CN107187568A - A kind of move in mud robot under water of imitative earthworm - Google Patents
A kind of move in mud robot under water of imitative earthworm Download PDFInfo
- Publication number
- CN107187568A CN107187568A CN201710445841.7A CN201710445841A CN107187568A CN 107187568 A CN107187568 A CN 107187568A CN 201710445841 A CN201710445841 A CN 201710445841A CN 107187568 A CN107187568 A CN 107187568A
- Authority
- CN
- China
- Prior art keywords
- supporting mechanism
- advance
- advance steering
- mud
- steering mechanism
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the move in mud robot under water of imitative earthworm, including the Gong Nitou mechanisms being linked in sequence, the first advance steering mechanism, the first supporting mechanism, the second advance steering mechanism, the second supporting mechanism, afterbody storehouse and communication unit, the first spherical hinge in the first advance steering mechanism is connected with the drive end bearing bracket in Gong Nitou mechanisms；The first universal joint hinge in first advance steering mechanism is connected with the first connecting plate in the first supporting mechanism；The second spherical hinge in second advance steering mechanism is connected with the rear end of the first supporting mechanism；The second universal joint hinge in second advance steering mechanism is connected with the second connecting plate in the second supporting mechanism；The rear end connection afterbody storehouse of second supporting mechanism, communication unit and Gong Nitou mechanisms, the first advance steering mechanism, the first supporting mechanism, the second advance steering mechanism, the second supporting mechanism and the electrical connection of afterbody storehouse.This robot architecture is simple, flexibility is good, cost is low, activity duration length, efficiency high and movement velocity are fast.
Description
Technical field
The present invention relates to underwater robot technology, specifically a kind of move in mud robot under water of imitative earthworm.
Background technology
With the continuous improvement of bionics techniques, bio-robot has been widely applied to world's every field, in order to improve
The performance of robot, researchers carry out assistance behaviour using sensor, microcomputer, wireless control technology to robot
Make.Bionics is the biological special construction of research and motion skin texture, and new design concept and working method is provided for science and technology
A kind of technological sciences, provide new thinking for the development and direction of future robot.
Earthworm belongs to annelid, in vivo without bone, and the muscle genus pieris flesh of earthworm, muscular motion is flexible, this
Plant oblique muscle has positive role to retaining epidermal mucus, and earthworm wriggles forward by longitudinal muscle, the cooperation of circular muscle and bristle, when
When earthworm advances, the circular muscle of body front end shrinks, longitudinal muscle diastole, and this segment body section attenuates elongated, motionless, body in rear portion bristle insertion soil
Body is just moved forward；Then motionless in anterior bristle insertion soil, the bristle at rear portion is retracted, and longitudinal muscle shrinks, circular muscle diastole, this section
Body segment is thicker to be shortened, and the anterior section of body segment one one of body, which saves land, to be shortened and advance forward, constantly circulation in this way, and earthworm is with regard to energy
Slowly wriggle forward.
Bionical Earthworm Robot is research object more novel in current bio-robot field, the movement mechanism of earthworm
The lower move in mud robot of feedwater provides new mentality of designing, using unique arch mud mode of earthworm, by its contour structures,
Move skin texture and carry out bionical analysis, design it is a can the robot of creeping can take in mud under water as earthworm
The task for completing not completing under some adverse circumstances for the mankind.Bionical based on the design of earthworm movement mechanism encircles mud under water
Robot is for culture fishery, archaeology, under water exploration, the water-bed pollution level of measurement, sinking are rescued and surveyed and drawn under water
Seabed map etc. has great importance.
Current most of bionic underwater robots are mainly used in underwater work, also without a kind of machine for being used to encircle mud under water
People.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, and to provide a kind of move in mud robot under water of imitative earthworm.This
Kind of robot has that simple in construction, flexibility is good, cost is low, activity duration length, efficiency high and the features such as fast movement velocity.
Realizing purpose of the present invention technical scheme is：
A kind of move in mud robot under water of imitative earthworm, including be linked in sequence Gong Nitou mechanisms, the first advance steering mechanism, first
Supporting mechanism, the second advance steering mechanism, the second supporting mechanism, afterbody storehouse and communication unit, the first advance steering mechanism
In the first spherical hinge be connected with the drive end bearing bracket in Gong Nitou mechanisms；The first universal joint hinge in first advance steering mechanism with
The first connecting plate connection in first supporting mechanism；The second spherical hinge and the first supporting mechanism in second advance steering mechanism
Rear end is connected；The second universal joint hinge in second advance steering mechanism is connected with the second connecting plate in the second supporting mechanism；
The rear end connection afterbody storehouse of second supporting mechanism, communication unit and Gong Nitou mechanisms, the first advance steering mechanism, the first support machine
Structure, the second advance steering mechanism, the second supporting mechanism and the electrical connection of afterbody storehouse.
