CN110920334A - Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method - Google Patents

Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method Download PDF

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Publication number
CN110920334A
CN110920334A CN201911281497.8A CN201911281497A CN110920334A CN 110920334 A CN110920334 A CN 110920334A CN 201911281497 A CN201911281497 A CN 201911281497A CN 110920334 A CN110920334 A CN 110920334A
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robot
foot
paddle
driving
joint
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CN110920334B (en
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王刚
马鑫盟
张易豪
陈曦
贾鹏
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Harbin Engineering University
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Harbin Engineering University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007Arrangement of propulsion or steering means on amphibious vehicles

Abstract

The invention discloses a foot paddle-wing hybrid drive type amphibious operation bionic robot and a motion method, wherein the robot comprises a robot body, at least four groups of foot paddle drive modules which independently control rotary motion are symmetrically arranged on two sides of the robot body, and all the foot paddle drive modules are inclined downwards and have the same inclination angle; at least two groups of tail wing driving modules which independently control the vertical swing are symmetrically arranged at the tail part of the machine body. The robot has crawling and floating motion modes, can work at any depth in water, does not need a buoyancy adjusting device, has strong adaptability to irregular ground and different water area environments by virtue of fewer motors, improves the crawling stability and obstacle crossing capability of the robot, simplifies the adjusting process, and has the advantages of simple structure, high flexibility, light weight and strong comprehensive motion performance.

Description

Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method
Technical Field
The invention belongs to the technical field of amphibious bionic robots, and relates to a foot paddle-wing hybrid drive type amphibious operation bionic robot and a motion method.
Background
As is known, the ocean area accounts for 71% of the total area of the earth, and the ocean is the second largest space behind the land, which is the first, sea, air and sky of the four tactical spaces on which humans live and develop, is the strategic development base of energy, biological resources and metal resources, and is the most practical and potential space at present. The sea as the blue country is closely related to the survival and development of human beings, and after the 21 st century, the human beings more strongly feel the pressure that the land resources are increasingly tense. The ocean will become an important base for human sustainable development and is a future hope of human beings. The underwater robot is developed from the second half of the 20 th century, is accompanied with the continuous development of the processes of understanding the sea, developing the sea and protecting the sea by human beings, is specially used for the underwater robot which is grown in the region and depth which are difficult to reach by the common diving technology and can perform various tasks, most of the existing underwater robots are more like a micro submarine in appearance, are underwater operation aiming at the deep sea environment, and have weaker operation capability in shallow water, a broken wave zone and a beach region, and even can not operate; while the robot for onshore applications is especially stranded for very shallow water and wave-breaking zones. An amphibious robot is a special mobile robot integrating specific motions on land and water, but the existing underwater robots, no matter whether the robot is multi-legged, wavy, wheeled, crawler-type and the like, are difficult to realize that the robot can freely adjust the sinking and floating in water and simultaneously meet the requirements on the speed, obstacle-crossing capability, maneuverability, stability and the like on land, and particularly, the amphibious robot is easy to wind in a driving mode of continuously rotating in a region with luxuriant aquatic life and cannot effectively work. The invention provides a novel hybrid-driven underwater robot, and the research on a novel motion mode becomes one of important research directions and development trends of amphibious robots in recent years.
In the process of implementing the invention, the inventor finds that the prior art has the following disadvantages: in the chinese patent application No. 200920266709.0, the driving mechanism is designed to make the robot push the robot body to move through the driving wheel or the propeller under different environments; the robot has the disadvantages that the obstacle crossing capability of the robot is poor in the crawling process, the wheels or the paddles are in rigid collision with the ground, plastic deformation is easy to occur, the robot does not have the capability of floating upwards and submerging in water, three buoys are required to be carried to adjust the depth of the robot in the water, the robot system is complex, and the weight of the robot is large; on the other hand, in the area with luxuriant aquatic life, the propeller rotates at high speed and is easy to be wound, so that the robot is trapped in the area and is difficult to get rid of. The Chinese patent of application No. 201710155344.3 realizes the floating and diving of the robot in water through the design of a wheel-propeller steering mechanism, but the mechanism is too complex, and the problems that the obstacle crossing capability on land is weak, the movement is not stable, and the wheel-propeller driving system is easy to be wound with aquatic organisms in a region with abundant aquatic organisms are still not solved. The chinese patent of application No. 201720946173.1, the drive form of working under the luxuriant environment of aquatic thing has been proposed, its shortcoming lies in by two fins of a motor drive, the motion flexibility is relatively poor, though can be in aquatic linear motion, realize the reciprocating motion of paddle through the spring restoring force, output torque is less, can only promote the very little robot of volume to move in the aquatic, and the purpose of this patent is through the flapping of two paddles of a motor drive of a neotype mechanism realization, actual motion is extremely single, underwater operation ability is extremely limited.
