power when moving in water.
Referring to Fig. 6-10, this kind of amphibious robot further includes buoyancy regulating device 5, when implementing, the buoyancy adjustment dress
The 5 initial and end portions for being mounted on robot are set, the buoyancy regulating device 5 includes two joint shell 51 and is arranged in the two joint
Attachment base 52 on shell 51 is provided with water-proof elastic crust 53, two attachment bases, 52 phase between the two joint shell 51
To one side on be provided with scissors-type mechanism fixing piece 54, be arranged between the scissors-type mechanism fixing piece 54 on two attachment base 52
There is the scissors-type mechanism 55 with Telescopic, one in two attachment base 52 is provided with retractable driving device, and described two connect
Be provided between joint chair 52 the scissors-type mechanism 55 can be driven to stretch, contracing is telescopically connected to by what the retractable driving device drove
Bar.
Preferably, the scissors-type mechanism fixing piece 54 being arranged on attachment base 52 is hinged on 55 both ends of scissors-type mechanism, institute
Stating scissors-type mechanism fixing piece 54 includes the fixing piece with round hinge hole and the fixing piece with waist type movable span, the scissors-type
Two interconnecting pieces of mechanism one end are flexibly connected by the hinge hole and waist type movable span respectively, and the scissors-type mechanism 55 has
Two groups, connecting pin 56 is connected between Liang Zu scissors-type mechanism 55.
In the present embodiment, the telescoping drive mechanism is driving hydraulic cylinder 59, and the bar that is telescopically connected to is the driving liquid
The output piston bar 60 of cylinder pressure 59.
Preferably, the driving hydraulic cylinder 59 is two-pass hydraulic cylinder, and driving hydraulic cylinder 59 is fixed in two attachment bases 52
One, the first stroke output end of driving hydraulic cylinder 59 is connected to another in two attachment bases 52, the driving hydraulic cylinder
59 second stroke output end is connected with by the driving hydraulic cylinder 59 driving and protractile to 51 exterior space of articular shell
The buoyancy wing 61.
Preferably, the sliding slot for cooperating the buoyancy wing 61 is offered on the articular shell 51 for being equipped with the buoyancy wing 61,
The buoyancy wing 61 can slide in the sliding slot and complete the overhanging or interior movement for receiving the buoyancy wing 61, cut with scissors on the buoyancy wing 61
It is connected to buoyancy wing connecting rod 62, the free end of the buoyancy wing connecting rod 62 is hinged on the 59 second stroke output end of driving hydraulic cylinder
End.
In the present embodiment, the buoyancy regulating device completes buoyancy by driving hydraulic cylinder 59 and its output piston end
It adjusting, principle is substantially the same manner as Example 2, in addition, in the present embodiment, there are two processes: the first stage for adjustment buoyancy tool,
Under the premise of guaranteeing that the flexible crust 53 of waterproof of two articular shells 51 does not damage, increase the distance of two articular shells 51,
Displacement of volume is improved, buoyancy is increased；Second stage, hydraulic cylinder output end continue to stretch, and driving linkage mechanism, (the present embodiment is floating
The buoyancy wing 61 can be the plate wing by power wing connecting rod 62, be also possible to the wing of airfoil) articular shell 51 is stretched out, the buoyancy wing 62 removes
Displacement of volume can be increased to provide other than buoyancy, equilibrant force can also be provided, make snakelike amphibious robot float, the mistake of dive
It is more stable in journey.
Referring to 1, Figure 10, the sealing that 51 one end of articular shell of the buoyancy regulating device 5 is equipped with buoyancy regulating device 5 connects
Acting flange 65, the sealed connection flange 65 be equipped with mounting shell 66, the mounting shell 66 be equipped with steering engine, driving gear component with
And the fixed device of steering engine, connection shell 66 are provided with the second sealed connection flange 67 far from the one end for being tightly connected flange 65；Installation
Steering engine, driving gear component inside mounting shell 66 pass through with the stem of snakelike amphibious robot or the general module 1 of tail portion
Above-mentioned cardan universal joint component 15 is flexibly connected, and therefore, entire buoyancy regulating device 5 can pass through its steering engine, driving gear component, rudder
The fixed device of machine and the adjacent corresponding steering engine of general module 1, driving gear component and the cardan universal joint component realize snake
The pitching movement or/and yawing rotation in shape amphibious robot initial and end portion, 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
It is tightly connected after the other end installation sealing flange of device 5 with stem protective shell 3 or tail part protection shell 4.
Further, the snakelike amphibious robot is also provided with camera module, and the camera module includes
The specific installation site of camera, the camera can need to determine according to specific implementation environment and application.