The Gong Nitou mechanisms include
Mud head is encircleed in taper, and the taper arch mud head is cavity, and the rearward end of cavity is provided with the first groove；
Provided with fixed rotation platform outer ring and mobilizable rotation platform inner ring in rotation platform, the rotation platform；
Steering wheel fixed plate, the steering wheel fixed plate is provided with steering wheel；
Drive end bearing bracket, the interior forward end of the drive end bearing bracket is provided with the second groove；
The taper arch mud head, rotation platform, steering wheel fixed plate, drive end bearing bracket order are equipped, and inner ring passes through dynamic transfering rod and cone
Shape arch mud head connection, dynamic transfering rod rear end is arranged on inner ring front end face, and dynamic transfering rod front end is inserted in the first groove, steering wheel
Installed in steering wheel fixed plate rear end central part and be embedded into the second groove, the output shaft of steering wheel is connected with dynamic transfering rod.
The first advance steering mechanism includes 4 spherical hinges, 4 cylinders and the 4 universal joint hinge structures being linked in sequence
Into 4 the first advance steering units being made up of a spherical hinge, a cylinder and a universal joint hinge, wherein 3 first
Advance steering unit is driving link, and another 1 the first advance steering unit is driven member, and driven member is arranged on the rear end face of drive end bearing bracket
Center, 3 driving links are equidistant centered on driven member to be evenly distributed on the rear end face of drive end bearing bracket and each two driving link shape
Into angle be 120 °, each cylinder be provided with displacement transducer.
First supporting mechanism includes the first supporting mechanism inner chamber, and the front end of the first supporting mechanism inner chamber connects provided with first
Fishplate bar, the outside of the first supporting mechanism inner chamber is provided with the first support air bag.
The second advance steering mechanism includes 4 spherical hinges, 4 cylinders and the 4 universal joint hinge structures being linked in sequence
Into 4 the second advance steering units being made up of a spherical hinge, a cylinder and a universal joint hinge, wherein 3 second
Advance steering unit is driving link, and another 1 the second advance steering unit is driven member, and driven member is arranged in the first supporting mechanism
The rear end face center of chamber, 3 driving links equidistant rear end for being evenly distributed on the first supporting mechanism inner chamber centered on driven member
On face, each two driving link formation angle be 120 °, each cylinder be provided with displacement transducer.
Second supporting mechanism includes the second supporting mechanism inner chamber, and the front end of the second supporting mechanism inner chamber connects provided with second
Fishplate bar, the outside of the second supporting mechanism inner chamber is provided with the second support air bag 12.
The afterbody storehouse is cavity, and cavity is provided with vent cover, and the setting of vent cover is to install communication unit for convenience.
The communication unit include electrical connection nine axle sensors, timing routine controller, single-chip microcomputer and respectively with list
The depth pressure sensor of piece machine connection, minisize pick-up head, first pressure sensor, second pressure sensor, the first displacement are passed
Sensor and second displacement sensor, nine axle sensors, timing routine controller and single-chip microcomputer are arranged in the cavity of afterbody storehouse；Depth
Pressure sensor and minisize pick-up head are arranged in the inner chamber that mud head is encircleed in taper；First pressure sensor is arranged on the first support gas
The inside of capsule, second pressure sensor is arranged on the inside of the second support air bag；First displacement transducer is arranged on first and advanced
On the first cylinder in steering mechanism, second displacement sensor is arranged on the second cylinder in the second advance steering mechanism, cone
Shape arch mud head can install backup sensors additional as required in inner chamber.
First displacement transducer is at least four, is separately mounted to corresponding first gas in the first advance steering mechanism
On cylinder.
The second displacement sensor is at least four, is separately mounted to corresponding second gas in the second advance steering mechanism
On cylinder.
Steering wheel in the Gong Nitou mechanisms imparts power to dynamic transfering rod using rotation platform and mud head is encircleed in taper,
So as to drive taper to encircle the rotation of mud head, barrier is discharged with this, the purpose of advance is reached.
The first advance steering mechanism is radially provided with the first protective jacket, and the second advance steering mechanism is radially provided with second and prevented
Sheath, the effect of protective jacket is to prevent mud and water from entering the inside of robot.
The robot changes the parameter coordination displacement transducer phase of timing routine controller by the control platform of peripheral hardware
To drive the cylinder rod of cylinder in advance steering mechanism to stretch out different distances, three spherical hinges of driving link are then driven to rotate
Certain angle, so as to reach the purpose of steering.