Disclosure of Invention
In order to solve the problems, the invention provides a foot paddle-wing hybrid drive type amphibious operation bionic robot which has crawling and floating motion modes, can work at any depth in water, does not need a buoyancy adjusting device, has strong adaptability to irregular ground and different water area environments by fewer motors, improves the crawling stability and obstacle crossing capability of the robot, simplifies the adjusting process, has a simple structure, high flexibility, light weight and strong comprehensive motion performance, and solves the problems in the prior art.
The invention also aims to provide a motion method of the foot paddle-wing hybrid drive type amphibious operation bionic robot.
The technical scheme adopted by the invention is that the foot paddle-wing hybrid drive type amphibious operation bionic robot comprises a robot body, wherein at least four groups of foot paddle drive modules which independently control rotary motion are symmetrically arranged on two sides of the robot body, and all the foot paddle drive modules are inclined downwards and have the same inclination angle; at least two groups of tail wing driving modules which independently control the vertical swing are symmetrically arranged at the tail part of the machine body.
Furthermore, the four groups of the foot paddle driving modules have the same structure, each group of the foot paddle driving modules comprises a foot paddle mixing propulsion device and a first driving joint, each foot paddle mixing propulsion device is connected with the output end of the corresponding rotary driving device through the first driving joint, the first driving joint is installed in a foot paddle driving frame, and the foot paddle driving frame is connected with the machine body.
Furthermore, the foot paddle mixing propulsion device comprises a hub, a rim and paddles, wherein the hub is connected with an output shaft of the first driving joint, a plurality of paddles are uniformly and fixedly connected to the outer circumferential surface of the hub along the circumferential direction, the outer edge of each paddle is connected with the arc-shaped rim, one end of the rim is connected with the paddles, the other end of the rim is a free end, gaps exist between the free ends and the paddles, all the rims are located on the same circumference, and the circle center is located on the axis of the hub.
Further, the size of the rim is not smaller than the size of the outer edge of the corresponding blade.
Further, the outer end of the hub is conical.
Further, the included angle between the foot paddle driving module and the horizontal direction is not more than 20 degrees.
Furthermore, all the tail wing driving modules have the same structure, each group of tail wing driving modules comprises a second driving joint and a tail wing, the tail wing is fixedly installed on an output shaft of the second driving joint, the output shaft of the second driving joint rotates in a reciprocating mode to drive the tail wing to flap up and down, the second driving joint is installed in a tail wing frame, and the tail wing frame is connected with the engine body.
Furthermore, the output shaft of the rotary joint of the second driving joint is connected with the connecting rod, so that the connecting rod relatively rotates or swings, the motor of the second driving joint adopts a split-type direct-current torque motor, a motor stator is fixedly connected with a joint shell, a motor rotor is fixedly connected with a wave generator of a split-type harmonic reducer, the motor rotor is mounted on a motor support of the joint shell through a rolling bearing, a flexible wheel of the harmonic reducer is connected with an end cover, an angle sensor is connected with the end cover through a short shaft, the end cover is connected with the joint shell in a dynamic sealing manner, the flexible wheel is parallel to the end cover, a rigid wheel of the harmonic reducer is connected with the joint shell, the joint shell is connected with an empennage frame, the angle sensor is fixed on the joint shell through a sensor support.
Further, a sealed control cabin is arranged on the machine body and is used for installing a second driving joint and a driving control device of the first driving joint; every No. two drive joints, No. one drive joint respectively independent seal, carry out static seal through O type circle, carry out the action through the glary circle and seal, No. two drive joints improve the bearing capacity through inside oil charge or the mode that the outside provided pressure compensation.
A motion method of a foot paddle-wing hybrid drive type amphibious operation bionic robot comprises the following steps:
the forward rotation and the reverse rotation of the foot-paddle hybrid propulsion device are controlled to realize the forward movement, the backward movement, the left turning and the right turning of the robot on the land;
controlling the left front side foot paddle hybrid propulsion device and the right rear side foot paddle hybrid propulsion device of the robot to rotate forward at a high speed, and simultaneously controlling the right front side foot paddle hybrid propulsion device and the left rear side foot paddle hybrid propulsion device of the robot to rotate reversely at a high speed to realize right steering with the minimum turning radius of 0 in water of the robot;
controlling the right front side foot paddle hybrid propulsion device and the left rear side foot paddle hybrid propulsion device of the robot to rotate forward at a high speed, and simultaneously controlling the left front side foot paddle hybrid propulsion device and the right rear side foot paddle hybrid propulsion device of the robot to rotate reversely at a high speed to realize left steering with the minimum turning radius of 0 in water of the robot;
the robot body is in a horizontal position, and all the foot paddle mixing propulsion devices are controlled to rotate reversely, so that the robot submerges;
the robot body is in a horizontal position, all the foot paddle hybrid propulsion devices are controlled to rotate in the forward direction, and the suspension posture or floating of the robot in water can be kept by component force in the vertical direction;
the two-side foot paddle mixing propulsion device in front of the robot is controlled to rotate reversely, and the two-side foot paddle mixing propulsion device in back of the robot rotates forwards, so that the robot rolls forwards in water;
the forward rotation of the two-side foot paddle mixing propulsion device in front of the robot and the reverse rotation of the two-side foot paddle mixing propulsion device behind the robot are controlled, so that the robot rolls backwards in water;
controlling all the tail wings to flap simultaneously to push the robot to advance in water; controlling the left empennage to stop flapping and the right empennage to flap to push the robot to turn left in water; and controlling the tail wing at the right side to stop flapping, and controlling the tail wing at the left side to flap, so as to push the robot to turn right in water.