The camera can record the ambient conditions around snakelike amphibious robot or real-time live broadcast, can be effective
Snakelike amphibious robot is assisted to carry out various research applications.
In addition, mating on snakelike amphibious robot the light source module for matching the camera module, the light can be arranged
Source module preferably uses LED light source.The light source module can be the camera mould of snakelike amphibious robot in a dark environment
Block provides better light condition, improves imaging effect.
Embodiment 2: 1-13 referring to Fig.1.
The present embodiment is substantially the same manner as Example 1, and difference is:
In the present embodiment, the telescoping drive mechanism is driving motor 57, and the bar that is telescopically connected to is by the driving electricity
The positive/negative thread connecting rod 58 that machine 57 drives.
Preferably, the central location of two attachment base 52 is provided with the threaded hole for cooperating the positive/negative thread connecting rod 58,
The positive/negative thread junction of the positive/negative thread connecting rod 58 is located on the midpoint of the line of centres of two attachment base 52.
In the present embodiment, the driving motor is screw thread motor, and when driving motor 57 rotates forward, drive is attached thereto
Positive/negative thread connecting rod 58 rotate, rotation direction is identical as 57 rotation direction of driving motor.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 attachment base 52 changes, to spiral shell
The movement outside of rasp bar causes the distance among two attachment bases 52 to increase, has snakelike amphibious machine among two attachment bases 52
People's water-proof elastic crust 53 coats, and since the diameter in space between attachment base 52 is constant, axial distance becomes larger, so the water arranged
Volume increase, buoyancy is consequently increased, and buoyancy regulating device 5 completes the increased adjusting of buoyancy.
When driving motor 57 rotates backward, the positive/negative thread connecting rod 58 being attached thereto is driven to rotate, rotation direction and driving
57 rotation direction of motor is identical.When positive/negative thread connecting rod 58 rotates in the positive/negative thread hole on two attachment bases 52, attachment base
52 position on positive/negative thread connecting rod 58 changes, to the medial motion of threaded rod, cause among two attachment bases away from
From reduction, there is snakelike amphibious robot water-proof elastic crust to coat among two attachment bases 52, due to space between attachment base 52
Diameter it is constant, axial distance becomes smaller, so the volume of the water arranged reduces, buoyancy also reduces therewith, and buoyancy regulating device 5 is complete
The adjusting reduced at buoyancy.
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 simultaneously adjust to buoyancy be greater than gravity state when, snakelike amphibious robot can complete float movement；
When the buoyancy regulating device 5 of initial and tail sections is adjusted simultaneously is less than the state of gravity to buoyancy, snakelike amphibious robot can be completed
Dive campaign.
It, can be simultaneously by the power of tail swing generation when stem buoyancy is greater than gravity, and tail portion buoyancy is equal to gravity
And the buoyancy of stem completes movement of floating jointly, while increasing ascent rate, reduces the consumption of energy；When stem buoyancy is less than
Gravity, when tail portion buoyancy is equal to gravity, under being completed jointly by the power of tail swing generation and the gravity of stem simultaneously
Latent movement reduces the consumption of energy while increasing diving speed.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of snakelike amphibious robot of modularized joint, it is characterised in that: the multiple including multiple general modules (1)
General module (1) head and the tail are connected in series, and a general module (1) in the adjacent general module of the two of flexible connection (1) can be opposite
Another general module (1) pitching movement or/and yawing rotation further include buoyancy regulating device (5), the buoyancy regulating device
(5) attachment base (52) for including two joint shell (51) and being arranged on the two joint shell (51), two attachment bases (52) phase
To one side on be provided with scissors-type mechanism fixing piece (54), the scissors-type mechanism fixing piece (54) on two attachment base (52) it
Between be provided with the scissors-type mechanism (55) with Telescopic.
2. a kind of snakelike amphibious robot of modularized joint according to claim 1, it is characterised in that: described snakelike two
It dwells first general module (1) of robot and the last one general module (1) is respectively arranged with stem protective shell (3) and tail portion
Protective shell (4), the stem protective shell (3) is cylindrical, and the tail part protection shell (4) is in class cone.
3. a kind of snakelike amphibious robot of modularized joint according to claim 1, it is characterised in that: described two is adjacent
General module (1) between be provided with telescopic waterproof corrugate sheath (2), waterproof corrugate sheath (2) both ends are connected to
The adjacent corresponding end of two general modules (1).