The afterbody storehouse is provided with computer control system and power supply in cable and tracheae, the external control platform of cable；Gas
Pipe is connected with the supply station in control platform, and the information of nine axle sensors installed in afterbody storehouse can be obtained in control platform
To robot localization, the real time kinematics state of robot is grasped.
When robot runs into barrier, the control platform of peripheral hardware can make the water of imitative earthworm to robot Reverse Turning Control
Lower move in mud robot first does the action drawn back, and then changes direction of advance again forward, to realize the purpose of avoiding obstacles.
The bio-robot of this utilization bionics principle design can forward wriggle as earthworm in soil, can be real
Now advance, retreat and flexibly turn to function.
This robot controls the gas in advance steering mechanism using the timing routine controller 21 installed in afterbody storehouse
The stroke of cylinder, so as to change the direction of motion of robot.
This robot is using air pressure as driving force, and its use cost is low, can realize Long Distant Transmit, will not after leakage
Pollute environment；This robot can work in rugged environment and action response time is fast, maintaining is convenient.
This robot has that simple in construction, flexibility is good, cost is low, activity duration length, efficiency high and movement velocity are fast
The features such as.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment；
Fig. 2 is Fig. 1 A-A cross section views；
Fig. 3 is the B-B cross section views of Fig. 1 hogging mud heads；
Fig. 4 is the C-C cross section views of rotation platform shown in Fig. 2；
Fig. 5 is Tu1Gong Nitou mechanisms half sectional view；
Fig. 6 is the principle schematic that embodiment move in mud robot wriggling advances.
In figure, the first advance steering mechanism of 2. rotation platform, 3. steering wheel fixed plate, 4. drive end bearing bracket 5. first of 1. tapers arch mud
6. the advance steering mechanism 10. second of 7. first supporting mechanism inner chamber of the first connecting plate, 8. first support air bag 9. second connects
The tracheae of 11. second supporting mechanism inner chamber 12. second support air bag, 13. afterbody storehouse 14. vent cover, 15. cable of fishplate bar 16.
17. the second pressure of 21. timing routine controller of computer 18. supply station, 19. single-chip microcomputer, 20. 9 axle sensor 22. is sensed
The first pressure of 23. second 24. second cylinder of universal joint hinge of device, 25. 26. second spherical hinge of second displacement sensor 27.
The spherical hinge 32. second of 30. first displacement transducer of sensor 28. first universal joint hinge, 29. first cylinder 31. first
The depth pressure sensor of 33. steering wheel of groove, 34. rotation platform outer ring, 35. rotation platform inner ring, 36. dynamic transfering rod 37.
38. the output shaft of 41. first 42. first groove of protective jacket of minisize pick-up head 39. backup sensors, 40. second protective jacket 43.
。
Embodiment
Present disclosure is expanded on further with reference to the accompanying drawings and examples, but is not limitation of the invention.
Embodiment：
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, a kind of move in mud robot under water of imitative earthworm, including the arch mud head machine being linked in sequence
Structure, the first advance steering mechanism 5, the first supporting mechanism 8, the second advance steering mechanism 9, the second supporting mechanism 12, afterbody storehouse 13
And communication unit, the first spherical hinge 31 in the first advance steering mechanism 5 is connected with the drive end bearing bracket 4 in Gong Nitou mechanisms；
The first universal joint hinge 28 in first advance steering mechanism 5 is connected with the first connecting plate 6 in the first supporting mechanism 8；Second
The second spherical hinge 26 in advance steering mechanism 9 is connected with the rear end of the first supporting mechanism 8；In second advance steering mechanism 9
Second universal joint hinge 23 is connected with the second connecting plate 10 in the second supporting mechanism 12；The rear end connection of second supporting mechanism 12
Afterbody storehouse 13, communication unit and Gong Nitou mechanisms, the first advance steering mechanism 5, the first supporting mechanism 8, the second advance steering machine
Structure 9, the second supporting mechanism 12 and afterbody storehouse 13 are electrically connected, and the rear end in afterbody storehouse 13 is also connected with calculating by cable 15 in this example
Machine 17, supply station 18 is connected with by tracheae 16.
The Gong Nitou mechanisms include
Mud first 1 is encircleed in taper, and taper arch mud first 1 is cavity, and the rearward end of cavity is provided with the first groove 42；
Provided with fixed rotation platform outer ring 34 and mobilizable rotation platform inner ring in rotation platform 2, the rotation platform 2
35；
Steering wheel fixed plate 3, the steering wheel fixed plate 3 is provided with steering wheel 33；
Drive end bearing bracket 4, the interior forward end of the drive end bearing bracket 4 is provided with the second groove 32；
The taper arch mud first 1, rotation platform 2, steering wheel fixed plate 3, drive end bearing bracket 4 are sequentially equipped with, and inner ring 35 is transmitted by power
Bar 36 is connected with taper arch mud first 1, and the rear end of dynamic transfering rod 36 is arranged on the front end face of inner ring 35, and the front end of dynamic transfering rod 36 is inserted
In first groove 42, steering wheel 33 be arranged on the rear end of steering wheel fixed plate 3 central part and be embedded into the second groove 32, steering wheel 33 it is defeated
Shaft 43 is connected with dynamic transfering rod 36.
Specifically, drive Gong Nitou mechanisms to move back and forth by first group of advance steering mechanism 5, go out one and taper
Encircle the first 1 diameter hole of a size of mud, when Gong Nitou mechanisms, which run into barrier, to advance, it is possible to use rotation platform 2
Rotated to drive taper to encircle mud first 1, barrier is discharged with this, the purpose of advance is reached.
The first advance steering mechanism 5 includes 4 spherical hinges, 4 cylinders and the 4 universal joint hinge structures being linked in sequence
Into 4 the first advance steering units being made up of a spherical hinge, a cylinder and a universal joint hinge, wherein 3 first
Advance steering unit is driving link, and another 1 the first advance steering unit is driven member, and driven member is arranged on the rear end of drive end bearing bracket 4
Face center, 3 driving links are equidistant centered on driven member to be evenly distributed on the rear end face of drive end bearing bracket 4 and each two driving link
The angle of formation is 120 °, and each cylinder is provided with displacement transducer.
Specifically, the cylinder 29 that the supply station 18 in control platform is given in first group of advance steering mechanism 5 by tracheae 16
Supply, cylinder rod promotes the first spherical hinge 31 and Gong Nitou mechanisms to travel forward after stretching out, and then cylinder rod drives the after retracting
One spherical hinge 31 and Gong Nitou mechanisms return to original position；First advance steering mechanism 5 is exactly constantly to be extended and retracted by cylinder rod
To drive the reciprocating back and forth of Gong Nitou mechanisms, the purpose for getting hole forward is reached with this, when Gong Nitou mechanisms need to turn
Xiang Shi, it is possible to use the first displacement transducer on the cylinder 29 of timing routine controller 21 and first in afterbody storehouse 13
30 cooperate, to drive the cylinder rod of three cylinders of driving link in the first advance steering mechanism 5 to stretch out different distances, so
Four spherical hinges are driven to rotate certain angle afterwards, so as to reach the purpose of steering.
First supporting mechanism includes the first supporting mechanism inner chamber 7, and the front end of the first supporting mechanism inner chamber 7 is provided with first
Connecting plate 6, the outside of the first supporting mechanism inner chamber 7 is provided with the first support air bag 8.
Specifically, supplied using the supply station 18 in control platform by tracheae 16 to the first support air bag 8, make first
Support air bag 8 is radially expanded, and extends and retracts offer support force to the first advance steering mechanism 5, the first support air bag 8 was inflated
Conference influences its life-span, too low and can not provide preferable support force to the first advance steering mechanism 5, therefore, it can utilize peace
First pressure sensor 27 in the first supporting mechanism inner chamber 7 controls the air pressure of the first support air bag 8.
The second advance steering mechanism 9 includes 4 spherical hinges, 4 cylinders and the 4 universal joint hinge structures being linked in sequence
Into 4 the second advance steering units being made up of a spherical hinge, a cylinder and a universal joint hinge, wherein 3 second
Advance steering unit is driving link, and another 1 the second advance steering unit is driven member, and driven member is arranged in the first supporting mechanism
The rear end face center of chamber 7,3 driving links are equidistant centered on driven member to be evenly distributed on behind the first supporting mechanism inner chamber 7
On end face, each two driving link formation angle be 120 °, each cylinder be provided with displacement transducer.
Specifically, the second cylinder that the supply station 18 in control platform is given in the second advance steering mechanism 9 by tracheae 16
24 supply, cylinder rod promotes the second spherical hinge 26 and Gong Nitou mechanisms, the first advance steering mechanism 5 and the first support machine after stretching out
Structure travels forward, and the second advance steering mechanism 9 is exactly constantly to extend and retract to drive Gong Nitou mechanisms back and forth by cylinder rod
Reciprocating, the purpose for getting hole forward is reached with this, when Gong Nitou mechanisms need to turn to, it is possible to use installed in tail
Timing routine controller 21 in portion storehouse 13 coordinates the first displacement transducer 30 on the first cylinder 29 to drive the second advance to turn
Into mechanism 9, the cylinder rod of three cylinders of driving link stretches out different distances, then drives four spherical hinges to rotate necessarily
Angle, so as to reach the purpose of steering.