The invention has the advantages that:
1. the two sides of the robot body are symmetrically provided with the foot paddle driving modules which form a certain angle with the horizontal direction, so that the robot can move on the ground and under the water; the tail part of the machine body is provided with a tail wing driving module, the floating movement in water is realized in a form of double tail wings flapping back and forth, and the winding cannot occur in the area with luxuriant aquatic life; when the underwater suspension motion is performed, the four-wheel drive four.
2. The robot can generate multidirectional propelling force when moving in water by changing the installation angle of the foot paddle driving module and by the vector cooperation between force and force, thereby completing the work of more freedom degree movement; the buoyancy adjusting device is omitted, the structure is simple, flexible and changeable, the size and weight of the robot are reduced, the number of motors of the robot is reduced, and the adjusting process of the robot is simplified.
3. According to the invention, a bionic foot buffer design is adopted, the foot paddles are respectively made into the wheel rims and the paddles, gaps exist between the wheel rims and the paddles, and two adjacent wheel rims are separated and disconnected, so that the crawling stability and obstacle crossing capability of the robot are improved, and the adaptability to a complex environment is enhanced; has important significance for the development and utilization of ocean resources.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an axial schematic view of an embodiment of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a schematic structural diagram of a foot-paddle hybrid propulsion device in an embodiment of the invention.
Fig. 4 is a schematic diagram of a state that the robot climbs a high terrain.
Fig. 5 is a view showing the structure of the first drive joint.
Fig. 6 is a structural view of a second drive joint.
Fig. 7 is a schematic diagram of the robot force under the condition that all the driving joints rotate positively.
Fig. 8 is a force-bearing schematic diagram of the robot when turning to the right at zero turning radius.
Fig. 9 is a force-bearing schematic diagram of the robot when turning left at zero turning radius.
Fig. 10 is an exemplary graph of the force when the robot rolls over before it is in the water.
Fig. 11 is a schematic diagram of the force applied when the robot rolls over after being in water.
In the figure, 1 is a foot paddle mixing propulsion device, 1 is a blade, 1 is a wheel rim, 2 is a first driving joint, 3 is a foot paddle driving frame, 4 is a machine body, 5 is a sealed control cabin, 6 is a tail wing frame, 7 is a tail wing, 8 is a second driving joint, and 9 is a highland.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a foot paddle-wing hybrid drive type amphibious operation bionic robot, which comprises a robot body 4, wherein four groups of foot paddle drive modules for independently controlling rotary motion are symmetrically arranged on two sides of the robot body 4, the two groups of foot paddle drive modules which are symmetrical on the two sides incline downwards, and the inclination angles are the same; two groups of empennage driving modules which independently control the up-and-down swinging are symmetrically arranged at the tail part of the machine body 4.
The four groups of the foot paddle driving modules have the same structure, each group of the foot paddle driving modules comprises a foot paddle mixing propulsion device 1 and a first driving joint 2, each foot paddle mixing propulsion device 1 is connected with the output end of the corresponding rotary driving device through the first driving joint 2, the first driving joint 2 is installed in a foot paddle driving frame 3, and the foot paddle driving frame 3 is connected with the machine body 4.
The two groups of tail wing driving modules are identical in structure, each group of tail wing driving modules comprises a second driving joint 8 and a tail wing 7, the tail wings 7 are directly and fixedly installed on output shafts of the second driving joints 8, the output shafts of the second driving joints 8 rotate in a reciprocating mode to drive the tail wings 7 to flap up and down, the second driving joints 8 are installed in a tail wing frame 6, and the tail wing frame 6 is connected with the machine body 4.
As shown in fig. 3, a bionic foot buffering design is introduced, the foot paddle mixing propulsion device 1 comprises a hub, a rim 1-2 and blades 1-1, the hub is connected with an output shaft of a first driving joint 2, a plurality of blades 1-1 are uniformly and fixedly connected to the outer circumferential surface of the hub along the circumferential direction, the outer edge of each blade 1-1 is connected with an arc-shaped rim 1-2, one end of each rim 1-2 is connected with the blade 1-1, the other end of each rim 1-2 is a free end, so that adjacent rims 1-2 are independent and disconnected, the length of each rim 1-2 is not more than one third of the circumference of the foot paddle mixing propulsion device 1, the interval between the rims is ensured, and good obstacle crossing capability is ensured; a gap is formed between the free end and the paddle 1-1, so that the vibration generated by uneven running plane when the robot crawls on land or under water can be effectively reduced, and the crawling stability of the robot is improved; all the wheel rims 1-2 are positioned on the same circumference, and the circle centers are positioned on the axis of the wheel hub; the size of the wheel rim 1-2 is not smaller than the size of the outer edge of the corresponding blade 1-1, so that sufficient buffering effect is ensured, and the blade 1-1 cannot be worn due to direct contact with the ground; the foot paddle mixing propulsion device 1 is made of high-toughness and high-strength materials, for example, carbon fiber composite materials, so that plastic deformation cannot be generated in the working process of the robot, and the relatively thin wheel rim 1-2 and the relatively thin paddle 1-1 are not easy to damage. The outer end of the hub is conical, and the purpose is to adopt a streamline design to reduce underwater resistance.
The robot needs to deal with the amphibious environment of shoal, and the robot needs the lower but moment of joint speed great when climbing on land, needs the higher but moment of joint rotational speed to require less when floating in the aquatic, and a drive joint 2 can satisfy the technical index requirement in land and the underwater motion process simultaneously. The first driving joint 2 consists of a direct-current brushless frameless torque motor, a planetary reducer, a built-in driver, a sensor and a waterproof shell. The motor rotor is a high-speed end, a joint output shaft subjected to speed reduction by the planetary reducer is a low-speed end, and a speed sensor is arranged at the high-speed end and used for feeding back the rotating speed of the motor in real time; the position sensor is arranged at the low-speed end, so that the position information of the joint output end can be fed back in real time, the contact sequence and the contact time difference between different foot paddles and the ground can be adjusted, and the control of the step sequence and the gait of the robot in the motion process can be realized; the motor driver can monitor the working parameters of the motor such as the rotating speed, the current and the like in real time, and control of the working state of the motor is realized. A speed sensor and a position sensor are respectively arranged at the output end of the first driving joint 2, the working state of a motor is fed back in real time, the position control and the speed control of the joint are realized, and the specific control device adopts the existing device in the field. The motor driver, the speed sensor and the position sensor are all arranged in the watertight shell, and the integration and modularization of the robot driving joint are realized by transmitting signals and supplying power through the watertight cable. The first driving joint 2 has two driving modes, namely a torque mode and a high-speed mode, the torque can reach 4 N.m when the motor rotates at low speed in the low-speed mode, the rotating speed can reach 600rpm in the high-speed mode, and the performance requirements of a robot crawling process and a floating process can be met respectively. The foot paddle hybrid propulsion device 1 is installed on an output shaft of the first driving joint 2 through molded surface connection and can rotate under the driving of the output shaft of the first driving joint 2, and the propulsion of the robot under an amphibious environment is achieved.
The left tail wing 7 and the right tail wing 7 work independently and are respectively connected with two second driving joints 8 which work independently, the second driving joints 8 are composed of frameless motors and reducers and are arranged at the tail part of the machine body 4 through couplers, and the reciprocating rotation of a motor main shaft can be controlled through a program so as to drive the tail wings 7 to reciprocate; the reciprocating frequency of the tail wing 7 is adjusted by changing the rotating speed of the motor, so that the reciprocating flapping frequency of the tail wing 7 can be adjusted.
As shown in fig. 6, the rotary joint output shaft of the second driving joint 8 is connected to the connecting rod, so that the connecting rod makes relative rotation or swing, and the driving device of the second driving joint 8 is a power source for rotary motion and can generate rotation motion and torque. Each joint of the second driving joint 8 is in a rotary joint form, and in order to enable the structure to be compact and to have a large transmission ratio, a transmission form of a split-type direct-current torque motor and a split-type harmonic reducer is adopted. The motor stator is fixedly connected with the joint shell, the motor rotor is directly and fixedly connected with a wave generator of the harmonic reducer, and in order to ensure smooth operation and compact structure, the motor rotor is arranged on a motor bracket of the joint shell through a rolling bearing; the flexible gear is fixedly connected with the joint end cover, the end cover and the joint shell are subjected to dynamic sealing treatment and can rotate under the driving of the flexible gear to serve as an output shaft of the joint, the flexible gear is parallel to the end cover, and the end cover is used for determining the spatial position of a shaft of the rotor. The rigid wheel is connected with the joint shell, the fixed end of the angle sensor is fixed on the joint shell through the sensor support, the input end of the angle sensor is connected with the end cover through the short shaft, the rotation angle of the joint end cover can be measured, and the joint shell is connected with the empennage frame 6; when the rigid wheel is fixed, the wave generator serves as a driving part, the flexible wheel serves as a driven part, the wave generator is driven by the motor to rotate at a high speed, and the flexible wheel drives the end cover to output a low rotating speed, so that the L end of the joint moves relative to the R end. The second driving joint 8 is electrically driven, so that the control precision is high, the response is fast, the noise is low, and the accurate position control and process control can be realized. Compared with other driving modes, the actual energy consumption power of the electric driving is the lowest, but complete sealing treatment needs to be carried out on a motor, an angle sensor and the like in the joint.
The machine body 4 is provided with a sealed control cabin 5 for installing driving control devices of a first driving joint 2 and a second driving joint 8, and the corresponding driving control devices are known in the field and can control the motion of a foot paddle driving module and a tail wing driving module, so that different motion modes of the robot are realized; in order to improve the reliability of sealing and increase the motion safety of the robot, each second driving joint 8 and each first driving joint 2 are respectively and independently sealed, the sealing of the joints mainly comprises static sealing and dynamic sealing, and the static sealing is carried out through an O-shaped ring, so that the robot has the advantages of simple structure, high sealing reliability, low cost, wide application range, long service cycle and the like; carry out the dynamic seal through the glary circle, when No. two drive joints 8 during operation in the environment under water, along with the increase of depth of water, the external pressure that the joint casing bore also corresponding increase, if simple dependence sealing washer seals the joint, can lead to the fact destruction to the seal structure of joint when the external pressure is too big, can lead to water to enter into inside the joint even, cause the damage of spare part in the joint. Therefore, when the water depth is larger, the second driving joint 8 can adopt a method of internal oil filling and external pressure compensation to improve the bearing capacity of the joint.
The working principle and the movement method of the embodiment of the invention are as follows:
the two sides of the machine body 4 are symmetrically provided with the foot-paddle hybrid propulsion devices 1 which form a certain angle (namely incline downwards) with the horizontal direction, the foot-paddle hybrid propulsion devices 1 rotate, and the friction force between the wheel rim 1-2 and the contact surface is utilized to realize the motion on the ground and the water bottom; when the robot moves in water, the bilateral symmetric foot-paddle hybrid propulsion device 1 can counteract the thrust in the horizontal direction to generate a vertical upward thrust, so that the robot floats upwards and submerges downwards in water, and can work at any depth in water; further, the posture of the robot in the water is adjusted by adjusting the rotating direction and the rotating speed of the foot-paddle hybrid propulsion device 1.
When the robot moves on the ground, the robot is pushed to move forwards by driving all the foot paddle hybrid propulsion devices 1 to rotate forwards; the left foot paddle hybrid propulsion device 1 is driven to rotate forwards, and the right foot paddle hybrid propulsion device 1 rotates backwards, so that the right steering of the robot is realized; on the contrary, the left steering of the robot is realized by driving the right foot-paddle hybrid propulsion device 1 to rotate forwards and driving the left foot-paddle hybrid propulsion device 1 to rotate backwards; compared with the traditional Ackerman steering mechanism, the steering mechanism has smaller turning radius, the minimum turning radius is 0, and the steering mechanism is more suitable for movement in a narrow space.
When the robot moves in a suspended mode in water, the robot is provided with a tail wing drive system and a foot paddle drive system, and two sets of mutually independent drive systems enable the robot to select a specific drive method according to the environment water area and the biological luxuriant condition, and the stability and the maneuverability of the robot in the moving process are improved through the mutual matching between the foot paddle and the tail wing 7. Meanwhile, under the amphibious environment with luxuriant aquatic life and complex terrain, the working stability and safety of the amphibious vehicle are guaranteed.
If aquatic life is luxuriant, the continuous high-speed rotating mechanism is easy to wind, for example, the traditional underwater propelling mechanisms such as a propeller are difficult to work continuously, and at the moment, the tail wing 7 can be used for realizing advancing and steering. The tail wings 7 flap at different frequencies and amplitudes, propulsion forces in different sizes and directions can be generated, and the robot is pushed to advance, turn left and turn right by the mutual matching of the two tail wings 7. When turning to the left, the left empennage stops flapping, the right empennage flaps, and the robot is pushed to turn to the left; when turning to the right side, the tail wing on the right side stops flapping, and the tail wing on the left side flaps, so that the robot is pushed to turn right.
The head lowering and head raising of the robot in water can be realized by adjusting the up-and-down swinging amplitude of the tail wing 7 of the robot, for example, the downward swinging amplitude is reduced by increasing the upward swinging amplitude of the tail wing 7, and the tail part of the robot can be subjected to downward acting force through the interaction between forces, so that the head raising action of the robot in water is realized; the downward swinging amplitude of the tail wing 7 is increased, the upward swinging amplitude is reduced, and the tail of the robot can be subjected to upward acting force through the interaction between the forces, so that the robot can realize the action of lowering the head in water.
In areas with relatively few aquatic life, the robot can utilize the foot-paddle hybrid propulsion device 1 to realize a plurality of actions in water; as shown in figure 8, the left front side and the right rear side of the robot are subjected to upward force F along the first driving joint 2 by the forward high-speed rotation of the left front side foot paddle hybrid propulsion device 1 and the right rear side foot paddle hybrid propulsion device 12、F4The right front side foot paddle hybrid propulsion device 1 and the left rear side foot paddle hybrid propulsion device 1 rotate reversely at high speed, and the right front side and the left rear side of the robot are subjected to downward force F along the first driving joint 21、F3Because the first driving joint 2 inclines downwards, the left front side foot paddle hybrid propulsion device 1 and the right front side foot paddle hybrid propulsion device 1 generate vertical direction component force Fy3、Fy4Balanced, horizontal right force Fx3、Fx4Superposed with each other, the vertical direction component force F generated by the left rear side foot paddle hybrid propulsion device 1 and the right rear side foot paddle hybrid propulsion device 1y1、Fy2Balanced, horizontal leftward force Fx1、Fx2The front end of the robot is subjected to rightward thrust and the rear end of the robot is subjected to leftward thrust by mutual superposition, so that the right steering of the robot with the minimum turning radius of 0 is realized; otherwise, as shown in FIG. 9, Fy3And Fy4、Fy1And Fy2Are balanced with each other in the vertical direction. Fx3And Fx4Synthesizing a resultant force to the left at the front end of the robot, Fx1And Fx2And a right resultant force is formed at the tail part of the robot, so that the left steering with the minimum turning radius of 0 of the robot can be realized. When the robot is in a horizontal position in water as shown in fig. 7, because the first driving joint 2 inclines downwards, when the four groups of the foot-paddle hybrid propulsion devices 1 rotate in the forward direction, the two symmetrical foot-paddle hybrid propulsion devices 1 respectively receive acting force F upwards inclining along the first driving joint 21、F2Due to the symmetry of the structure, the component force F is applied to the two sides of the robot in the horizontal directionx1And Fx2Balanced with each other, component F in the vertical directiony1And Fy2The upper part and the lower part of the robot are overlapped to realize the upward floating of the robot; in a similar way, when four foot paddles are mixed and pushed into the devicePut 1 reversal, realize the dive of robot. When the two foot-paddle mixed propulsion devices 1 in front of the robot rotate reversely and the two foot-paddle mixed propulsion devices 1 in back rotate positively, F is arranged in the horizontal direction of the front end of the robotx3、Fx4Balanced with respect to each other, in the vertical direction Fy3、Fy4Are superposed and subjected to downward resultant force, and the rear end is in the horizontal direction Fx1、Fx2Parallel to each other, vertical direction Fy1、Fy2Superimposed on each other, are subjected to an upward resultant force, as shown in fig. 10, the robot effects a forward tumbling in the water. When the two foot-paddle mixed propulsion devices 1 in front of the robot rotate forwards and the two foot-paddle mixed propulsion devices 1 in back rotate backwards, the front end of the robot rotates in the horizontal direction Fx3、Fx4Balanced with each other in the vertical direction Fy3、Fy4Are superposed with each other and are subjected to upward resultant force, and the rear end of the robot is in the horizontal direction Fx1、Fx2Parallel to each other, vertical direction Fy1、Fy2Superimposed on each other, are subjected to a downward resultant force, as shown in fig. 11, the robot achieves a backward roll in the water. When the robot needs to advance in water, the body of the robot and a horizontal line form an included angle by adjusting the up-and-down swing amplitude of the tail wing 7 or changing the forward and reverse rotation matching of the front and rear foot paddles, specific data of the included angle needs to be calculated according to the weight of the robot in water, different underwater weights of the robot correspond to different angles, the four foot paddle hybrid propulsion devices 1 rotate forwards, the robot is subjected to an acting force perpendicular to the body in water, the vertical component force of the four foot paddle hybrid propulsion devices is used for keeping the suspension posture of the robot in water, and the horizontal component force of the four foot paddle hybrid propulsion devices is used for pushing the robot to advance. Meanwhile, the empennage 7 can normally swing no matter in a region with abundant aquatic organisms or a region with few aquatic organisms, and can be used as the power for the forward propulsion of the robot.
On land, as shown in fig. 4, when the robot needs to climb the high land 9, the empennage 7 is controlled to be in contact with the ground through the second driving joint 8, so as to assist the paddle hybrid propulsion device 1 to cross obstacles; when the front end of the robot climbs the high ground 9 and the rear end of the robot does not climb the high ground 9, the robot is clamped in a half-space state, the tail wing 7 is controlled to swing downwards through the second driving joint 8, and the tail of the robot is lifted up by means of the reaction force between the tail wing 7 and the ground, so that the robot climbs the high ground 9. The empennage 7 is made of materials with good elasticity and toughness, such as a 3D printing empennage made of photosensitive resin materials or an empennage made of carbon fiber materials, can meet the requirements, and prevents the robot from touching hard objects to generate plastic deformation when climbing high terrain to influence subsequent use.
The invention has the following advantages:
1. according to the invention, the foot-paddle hybrid propulsion devices 1 forming a certain angle with the horizontal direction are symmetrically arranged on two sides of the machine body 4, the foot-paddle hybrid propulsion devices 1 rotate, the crawling on the ground and the water bottom is realized by utilizing the friction force between the wheel rims 1-2 and the contact surface, the effective damping of the four-wheel drive vehicle on a rugged road surface is realized, and the motion trail of the center of gravity is enabled to present a relatively stable curve. The foot paddle driving module inclines downwards, the included angle between the foot paddle driving module and the horizontal direction is not more than 20 degrees, and the condition that the robot is overturned due to technical requirements or environmental interference in water is guaranteed, the foot paddle can still normally operate to be in contact with the ground, so that the robot is driven to walk, and work is continuously completed. When the robot performs suspension motion in water, the swing frequency and the angle of the tail fin 7 are respectively controlled, and the rotating speeds and the matching of the foot paddles at different positions of the robot are controlled, so that the robot is provided with two sets of relatively independent driving systems, and the suitable driving systems can be selected according to different water area environments and the conditions of luxuriant aquatic life, so that the robot can maintain the working posture under different environments, and the adaptability of the robot to the environment is enhanced. When the robot moves in a suspension state in water, the robot body structure is symmetrically designed and is matched with a vector of acting force applied to the high-speed rotation of the wheel axle in the water, so that the robot can flexibly move with high degree of freedom underwater. The tail part of the machine body 4 is provided with the double empennages, floating movement in water is realized through the reciprocating flapping mode of the double empennages, forward movement and turning are realized, winding cannot occur in a region with luxuriant aquatic creatures, and the robot can still move in a posture with the back part downward even if the robot turns on one side; the robot is not only used for underwater movement, but also can help the robot to climb over the high ground when crawling on the ground or under the water, and the obstacle crossing capability of the robot is improved. The problems of the wheel type robot such as poor obstacle crossing capability, poor terrain adaptability, low turning efficiency, large turning radius, poor obstacle crossing capability and the like are solved, and the defects of low speed and efficiency of the crawler type robot and easy gravity center deviation and side turning of the legged type robot are overcome.
2. According to the invention, by changing the installation angle of the foot paddle driving module and by the vector cooperation between force and force, the robot can generate multidirectional propelling force when moving in water, and can complete more multi-degree-of-freedom movement on the premise of not changing the buoyancy of the robot in water; the invention does not need to finish floating and submerging through a buoyancy adjusting device, has high degree of freedom under water, and has stronger adaptability to irregular ground and different water area environments by means of the least motors; compared with the existing robot which needs to be provided with a buoyancy adjusting device to realize floating and submerging, the robot has a simple and flexible structure, reduces the size and the weight of the robot, reduces the number of motors of the robot, simplifies the adjusting process of the robot, and enables the robot to more easily finish the free movement work in water.
3. Through the innovative design of the foot paddle mechanism, the robot has the capacity of amphibious work. The wheel rim 1-2 provides enough buffering effect for the robot when the robot moves in irregular landform, and the blades are not abraded due to direct contact with the ground, so that the obstacle crossing capability of the robot when crawling is effectively improved, and the good obstacle crossing capability of the robot is guaranteed; the foot paddle mixing propulsion device 1 is made of a material with good toughness and strength, so that plastic deformation cannot be generated in the working process of a robot, and the relatively thin wheel rim 1-2 and the relatively thin blade 1-1 are not easy to damage.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. The bionic robot is characterized by comprising a robot body (4), wherein at least four groups of independent control rotation motion foot paddle driving modules are symmetrically arranged on two sides of the robot body (4), all the foot paddle driving modules incline downwards and have the same inclination angle; at least two groups of empennage driving modules which independently control the up-and-down swinging are symmetrically arranged at the tail part of the machine body (4).
2. The bionic robot for the amphibious operation with the mixed driving of the foot paddles and the wings as claimed in claim 1, wherein the structures of the foot paddle driving modules in each group are the same, each group of the foot paddle driving modules comprises a foot paddle mixed propulsion device (1) and a first driving joint (2), each foot paddle mixed propulsion device (1) is connected with the output end of the corresponding rotary driving device through the first driving joint (2), the first driving joint (2) is installed in the foot paddle driving frame (3), and the foot paddle driving frame (3) is connected with the robot body (4).
3. The bionic robot for the foot-paddle-wing hybrid driving type amphibious operation is characterized in that the foot-paddle hybrid propulsion device (1) comprises a hub, a rim (1-2) and blades (1-1), the hub is connected with an output shaft of a first driving joint (2), a plurality of blades (1-1) are uniformly and fixedly connected to the outer circumferential surface of the hub along the circumferential direction, the outer edge of each blade (1-1) is connected with an arc-shaped rim (1-2), one end of each rim (1-2) is connected with the corresponding blade (1-1), the other end of each rim (1-2) is a free end, a gap exists between each free end and the corresponding blade (1-1), and all the rims (1-2) are located on the same circumference and the circle center is located on the axis of the hub.
4. A paddle-wing hybrid driven amphibious work bionic robot according to claim 3, wherein the size of the rim (1-2) is not smaller than the size of the outer edge of the corresponding blade (1-1).
5. The bionic robot for amphibious operation with combination of paddle and wing as claimed in claim 3, wherein the outer end of the hub is conical.
6. The bionic robot for amphibious operation with mixed drive of foot paddles and wings as claimed in claim 1, wherein the angle between the foot paddle drive module and the horizontal direction is not more than 20 °.
7. The bionic robot for the foot-paddle-wing hybrid drive type amphibious operation is characterized in that all tail wing drive modules are identical in structure, each group of tail wing drive modules comprises a second drive joint (8) and a tail wing (7), the tail wing (7) is fixedly installed on an output shaft of the second drive joint (8), the output shaft of the second drive joint (8) rotates in a reciprocating mode to drive the tail wing (7) to flap up and down, the second drive joint (8) is installed in a tail wing frame (6), and the tail wing frame (6) is connected with a robot body (4).
8. The bionic robot for amphibious operation with mixed drive of foot paddles and wings as claimed in claim 7, wherein the output shaft of the rotary joint of the second driving joint (8) is connected to the connecting rod to make the connecting rod rotate or swing relatively, the motor of the second driving joint (8) is a split-type DC torque motor, the stator of the motor is connected to the joint housing, the rotor of the motor is connected to the wave generator of the split-type harmonic reducer, the rotor of the motor is mounted on the motor bracket of the joint housing through a rolling bearing, the flexible wheel of the harmonic reducer is connected to the end cap, the angle sensor is connected to the end cap through a short shaft, the end cap is connected to the joint housing in a dynamic sealing manner, the flexible wheel is parallel to the end cap, the rigid wheel of the harmonic reducer is connected to the joint housing, the joint housing is connected to the empennage frame (6), and the angle sensor is fixed, the input end of the angle sensor is connected with the end cover through a short shaft.
9. The bionic robot for the amphibious operation with the combination of the foot paddles and the wings as claimed in claim 7 is characterized in that a sealed control cabin (5) is installed on the body (4) and is used for installing a driving control device of a second driving joint (8) and a first driving joint (2); every No. two drive joint (8), drive joint (2) independent seal respectively, carry out static seal through O type circle, carry out the action through the gley circle and seal, No. two drive joint (8) improve the bearing capacity through the mode that inside oil charge or outside provided pressure compensation.
10. A motion method of a foot paddle-wing hybrid drive type amphibious operation bionic robot is characterized by comprising the following steps:
the forward rotation and the reverse rotation of the foot-paddle hybrid propulsion device (1) are controlled to realize the forward, backward, left-turning and right-turning of the robot on the land;
controlling the left front side foot paddle hybrid propulsion device (1) and the right rear side foot paddle hybrid propulsion device (1) of the robot to rotate forward at a high speed, and simultaneously controlling the right front side foot paddle hybrid propulsion device (1) and the left rear side foot paddle hybrid propulsion device (1) of the robot to rotate reversely at a high speed to realize right steering of the robot with a minimum turning radius of 0 in water;
controlling the right front side foot paddle hybrid propulsion device (1) and the left rear side foot paddle hybrid propulsion device (1) of the robot to rotate forward at a high speed, and simultaneously controlling the left front side foot paddle hybrid propulsion device (1) and the right rear side foot paddle hybrid propulsion device (1) of the robot to rotate reversely at a high speed to realize left steering of the robot with a minimum turning radius of 0 in water;
the robot body is in a horizontal position, and all the foot-paddle hybrid propulsion devices (1) are controlled to rotate reversely, so that the robot submerges in water;
the robot body is in a horizontal position, all the foot-paddle hybrid propulsion devices (1) are controlled to rotate in the positive direction, and the suspension posture or floating of the robot in water can be kept by component force in the vertical direction;
the two-side foot paddle mixing propulsion device (1) in front of the robot is controlled to rotate reversely, and the two-side foot paddle mixing propulsion device (1) behind the robot rotates forwards, so that the robot rolls forwards in water;
the forward rotation of the two-side foot paddle mixing propulsion device (1) in front of the robot is controlled, and the reverse rotation of the two-side foot paddle mixing propulsion device (1) behind the robot is controlled, so that the robot rolls backwards in water;
controlling all the tail wings (7) to flap simultaneously to push the robot to advance in water; controlling the left empennage (7) to stop flapping and the right empennage (7) to flap to push the robot to turn left in water; the right empennage (7) is controlled to stop flapping, and the left empennage (7) flaps to push the robot to turn right in water.
CN201911281497.8A 2019-12-13 2019-12-13 Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method Active CN110920334B (en)

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