4. a kind of snakelike amphibious robot of modularized joint according to claim 1, it is characterised in that: the Universal Die
Block (1) includes both ends shell (11) and the connection shell (12) that is connected between the both ends shell (11), outside the end
Shell (11) and connection shell (12) are surrounded into a hollow tube structure, are equipped with two steering engines (13) inside the tube structure
And the fixed device of driving gear component (14) and steering engine of the mating steering engine (13) application, two general module (1) it
Between be connected with cardan universal joint component (15), two steering engines (13) in the same general module (1) are mutually wrong in parallel plane
Open 90 ° of arrangements, two close steering engines (13) mutually stagger 90 ° of cloth in parallel plane in two adjacent general modules (1)
It sets.
5. a kind of snakelike amphibious robot of modularized joint according to claim 4, it is characterised in that: outside the end
Shell (11) with connect shell (12) using damascene structures be connected with each other, the connection shell (12) both ends have be embedded in ladder position
(121), one end of the end enclosure (11) is embedded on the insertion ladder position (121), on the insertion ladder position (121)
It is provided with O-ring mounting groove (122), the O-ring mounting groove (122) is equipped with O-ring, and the O-ring outer abuts to end
The inner wall of portion's shell (11) simultaneously makes end enclosure (11) seal against each other connection with shell (12) is connect.
6. a kind of snakelike amphibious robot of modularized joint according to claim 4, it is characterised in that: the connection shell
(12) hollow member being integrally formed, connection shell (12) is internal to be evenly distributed with eight towards connection shell (12) cylindrical center line
The convex that direction extends reinforces rib (123).
7. a kind of snakelike amphibious robot of modularized joint according to claim 1, it is characterised in that: the Universal Die
Block (1) outside portion is provided with flank (16), and general module (1) both ends are provided with sealing flange (17), and the two of the flank (16)
End is screwed on sealing flange (17).
8. a kind of snakelike amphibious robot of modularized joint according to claim 1, it is characterised in that: the two joint
It is provided between shell (51) water-proof elastic crust (53), one in two attachment base (52) is provided with flexible driving dress
Set, be provided between two attachment base (52) the scissors-type mechanism (55) can be driven to stretch, contract movement and by the flexible driving
Device driving is telescopically connected to bar, and the scissors-type mechanism fixing piece (54) being arranged on attachment base (52) is hinged on scissors-type mechanism
(55) both ends, scissors-type mechanism fixing piece (54) include with the round fixing piece of hinge hole and consolidating with waist type movable span
Determine part, two interconnecting pieces of scissors-type mechanism one end are flexibly connected by the round hinge hole and waist type movable span respectively,
The scissors-type mechanism (55) has two groups, is connected with connecting pin (56) between Liang Zu scissors-type mechanism (55).
9. a kind of snakelike amphibious robot of modularized joint according to claim 8, it is characterised in that: the flexible drive
Dynamic device is driving motor (57), and the bar that is telescopically connected to is the positive/negative thread connecting rod driven by the driving motor (57)
(58), the central location of two attachment base (52) is provided with the threaded hole for cooperating the positive/negative thread connecting rod (58), it is 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 two attachment base (52).
10. a kind of snakelike amphibious robot of modularized joint according to claim 8, it is characterised in that: described flexible
Driving device is driving hydraulic cylinder (59), described to be telescopically connected to the output piston bar (60) that bar is the driving hydraulic cylinder (59),
The driving hydraulic cylinder (59) is two-pass hydraulic cylinder, and driving hydraulic cylinder (59) is fixed on one in two attachment bases (52), is driven
The first stroke output end of hydrodynamic cylinder pressure (59) is connected to another in two attachment bases (52), the driving hydraulic cylinder (59)
Second stroke output end is connected with by the driving hydraulic cylinder (59) driving and protractile to articular shell (51) exterior space
The buoyancy wing (61) is equipped with the cunning for offering on the articular shell (51) of the buoyancy wing (61) and cooperating the buoyancy wing (61)
Slot, the buoyancy wing (61) can be slided in the sliding slot and complete the overhanging or interior movement for receiving the buoyancy wing (61), the buoyancy
Buoyancy wing connecting rod (62) is hinged on the wing (61), the free end of the buoyancy wing connecting rod (62) is hinged on the driving hydraulic cylinder
(59) end of second stroke output end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610833622.1A CN106346462B (en) | 2016-09-19 | 2016-09-19 | A kind of snakelike amphibious robot of modularized joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610833622.1A CN106346462B (en) | 2016-09-19 | 2016-09-19 | A kind of snakelike amphibious robot of modularized joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346462A CN106346462A (en) | 2017-01-25 |