Second supporting mechanism includes the second supporting mechanism inner chamber 11, and the front end of the second supporting mechanism inner chamber 11 is provided with the
Two connecting plates 10, the outside of the second supporting mechanism inner chamber 11 is provided with the second support air bag 12.
Specifically, supplied using the supply station 18 in control platform by tracheae 16 to the second support air bag 12, make second
Support air bag 12 is radially expanded, and extends and retracts offer support force to the second advance steering mechanism 9, the second support air bag 12 is filled
Gas, which crosses conference, influences its life-span, too low and can not provide preferable support force to the second advance steering mechanism 9, therefore, it can profit
The air pressure of the second support air bag 12 is controlled with the second pressure sensor 22 in the second supporting mechanism inner chamber 11.
Described afterbody storehouse 13 is cavity, and cavity is provided with vent cover 14, and the setting of vent cover 14 is to install for convenience
Communication unit.
The communication unit is including nine axle sensors 20 electrically connected, timing routine controller 21, single-chip microcomputer 19 and divides
Depth pressure sensor 37, minisize pick-up head 38, first pressure sensor 27, the second pressure sensor not being connected with single-chip microcomputer
22nd, the first displacement transducer 30 and second displacement sensor 25, nine axle sensors 20, timing routine controller 21 and single-chip microcomputer 19
In afterbody storehouse cavity 13；Depth pressure sensor 37 and minisize pick-up head 38 are arranged in the inner chamber that mud first 1 is encircleed in taper；
First pressure sensor 27 is arranged on the inside of the first support air bag 8, and second pressure sensor 22 is arranged on the second support air bag
12 inside；First displacement transducer 30 is arranged on the first cylinder 29 in the first advance steering mechanism, second displacement sensing
Device 25 is arranged on the second cylinder 24 in the second advance steering mechanism, and taper arch mud can install standby additional as required in first 1 inner chamber
With sensor 39.
Specifically, the location of robot and motion appearance are grasped by installing nine axle sensors 20 in communication unit
State；Depth pressure sensor 37 will be seen that the specific depth residing for robot；Video image is passed through list by minisize pick-up head 38
Piece machine 19 is transferred in control platform；First pressure sensor 27 and second pressure sensor 22 can control the first support air bag
8 and the second air pressure in support air bag 12；Timing routine controller 21 coordinates the first displacement transducer 30, second displacement sensor
25 drive the cylinder rod of cylinder in advance steering mechanism to stretch out different distances, then drive four spherical hinges to rotate certain
Angle, so as to reach the purpose of steering；The signal being collected into is transferred in control platform by single-chip microcomputer 19, is controlled using computer
The motion of system and monitoring robot.
First displacement transducer 30 is at least four, is separately mounted to corresponding first in the first advance steering mechanism
On cylinder 29.
The second displacement sensor 25 is at least four, is separately mounted to corresponding second in the second advance steering mechanism
On cylinder 24.
As shown in fig. 6, illustrating the motion principle that earthworm move in mud robot under water is imitated in this example：
In figure, 1 a is the most original state of robot；B is that two groups of supporting mechanisms of robot expand and support mud wall；
2 c are the interoperation of Gong Nitou mechanisms and advance steering mechanism, and the first advance steering mechanism 5 is by reciprocal fortune back and forth
It is dynamic, the soil in front is gone out into the hole that length is 25mm, the i.e. distance that the first advance steering mechanism 5 stretches out；
3 when 25mm stretches out in the first advance steering mechanism 5, first group of supporting mechanism exhaust, then the first advance steering mechanism 5
Withdraw, the second advance steering mechanism 9 stretches out, promote the first advance steering mechanism 5 to move forward 25mm, i.e. d stages；
After 4 second advance steering mechanism 9 stretch out, first group of supporting mechanism inflation simultaneously supports mud wall, the second supporting mechanism row
Gas；
After 5 second supporting mechanisms have been vented, the second advance steering mechanism 9 is withdrawn, and second group of supporting mechanism inflation is simultaneously supported
Mud wall, i.e. e stages；
6 after the e stages, and bio-robot has been returned to original state f.This completes the entirety of bio-robot is compacted
Dynamic overall process, robot has integrally moved forward a step pitch, so repeatedly, realizes constantly wriggling forward for robot.
If the mud machine of arch under water of imitative earthworm can be made to robot Reverse Turning Control using Creeping Principle more than robot
People draws back, and is then changing direction of advance forward, to realize the purpose of avoiding obstacles.
Claims (10)
1. a kind of move in mud robot under water of imitative earthworm, it is characterised in that including be linked in sequence Gong Nitou mechanisms, first advance
Steering mechanism, the first supporting mechanism, the second advance steering mechanism, the second supporting mechanism, afterbody storehouse and communication unit, described first
The first spherical hinge in advance steering mechanism is connected with the drive end bearing bracket in Gong Nitou mechanisms；First in first advance steering mechanism
Universal joint hinge is connected with the first connecting plate in the first supporting mechanism；The second spherical hinge in second advance steering mechanism and
The rear end connection of one supporting mechanism；Second in the second universal joint hinge and the second supporting mechanism in second advance steering mechanism
Connecting plate is connected；The rear end connection afterbody storehouse of second supporting mechanism, communication unit and Gong Nitou mechanisms, the first advance steering machine
Structure, the first supporting mechanism, the second advance steering mechanism, the second supporting mechanism and the electrical connection of afterbody storehouse.
2. the move in mud robot under water of imitative earthworm according to claim 1, it is characterised in that the Gong Nitou mechanisms include
Mud head is encircleed in taper, and the taper arch mud head is cavity, and the rearward end of cavity is provided with the first groove；
Provided with fixed rotation platform outer ring and mobilizable rotation platform inner ring in rotation platform, the rotation platform；
Steering wheel fixed plate, the steering wheel fixed plate is provided with steering wheel；
Drive end bearing bracket, the interior forward end of the drive end bearing bracket is provided with the second groove；
The taper arch mud head, rotation platform, steering wheel fixed plate, drive end bearing bracket order are equipped, and inner ring passes through dynamic transfering rod and cone
Shape arch mud head connection, dynamic transfering rod rear end is arranged on inner ring front end face, and dynamic transfering rod front end is inserted in the first groove, steering wheel
Installed in steering wheel fixed plate rear end central part and be embedded into the second groove, the output shaft of steering wheel is connected with dynamic transfering rod.
3. the move in mud robot under water of imitative earthworm according to claim 1, it is characterised in that the first advance steering machine
4 spherical hinges, 4 cylinders and 4 universal joint hinges that structure includes being linked in sequence constitute 4 by a spherical hinge, a cylinder
The the first advance steering unit constituted with a universal joint hinge, wherein 3 the first advance steering units are driving link, another 1
First advance steering unit is driven member, and driven member is arranged on the rear end face center of drive end bearing bracket, and 3 driving links are using driven member in
The heart is equidistant to be evenly distributed on the rear end face of drive end bearing bracket and the angle of each two driving link formation is 120 °, is set on each cylinder
There is displacement transducer.
4. the move in mud robot under water of imitative earthworm according to claim 1, it is characterised in that first group of described support machine
Structure includes the first supporting mechanism inner chamber, and the front end of the first supporting mechanism inner chamber is provided with the first connecting plate, the first supporting mechanism inner chamber
Outside be provided with the first support air bag.
5. the move in mud robot under water of imitative earthworm according to claim 1, it is characterised in that the second advance steering machine
4 spherical hinges, 4 cylinders and 4 universal joint hinges that structure includes being linked in sequence constitute 4 by a spherical hinge, a cylinder
The the second advance steering unit constituted with a universal joint hinge, wherein 3 the second advance steering units are driving link, another 1
Second advance steering unit is driven member, and driven member is arranged on the rear end face center of inner chamber 7, and 3 driving links are using driven member in
The heart is equidistant to be evenly distributed on the rear end face of the first supporting mechanism inner chamber, the angle of each two driving link formation is 120 °, often
Individual cylinder is provided with displacement transducer.
6. the move in mud robot under water of imitative earthworm according to claim 1, it is characterised in that second group of described support machine
Structure includes the second supporting mechanism inner chamber, and the front end of the second supporting mechanism inner chamber is provided with the second connecting plate, the second supporting mechanism inner chamber
Outside be provided with the second support air bag.
7. the move in mud robot under water of imitative earthworm according to claim 1, it is characterised in that described afterbody storehouse is chamber
Body, cavity is provided with vent cover.
8. the move in mud robot under water of imitative earthworm according to claim 1, it is characterised in that the communication unit includes electricity
Nine axle sensors, timing routine controller, single-chip microcomputer and the depth pressure sensor being connected respectively with single-chip microcomputer of connection,
Minisize pick-up head, first pressure sensor, second pressure sensor, the first displacement transducer and second displacement sensor, nine axles
Sensor, timing routine controller and single-chip microcomputer are arranged in the cavity of afterbody storehouse；Depth pressure sensor and minisize pick-up head peace
In the inner chamber for encircleing mud head mounted in taper；First pressure sensor is arranged on the inside of the first support air bag, second pressure sensor
Installed in the inside of the second support air bag；First displacement transducer is arranged on the first cylinder in the first advance steering mechanism,
Second displacement sensor is arranged on the second cylinder in the second advance steering mechanism, can be as required in taper arch mud head inner chamber
Install backup sensors additional.
9. the move in mud robot under water of imitative earthworm according to claim 8, it is characterised in that first displacement transducer
For at least four, it is separately mounted in the first advance steering mechanism on corresponding first cylinder.
10. the move in mud robot under water of imitative earthworm according to claim 8, it is characterised in that the second displacement sensing
Device is at least four, is separately mounted in the second advance steering mechanism on corresponding second cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710445841.7A CN107187568A (en) | 2017-06-14 | 2017-06-14 | A kind of move in mud robot under water of imitative earthworm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710445841.7A CN107187568A (en) | 2017-06-14 | 2017-06-14 | A kind of move in mud robot under water of imitative earthworm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107187568A true CN107187568A (en) | 2017-09-22 |
Family
ID=59878850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710445841.7A Pending CN107187568A (en) | 2017-06-14 | 2017-06-14 | A kind of move in mud robot under water of imitative earthworm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107187568A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639282A (en) * | 2018-04-11 | 2018-10-12 | 哈尔滨工程大学 | A kind of underwater no-dig technique wears cable robot operating system and operational method |
| CN109057707A (en) * | 2018-06-28 | 2018-12-21 | 武汉大学 | A kind of bionical suslik intelligence driving system |
| GB2567898A (en) * | 2017-10-31 | 2019-05-01 | Conti Lorenzo | Propulsion in granular media |
| CN112285860A (en) * | 2019-07-24 | 2021-01-29 | 脸谱公司 | System and method for laying underground optical cable |
| CN113148078A (en) * | 2021-05-17 | 2021-07-23 | 沈阳农业大学 | Machine fish operating under mud |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2391818Y (en) * | 1999-11-10 | 2000-08-16 | 中国科学院沈阳自动化研究所 | Underwater climbing type equipment for tapping mud |
| CN1299915A (en) * | 1998-02-05 | 2001-06-20 | 施卢默格控股有限公司 | Automatically controlled rotation-controllable drilling system and drilling method |
| CN2484155Y (en) * | 2001-07-16 | 2002-04-03 | 中国科学院沈阳自动化研究所 | Crawling-creeping mechanism of underwater automatic mud-capturing robot |
| JP2007210361A (en) * | 2006-02-07 | 2007-08-23 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
| CN102493763A (en) * | 2011-12-02 | 2012-06-13 | 同济大学 | Robot imitating earthworm to penetrate into earth |
| CN203779494U (en) * | 2014-03-04 | 2014-08-20 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging functions |
| CN104406575A (en) * | 2014-11-28 | 2015-03-11 | 西安交通大学 | High-precision novel biomimetic eye device and use method |
| CN104460672A (en) * | 2014-11-17 | 2015-03-25 | 哈尔滨理工大学 | Bionic hexapod robot control system and control method |
| CN104727749A (en) * | 2015-01-29 | 2015-06-24 | 同济大学 | Creeping ground drilling robot |
| CN105171729A (en) * | 2015-08-14 | 2015-12-23 | 桂林电子科技大学 | Loach-simulated underwater silt detecting robot |
| CN106078716A (en) * | 2016-06-17 | 2016-11-09 | 西北工业大学 | A kind of have the snake-shaped robot boring ground function |
-
2017
- 2017-06-14 CN CN201710445841.7A patent/CN107187568A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1299915A (en) * | 1998-02-05 | 2001-06-20 | 施卢默格控股有限公司 | Automatically controlled rotation-controllable drilling system and drilling method |
| CN2391818Y (en) * | 1999-11-10 | 2000-08-16 | 中国科学院沈阳自动化研究所 | Underwater climbing type equipment for tapping mud |
| CN2484155Y (en) * | 2001-07-16 | 2002-04-03 | 中国科学院沈阳自动化研究所 | Crawling-creeping mechanism of underwater automatic mud-capturing robot |
| JP2007210361A (en) * | 2006-02-07 | 2007-08-23 | Mhi Solution Technologies Co Ltd | Fish-shaped robot |
| CN102493763A (en) * | 2011-12-02 | 2012-06-13 | 同济大学 | Robot imitating earthworm to penetrate into earth |
| CN203779494U (en) * | 2014-03-04 | 2014-08-20 | 青岛海艺自动化技术有限公司 | Snakelike robot with creeping and swinging functions |
| CN104460672A (en) * | 2014-11-17 | 2015-03-25 | 哈尔滨理工大学 | Bionic hexapod robot control system and control method |
| CN104406575A (en) * | 2014-11-28 | 2015-03-11 | 西安交通大学 | High-precision novel biomimetic eye device and use method |
| CN104727749A (en) * | 2015-01-29 | 2015-06-24 | 同济大学 | Creeping ground drilling robot |
| CN105171729A (en) * | 2015-08-14 | 2015-12-23 | 桂林电子科技大学 | Loach-simulated underwater silt detecting robot |
| CN106078716A (en) * | 2016-06-17 | 2016-11-09 | 西北工业大学 | A kind of have the snake-shaped robot boring ground function |
Non-Patent Citations (3)
| Title |
|---|
| 任福君: "拱泥机器人运动特性分析与仿真", 《机械工程学报》 * |
| 颜兵兵: "拱泥仿生机器人系统设计及其虚拟样机研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
| 魏洪兴等: "拱泥机器人原理样机的研制", 《中国造船》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2567898A (en) * | 2017-10-31 | 2019-05-01 | Conti Lorenzo | Propulsion in granular media |
| WO2019086870A1 (en) * | 2017-10-31 | 2019-05-09 | Lorenzo Conti | Propulsion in granular media |
| GB2567898B (en) * | 2017-10-31 | 2019-11-13 | Crover Ltd | Propulsion in granular media |
| RU2768074C2 (en) * | 2017-10-31 | 2022-03-23 | Кровер Лтд | Moving in loose medium |
| US11623703B2 (en) | 2017-10-31 | 2023-04-11 | Crover Ltd | Propulsion in granular media |
| CN108639282A (en) * | 2018-04-11 | 2018-10-12 | 哈尔滨工程大学 | A kind of underwater no-dig technique wears cable robot operating system and operational method |
| CN109057707A (en) * | 2018-06-28 | 2018-12-21 | 武汉大学 | A kind of bionical suslik intelligence driving system |
| CN112285860A (en) * | 2019-07-24 | 2021-01-29 | 脸谱公司 | System and method for laying underground optical cable |
| CN113148078A (en) * | 2021-05-17 | 2021-07-23 | 沈阳农业大学 | Machine fish operating under mud |
| CN113148078B (en) * | 2021-05-17 | 2023-11-10 | 沈阳农业大学 | Robotic fish running under mud |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107187568A (en) | A kind of move in mud robot under water of imitative earthworm | |
| CN103231751B (en) | Single-joint-sealed amphibious multi-legged robot | |
| CN101456341B (en) | Multimode bionic amphibious robot | |
| CN202554779U (en) | Bionic ant type robot | |
| CN202935468U (en) | Centipede type biomimetic multi-foot robot | |
| CN108674521B (en) | Underwater silt-sinking prevention walking method for multi-legged robot | |
| CN108146167B (en) | Wheel leg type composite driving mechanism for amphibious spherical robot | |
| CN103273979A (en) | Splittable snake-like robot with multiple motion modes | |
| CN104727749A (en) | Creeping ground drilling robot | |
| CN101285387A (en) | Propelling plant for earth pressure balancing shield | |
| Boxerbaum et al. | A new theory and methods for creating peristaltic motion in a robotic platform | |
| CN102506266A (en) | Bionic squirm type pipeline travelling mechanism and control method thereof | |
| CN107390530A (en) | A kind of bionical jellyfish design and control method based on memory alloy spring driving | |
| CN104192288A (en) | Frog swimming imitation robot based on pneumatic muscle drive | |
| CN101157381A (en) | Double bodies machinery fish | |
| CN109519188A (en) | Bionic micropore diameter bores expansion formula underground mole | |
| CN102490884A (en) | Ray-imitating robot body structure with underwater three-dimensional athletic ability | |
| CN105539628A (en) | Wheeled leg type cockroach-shaped bio-robot | |
| CN209308687U (en) | A kind of bionic micropore diameter brill expansion formula underground development machine | |
| CN103317505A (en) | Shape-shifting soft robot | |
| CN207901156U (en) | A kind of snakelike underground rescue robot of nodular | |
| CN112109085B (en) | CPG network topology structure control method of humanoid beaver robot | |
| CN207773294U (en) | Two-wheeled self-balancing transformable robot | |
| CN201577398U (en) | Walk training device for rat with spinal cord injury | |
| CN114109255B (en) | Drilling device based on bionics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170922 |