| CN106346462B true CN106346462B (en) | 2019-04-12 |
Family
ID=57858645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610833622.1A Expired - Fee Related CN106346462B (en) | 2016-09-19 | 2016-09-19 | A kind of snakelike amphibious robot of modularized joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106346462B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895073B (en) * | 2017-12-08 | 2021-09-14 | 中国科学院沈阳自动化研究所 | Continuous body robot driven by leaf springs |
| CN108214475B (en) * | 2017-12-30 | 2019-12-31 | 哈尔滨工业大学深圳研究生院 | Single-degree-of-freedom linkage rope-driven flexible mechanical arm joint group |
| CN108527347A (en) * | 2018-01-16 | 2018-09-14 | 华侨大学 | A kind of micromachine snake unit module and a kind of micromachine snake |
| 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 |
| CN111594619B (en) * | 2020-05-27 | 2022-09-09 | 哈尔滨工业大学 | Friction damping type foot end mechanism |
| CN112550505B (en) * | 2020-12-18 | 2022-04-22 | 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 |
| CN113525645B (en) * | 2021-07-07 | 2022-05-24 | 华南理工大学 | Bionic underwater robot based on squid |
| CN113479306B (en) * | 2021-08-03 | 2024-02-27 | 景兴建 | Bionic underwater robot with buoyancy adjusting device |
| CN114260885B (en) * | 2022-01-27 | 2023-08-04 | 同济大学 | Bionic CPG motion regulation and control system and method for snake-shaped robot |
| CN115256361B (en) * | 2022-08-08 | 2024-04-26 | 西南科技大学 | Pneumatic multi-degree-of-freedom two-dimensional motion snake-shaped flexible mechanical arm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746237A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Amphibious snake-like robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN203293193U (en) * | 2013-06-17 | 2013-11-20 | 西安电子科技大学 | Snake robot device in water |
| CN104590519A (en) * | 2015-02-02 | 2015-05-06 | 中国科学技术大学 | Shape-controllable underwater biomimetic propulsion device |
| CN105313110A (en) * | 2014-07-16 | 2016-02-10 | 中国科学院沈阳自动化研究所 | Underwater gliding snakelike robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6512345B2 (en) * | 2001-03-30 | 2003-01-28 | The Regents Of The University Of Michigan | Apparatus for obstacle traversion |
-
2016
- 2016-09-19 CN CN201610833622.1A patent/CN106346462B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746237A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Amphibious snake-like robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN203293193U (en) * | 2013-06-17 | 2013-11-20 | 西安电子科技大学 | Snake robot device in water |
| CN103273979A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Splittable snake-like robot with multiple motion modes |
| CN105313110A (en) * | 2014-07-16 | 2016-02-10 | 中国科学院沈阳自动化研究所 | Underwater gliding snakelike robot |
| CN104590519A (en) * | 2015-02-02 | 2015-05-06 | 中国科学技术大学 | Shape-controllable underwater biomimetic propulsion device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106346462A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106346462B (en) | A kind of snakelike amphibious robot of modularized joint | |
| CN106313027B (en) | A kind of snakelike amphibious robot buoyancy regulating device and amphibious robot | |
| CN100532193C (en) | Bionic machinery chelonian with two-stage freedom degree flipper mechanism | |
| CN108859637B (en) | Spherical amphibious robot | |
| Cai et al. | Design optimization of a bionic fish with multi-joint fin rays | |
| CN104627342A (en) | Gliding machine dolphin | |
| CN108820173A (en) | The deformation submersible and its working method promoted based on buoyancy-driven with no axial vector | |
| CN105711777B (en) | A kind of microminiature modularization AUV | |
| CN110228575B (en) | Underwater bionic guiding robot fish and method for guiding fish to move | |
| CN211592892U (en) | Center-of-gravity shifting type amphibious sampling robot | |
| WO2022006726A1 (en) | Flexible bionic squid for use luring school of fish | |
| CN109115979A (en) | Portable multi-function solid water quality detection device | |
| CN108656884B (en) | Amphibious bionic robot | |
| CN109665079A (en) | A kind of underwater robot of jet pump and steering engine combination drive | |
| CN110963010A (en) | Bionic jellyfish robot | |
| CN113525645A (en) | Bionic underwater robot based on squid | |
| CN206068108U (en) | A kind of Scad sections class bionic machine fish | |
| CN209290645U (en) | A kind of deformable autonomous underwater vehicle | |
| CN103273815B (en) | Paddle fusion sub-module for amphibious snake-like child-mother robot | |
| CN110816793A (en) | Underwater robot and working method thereof | |
| CN203236485U (en) | Triaxial stretchable multi-adaptation underwater robot | |
| CN109353474A (en) | A kind of vector propeller and cableless underwater robot | |
| CN205801464U (en) | A kind of microminiature modularity AUV | |
| CN212637871U (en) | Bionic robotic fish based on bionic fin and pump combined propulsion | |
| CN113636051A (en) | Vector-propelled underwater unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190412 Termination date: 20190919 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |