CN112046219A

CN112046219A - Bionic amphibious robot based on air lubrication

Info

Publication number: CN112046219A
Application number: CN202010998725.XA
Authority: CN
Inventors: 喻俊志; 潘杰; 刘金存; 张小磊; 李忠奎
Original assignee: Peking University
Current assignee: Peking University
Priority date: 2020-09-21
Filing date: 2020-09-21
Publication date: 2020-12-08
Also published as: CN112693268A; CN112693268B

Abstract

The disclosure relates to a bionic amphibious robot based on air lubrication, which comprises a head top, a head, a middle part and a tail part which are sequentially connected, wherein a ring belt area is arranged on the outer wall of the middle part, a cavity is arranged between the ring belt area and the inner wall of the middle part, and a plurality of air lubrication inclined holes are formed in the surface of the ring belt area; and an air lubrication mechanism is also arranged in the middle part, compressed air is stored in the air lubrication mechanism and is communicated with the cavity through an air transmission passage, so that the air in the air lubrication mechanism enters the cavity through the air transmission passage and is sprayed out of the air lubrication inclined holes. This openly introduces amphibious robot with air lubrication technique for the first time to realize striding the medium motion, make it compare in other present amphibious robot, work such as resource exploration under the harsher environment such as south north pole more is applicable to.

Description

Bionic amphibious robot based on air lubrication

Technical Field

The disclosure relates to the technical field of bionic amphibious robots, in particular to a bionic amphibious robot based on air lubrication.

Background

Wars under modern informatization conditions generate higher and higher dependence and requirements on unmanned combat equipment, but a robot in a single environment is difficult to complete tasks in some special occasions, so that an amphibious robot inspiring amphibious animals is paid attention by researchers. It is worth noting that the amphibious robot combining the advantages of the land robot and the underwater robot has great application potential in the military field and also has great application value in the fields of resource exploration, environmental protection, scientific investigation and the like.

The amphibious robot can be mainly divided into a leg type robot and a snake type robot according to the motion mode. Wherein, for a legged version: chinese patent application publication No. CN111251797A discloses an amphibious robot having walking feet and swimming feet, which walks on land with three pairs of walking feet, swims underwater with two swimming feet, and adjusts the center of gravity with the three pairs of walking feet to realize a glide mode. The chinese patent application publication No. CN110027692A discloses an amphibious robot propelled by a wave fin, which realizes amphibious movement by the static friction between the sine wave fin and the ground and the reaction force between the sine wave fin and the water flow.

For a serpentine shape: the chinese patent application publication No. CN106346462A discloses a modular articulated snake-shaped amphibious robot, each module is provided with two steering engines to realize pitching and yawing motions, and the modular design simplifies the structure and improves the stability and flexibility.

In addition, some studies have combined legged and serpentine motions to achieve multi-modal motion. Chinese patent application publication No. CN101456341A discloses a multi-modal bionic amphibious robot, which switches modes through a head pectoral fin/paddle mechanism, switches to paddle driving when moving on land, and supports a body by using an auxiliary wheel at the tail; when the underwater motion is carried out, the control direction of the pectoral fin is switched, and the multi-joint fish-imitating propulsion unit at the tail part is used for propulsion.

However, when the related amphibious robot is used for switching the amphibious environment, the research is limited to a change belt with a relatively slow gradient, so that the robot has poor working capability in relatively severe environments such as south and north poles.

Disclosure of Invention

Technical problem to be solved

In order to solve and be applied to the amphibious type robot under the harsher environment such as south north pole, inspired by the fact that south pole has the biology of amphibious action, this disclosure provides a bionical amphibious type robot based on air lubrication, through improving current advancing device, improves the speed of underwater and cross-medium motion, has realized the amphibious motion.

(II) technical scheme

In order to achieve the above purpose, the technical solution adopted by the present disclosure is as follows:

a bionic amphibious robot based on air lubrication comprises a head top part 6, a head part 5, a middle part 3 and a tail part 2 which are connected in sequence, wherein: a ring belt area is arranged on the outer wall of the middle part 3, a cavity is arranged between the ring belt area and the inner wall of the middle part 3, and a plurality of air lubrication inclined holes are formed in the surface of the ring belt area; and an air lubrication mechanism is further installed in the middle part 3, compressed air is stored in the air lubrication mechanism and is communicated with the cavity through an air transmission passage, so that the air in the air lubrication mechanism enters the cavity through the air transmission passage and is sprayed out of the air lubrication inclined holes.

In the scheme, the whole bionic amphibious robot is streamline, and the outer walls of all the components are designed by adopting static sealing structures.

In the above scheme, two pectoral fins 4 are installed on two sides of the head 5, a steering engine 45 and a motor 10 which are used for driving the two pectoral fins 4 to enable the bionic amphibious robot to perform plane motion are installed inside the head 5, and in the underwater motion stage, the bionic amphibious robot drives the two pectoral fins 4 through two degrees of freedom controlled by the steering engine 45 and the motor 10 respectively to realize motion parallel to a horizontal plane.

In the above scheme, in the stage of ice surface movement, the bionic amphibious robot drives the two pectoral fins 4 by coordinating two degrees of freedom controlled by the steering engine 45 and the motor 10, so that the bionic amphibious robot moves on the ice surface.

In the above scheme, the motion phase difference between the two pectoral fins 4 is ± 180 °, the degree of freedom controlled by the motor 10 is a main source of thrust, and the degree of freedom controlled by the steering engine 45 can adjust the contact area between the two pectoral fins 4 and the ice surface, thereby improving the friction force.

In the scheme, a suction and drainage mechanism 7 for enabling the bionic amphibious robot to float up and submerge in an underwater motion stage is further installed in the head 5.

In the above scheme, the water sucking and draining mechanism 7 comprises a head water sucking and draining channel 18, and the head water sucking and draining channel 18 is connected with the hollow threaded shaft of the water sucking and draining structure 7 through the head nut 15 and is used for sucking and draining water, so as to adjust the gravity of the bionic amphibious robot.

In the scheme, in the jumping-out stage, the bionic amphibious robot releases compressed gas stored in the air lubrication mechanism through the plurality of air lubrication inclined holes, and the underwater accelerated motion of the bionic amphibious robot is realized so as to jump out to the ice surface.

In the above solution, the crown portion 6 is conical, and includes a crown portion nut groove 52 and a plurality of crown portion through holes 51, wherein: the head top nut groove 52 is arranged at the center of the bottom surface of the conical head top 6, is used as a mounting position of the head nut 15 in the head 5, and provides an accommodating space for the head nut 15 in the head 5; the plurality of crown through holes 51 are arranged on the bottom surface of the conical crown 6 and are uniformly distributed around the crown nut groove 52; the plurality of overhead through holes 51 are provided corresponding to the plurality of head threaded blind holes 14 in the head 5, and the plurality of overhead through holes 51 are fixedly connected to the plurality of head threaded blind holes 14 by bolts.

In the above scheme, two side walls inside the head 5 include two pectoral fin chambers, a rudder chamber 13 is installed in each pectoral fin chamber, and the two pectoral fins 4 on two sides of the head 5 are respectively installed on the two rudder chambers 13 from the outside of the head 5.

In the above scheme, universal coupling 8, pectoral fin cabin closing cap 9, motor 10 and motor support 11 are installed respectively on two pectoral fin cabins of the inside both sides wall of head 5, and wherein motor 10 installs on universal coupling 8, and motor support 11 is used for supporting and fixed motor 10, and pectoral fin cabin closing cap 9 is used for sealed pectoral fin cabin.

In the above-mentioned scheme, the pectoral fin cabin adopts the design of dynamic seal structure, including pectoral fin cabin O circle seal groove 21, pectoral fin cabin rolling bearing groove 22, pectoral fin cabin elasticity stop ring groove 23 and pectoral fin cabin closing cap groove 24, wherein: the pectoral fin cabin O-ring sealing groove 21 and the rudder cabin 13 are sealed through an O-ring; a rolling bearing is arranged in the pectoral fin cabin rolling bearing groove 22 to support the rudder cabin 13; an elastic retainer ring is arranged in the pectoral fin cabin elastic retainer ring groove 23 and is used for fixing the outer ring of the rolling bearing; the pectoral fin chamber cover groove 24 and the pectoral fin chamber cover 9 are sealed by an O-ring.

In the above scheme, the middle part 3 includes a middle through hole 46, a middle sealing surface 47, an air lubrication inclined hole 48, a middle threaded blind hole 49 and a middle O-ring sealing groove 50, wherein: the middle through hole 46 is connected with a tail threaded blind hole 55 of the tail part 2 through a bolt; the middle sealing surface 47 and the tail O-ring sealing groove 56 of the tail part 2 are sealed through O-rings; the air lubrication inclined hole 48 is used for outputting compressed air of an internal air lubrication system; the middle threaded blind hole 49 is connected with the head through hole 12 of the head 5 through a bolt; an O-ring is arranged in the middle O-ring sealing groove 50 to seal with the head 5.

In the above scheme, the tail portion 2 includes a tail blind hole 53, a first tail thread blind hole 54, a second tail thread blind hole 55 and a tail O-ring sealing groove 56, wherein: the amphibious robot flipper 1 is arranged in the tail blind hole 53; the first tail thread blind hole 54 is connected with the flipper through hole 57 through a bolt; the second tail threaded blind hole 55 is connected with the middle through hole 46 through a bolt; an O ring is arranged in the tail O ring sealing groove 56 to seal with the middle part 3 of the amphibious robot.

In the scheme, two flippers 1 are arranged on two sides of the tail part 2, the flipper through holes 57 are connected with the tail part thread blind holes 54 through bolts by the two flippers 1, and then the two flippers 1 are fixed on two sides of the tail part 2.

(III) advantageous effects

The utility model provides a bionical amphibious robot based on air lubrication introduces amphibious robot with air lubrication technique for the first time to the medium motion is striden in the realization, makes it compare in current other amphibious robot, more is applicable to work such as resource exploration under the harsher environment such as south north pole. In addition, the static sealing structure design adopted among the outer walls of the components of the top head part 6, the head part 5, the middle part 3 and the tail part 2, the dynamic sealing structure design adopted in the pectoral fin cabin of the head part 5 and the installation design adopted in the water sucking and draining structure 7 in the head part 5 enable the bionic amphibious robot based on air lubrication to be convenient to assemble and disassemble.

Drawings

The above and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of a bionic amphibious robot based on air lubrication according to an embodiment of the disclosure;

FIG. 2 is a schematic structural diagram of the crown 6 of the bionic amphibious robot in FIG. 1;

fig. 3 is a schematic diagram of the external structure of the head 5 of the bionic amphibious robot in fig. 1;

fig. 4 is a schematic diagram of the internal structure of the head 5 of the bionic amphibious robot in fig. 1;

FIG. 5 is a schematic view of mounting holes in the head 5 of the bionic amphibious robot in FIG. 1;

fig. 6 is a cross-sectional view of the pectoral fin chamber of the head 5 of the bionic amphibious robot in fig. 4;

fig. 7 is a schematic diagram of a motor support 11 of the bionic amphibious robot in fig. 4;

fig. 8 is a schematic structural diagram of a pectoral fin cabin cover 9 of the head 5 of the bionic amphibious robot in fig. 4;

fig. 9 is a cross-sectional view of the pectoral fin chamber cover 9 of the head 5 of the bionic amphibious robot in fig. 4;

fig. 10 is a schematic structural diagram of a rudder cabin 13 of the bionic amphibious robot in fig. 3;

fig. 11 is a schematic structural diagram of a rudder cabin cover 33 of the bionic amphibious robot in fig. 10;

fig. 12 is a cross-sectional view of a rudder cabin cover 33 of the bionic amphibious robot in fig. 10;

fig. 13 is a schematic structural diagram of the rudder cabin 13 of the bionic amphibious robot in fig. 10 with the rudder cabin cover 33 removed;

fig. 14 is a schematic structural view of the middle part 3 of the bionic amphibious robot in fig. 1;

fig. 15 is a schematic structural view of a tail part 2 of the bionic amphibious robot in fig. 1;

fig. 16 is a schematic structural view of flipper 1 of the bionic amphibious robot in fig. 1.

Reference numerals:

1 is a flipper, 2 is a tail, 3 is a middle part, 4 is a pectoral fin, 5 is a head and 6 is a vertex;

a water sucking and draining mechanism 7, a universal coupling 8, a pectoral fin cabin sealing cover 9, a motor 10 and a motor support 11;

12 is a head through hole, 13 is a rudder cabin, 14 is a head threaded blind hole, and 15 is a head nut;

16 is a thread blind hole of a water suction and drainage mechanism, 17 is a thread blind hole of a pectoral fin cabin, 18 is a head water suction and drainage channel, 19 is a thread blind hole of a motor bracket, and 20 is a head sealing surface;

21 is a pectoral fin cabin O-ring sealing groove, 22 is a pectoral fin cabin rolling bearing groove, 23 is a pectoral fin cabin elastic retaining ring groove, and 24 is a pectoral fin cabin cover groove

25 is a first motor support through hole, and 26 is a second motor support through hole;

27 is a pectoral fin cabin sealing cover elastic stop ring groove, 28 is a pectoral fin cabin sealing cover rolling bearing groove, 29 is a pectoral fin cabin sealing cover through hole, 30 is a pectoral fin cabin sealing cover O ring sealing groove, and 31 is a rudder cabin sealing cover O ring sealing groove;

32 is a rudder cabin output shaft, 33 is a rudder cabin cover, 34 is a rudder cabin shell, 35 is a rudder cabin through hole support shaft, 36 is a rudder cabin through hole support shaft rolling bearing surface, 37 is a rudder cabin support shaft rolling bearing surface, 38 is a rudder cabin connecting shaft, 39 is a rudder cabin cover O ring shell sealing groove, 40 is a rudder cabin cover through hole, 41 is a rudder cabin cover O ring sealing groove, 42 is a rudder cabin thread blind hole, 43 is a rudder cabin thread blind hole, 44 is a rudder cabin output shaft flange plate, and 45 is a rudder cabin steering engine;

46 is a middle through hole, 47 is a middle sealing surface, 48 is an air lubrication inclined hole, 49 is a middle thread blind hole, and 50 is a middle O-ring sealing groove;

51 is a head top through hole, and 52 is a head top nut groove;

53 is a tail blind hole, 54 is a first tail thread blind hole, 55 is a second tail thread blind hole, 56 is a tail O-ring sealing groove, and 57 is a flipper through hole.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of illustrating the present disclosure and should not be construed as limiting the same.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present disclosure. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present disclosure, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the description of the present disclosure, unless otherwise expressly specified or limited, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

As shown in fig. 1, fig. 1 is a schematic structural diagram of a bionic amphibious robot based on air lubrication according to an embodiment of the disclosure, the bionic amphibious robot comprises a head top 6, a head 5, a middle part 3 and a tail part 2 which are connected in sequence, the whole body is streamline, and a static sealing structure design is adopted between outer walls of all components, wherein:

a ring belt area is arranged on the outer wall of the middle part 3, the ring belt area is shown as a dark color area in fig. 1, a cavity is arranged between the ring belt area and the inner wall of the middle part 3, and a plurality of air lubrication inclined holes are formed in the surface of the ring belt area;

and an air lubrication mechanism is further installed in the middle part 3, compressed air is stored in the air lubrication mechanism and is communicated with the cavity through an air transmission passage, so that the air in the air lubrication mechanism enters the cavity through the air transmission passage and is sprayed out of the air lubrication inclined holes.

The utility model provides a bionical amphibious robot based on air lubrication introduces amphibious robot with air lubrication technique for the first time to the medium motion is striden in the realization, makes it compare in current other amphibious robot, more is applicable to work such as resource exploration under the harsher environment such as south north pole.

In one embodiment of the present disclosure, two pectoral fins 4 are installed on two sides of the head 5, and a steering engine 45 and a motor 10 for driving the two pectoral fins 4 to enable the bionic amphibious robot to perform planar motion are installed inside the head 5. And a suction and drainage mechanism 7 for enabling the bionic amphibious robot to float up and submerge is further arranged in the head 5.

In the underwater motion stage, the bionic amphibious robot based on air lubrication provided by the disclosure drives the two pectoral fins 4 through two degrees of freedom controlled by the steering engine 45 and the motor 10 respectively, so that the motion of the bionic amphibious robot in a direction parallel to the horizontal plane and defined by the X axis and the Y axis is realized.

Meanwhile, in the underwater motion stage, the bionic amphibious robot based on air lubrication provided by the disclosure realizes the motion of the bionic amphibious robot in the Z-axis direction through the water sucking and discharging mechanism 7, namely, the bionic amphibious robot can float up and dive down underwater.

In the jumping-out stage, the bionic amphibious robot based on air lubrication releases compressed gas stored in the air lubrication mechanism through the plurality of air lubrication inclined holes of the middle part 3, and realizes the accelerated motion of the bionic amphibious robot under water to jump out to the ice surface.

In the stage of ice surface movement, the bionic amphibious robot based on air lubrication drives the two pectoral fins 4 by coordinating two degrees of freedom controlled by the steering engine 45 and the motor 10, so that the bionic amphibious robot moves on the ice surface. The motion phase difference between the two pectoral fins 4 is +/-180 degrees, the degree of freedom controlled by the motor 10 is a main source of thrust, and the degree of freedom controlled by the steering engine 45 can adjust the contact area between the two pectoral fins 4 and the ice surface, so that the friction force is improved.

In one embodiment of the present disclosure, as shown in fig. 2, fig. 2 is a schematic structural view of the crown portion 6 of the biomimetic amphibious robot in fig. 1. The head top part 6 is conical and comprises a head top nut groove 52 and a plurality of head top through holes 51, wherein the head top nut groove 52 is arranged at the center of the bottom surface of the conical head top part 6 and is used as an installation position of the head nut 15 in the head part 5 to provide an accommodating space for the head nut 15 in the head part 5; the plurality of crown through holes 51 are arranged on the bottom surface of the conical crown 6 and are uniformly distributed around the crown nut groove 52; the plurality of overhead through holes 51 are provided corresponding to the plurality of head threaded blind holes 14 in the head 5, and the plurality of overhead through holes 51 are fixedly connected to the plurality of head threaded blind holes 14 by bolts.

In one embodiment of the present disclosure, as shown in fig. 3, fig. 3 is a schematic view of an external structure of a head 5 of the biomimetic amphibious robot in fig. 1. A head nut 15 is arranged in the center of the end face where the head 5 is connected with the head top portion 6, a plurality of head thread blind holes 14 are arranged on the end face where the head 5 is connected with the head top portion 6 and are uniformly distributed around the head nut 15, and the plurality of head thread blind holes 14 are fixedly connected with a plurality of head top portion through holes 51 of the head top portion 6 through bolts. Two side walls inside the head part 5 comprise two pectoral fin cabins, a rudder cabin 13 is installed in each pectoral fin cabin, and two pectoral fins 4 on two sides of the head part 5 are respectively installed on the two rudder cabins 13 from the outside of the head part 5. The joint of the head part 5 and the middle part 3 is provided with a plurality of head part through holes 12, and the plurality of head part through holes 12 are connected with a plurality of middle part thread blind holes 49 of the middle part 3 through bolts, so that the connection of the head part 5 and the middle part 3 is realized.

In one embodiment of the present disclosure, as shown in fig. 4, fig. 4 is a schematic view of the internal structure of the head 5 of the biomimetic amphibious robot in fig. 1. The inside last lateral wall of head 5 includes a drainage mechanism 7, inhales this bionical amphibious robot inside with water from the outside through this drainage mechanism 7 that inhales, realizes this bionical amphibious robot at the dive motion of Z axle direction, discharges water from this bionical amphibious robot inside through this drainage mechanism 7 that inhales, realizes this bionical amphibious robot at the come-up motion of Z axle direction.

In one embodiment of the present disclosure, as shown in fig. 4, a universal coupling 8, a pectoral fin chamber cover 9, a motor 10 and a motor bracket 11 are respectively mounted on two pectoral fin chambers of two side walls inside the head portion 5, wherein the motor 10 is mounted on the universal coupling 8, the motor bracket 11 is used for supporting and fixing the motor 10, and the pectoral fin chamber cover 9 is used for sealing the pectoral fin chambers.

In one embodiment of the present disclosure, as shown in fig. 5, fig. 5 is a schematic view of each mounting hole inside the head 5 of the bionic amphibious robot in fig. 1. The water sucking and discharging mechanism 7 comprises a head water sucking and discharging channel 18, the water sucking and discharging mechanism 7 sucks water from the outside into the inside of the bionic amphibious robot through the head water sucking and discharging channel 18, or discharges the water from the inside of the bionic amphibious robot, and the diving motion or the floating motion of the bionic amphibious robot in the Z-axis direction is realized. The head water sucking and draining channel 18 is connected with the hollow threaded shaft of the water sucking and draining structure 7 through the head nut 15 and is used for sucking and draining water, so that the gravity of the bionic amphibious robot is adjusted. The upper wall of the interior of the head part 5 comprises a fixing plate, the fixing plate comprises a plurality of threaded blind holes 16 of the water absorbing and discharging mechanism, and the threaded blind holes 16 of the water absorbing and discharging mechanism are connected with the water absorbing and discharging structure 7 through bolts, so that the water absorbing and discharging structure 7 is fixed.

In one embodiment of the present disclosure, as shown in fig. 5, the lower sidewall inside the head 5 includes two head sealing surfaces 20, each head sealing surface 20 sealing with a middle O-ring sealing groove 50 of the middle part 3 by an O-ring. Each head 5 is internally provided with a plurality of motor support threaded blind holes 19, and the motor support threaded blind holes 19 are connected with the motor support 11 through bolts to realize the fixation of the motor support 11.

In one embodiment of the present disclosure, as shown in fig. 5, the two pectoral fin cabin cover covers 9 inside the head 5 of the bionic amphibious robot respectively comprise a plurality of pectoral fin cabin threaded blind holes 17, and the plurality of pectoral fin cabin threaded blind holes 17 are connected with the pectoral fin cabin cover covers 9 through bolts to achieve sealing of the pectoral fin cabin cover covers 9.

In one embodiment of the present disclosure, as shown in fig. 6, fig. 6 is a cross-sectional view of the pectoral fin chamber of the head 5 of the biomimetic amphibious robot in fig. 4. The pectoral fin cabin adopts a dynamic sealing structure design and comprises a pectoral fin cabin O ring sealing groove 21, a pectoral fin cabin rolling bearing groove 22, a pectoral fin cabin elastic retainer ring groove 23 and a pectoral fin cabin cover groove 24. The pectoral fin cabin O-ring sealing groove 21 and the rudder cabin 13 are sealed through an O-ring; a rolling bearing is arranged in the pectoral fin cabin rolling bearing groove 22 to support the rudder cabin 13; an elastic retainer ring is arranged in the pectoral fin cabin elastic retainer ring groove 23 and is used for fixing the outer ring of the rolling bearing; the pectoral fin chamber cover groove 24 and the pectoral fin chamber cover 9 are sealed by an O-ring.

In one embodiment of the present disclosure, as shown in fig. 7, fig. 7 is a schematic view of a motor support 11 of the biomimetic amphibious robot in fig. 4. The motor bracket 11 comprises a plurality of first motor bracket through holes 25 and a plurality of second motor bracket through holes 26, wherein the first motor bracket through holes 25 are connected with the motor 10 through bolts and used for supporting the motor 10; the second motor support through hole 26 is connected with the motor support threaded blind hole 19 through a bolt and used for fixing the motor support 11.

In one embodiment of the present disclosure, as shown in fig. 8 and 9, fig. 8 is a schematic structural view of the pectoral fin compartment cover 9 of the head 5 of the biomimetic amphibious robot in fig. 4, and fig. 9 is a sectional view of the pectoral fin compartment cover 9 of the head 5 of the biomimetic amphibious robot in fig. 4. The pectoral fin chamber sealing cover 9 comprises a pectoral fin chamber sealing cover elastic retaining ring groove 27, a pectoral fin chamber sealing cover rolling bearing groove 28, a pectoral fin chamber sealing cover through hole 29, a pectoral fin chamber sealing cover O ring sealing groove 30 and a pectoral fin chamber sealing cover O ring sealing groove 31. Wherein, an elastic retainer ring is arranged in the elastic retainer ring groove 27 of the pectoral fin cabin sealing cover and is used for fixing the outer ring of the rolling bearing; rolling bearings are arranged in rolling bearing grooves 28 of the pectoral fin cabin cover to support the rudder cabin 13; the pectoral fin cabin cover through hole 29 is connected with the pectoral fin cabin threaded blind hole 17 through a bolt and used for fixing the pectoral fin cabin cover 9; the pectoral fin chamber cover O-ring sealing groove 30 and the pectoral fin chamber cover groove 24 are sealed by an O-ring; the rudder nacelle cover O-ring sealing groove 31 and the rudder nacelle 13 are sealed by an O-ring.

In an embodiment of the present disclosure, as shown in fig. 10 and 13, fig. 10 is a schematic structural view of the rudder cabin 13 of the bionic amphibious robot in fig. 3, and fig. 13 is a schematic structural view of the rudder cabin 13 of the bionic amphibious robot in fig. 10 with the rudder cabin cover 33 removed. The rudder cabin 13 comprises a rudder cabin output shaft 32, a rudder cabin cover 33, a rudder cabin shell 34, a rudder cabin output shaft flange plate 44 and a rudder cabin steering engine 45. Wherein, the rudder engine room output shaft 32 is connected with the rudder engine room output shaft flange 44 through bolts; the flange plate 44 of the output shaft of the rudder engine room is connected with the rudder engine room 45 through a tooth-shaped key; the rudder cabin steering engine 45 is connected with the rudder cabin shell 34 through a bolt; the rudder trunk cover 33 is bolted to the rudder trunk housing 34.

In one embodiment of the present disclosure, as shown in fig. 10 and 13, fig. 13 is a schematic structural view of the rudder nacelle 13 of the bionic amphibious robot in fig. 10 without the rudder nacelle cover 33. The rudder cabin shell 34 comprises a rudder cabin through hole supporting shaft 35, a rudder cabin through hole supporting shaft rolling bearing surface 36, a rudder cabin supporting shaft rolling bearing surface 37, a rudder cabin connecting shaft 38, a rudder cabin threaded blind hole 42 and a rudder cabin threaded blind hole 43. The rudder cabin through hole supporting shaft 35 and the amphibious robot head 5 are sealed through an O ring, wherein a through hole in the rudder cabin through hole supporting shaft 35 is used for leading out a power line and a signal line of a rudder cabin steering engine 45; the rudder cabin through hole support shaft rolling bearing surface 36 is matched with a rolling bearing arranged in the pectoral fin cabin rolling bearing groove 22 and is used for supporting the rudder cabin 13; the rudder cabin support shaft rolling bearing surface 37 is matched with a rolling bearing arranged in the pectoral fin cabin cover rolling bearing groove 28 and is used for supporting the rudder cabin 13; the rudder cabin connecting shaft 38 is connected with the motor 10 through a universal coupling 8, wherein the universal coupling 8 is used for adjusting the angle difference between the motor rotating shaft and the rudder cabin rotating shaft; the rudder cabin threaded blind hole 42 is connected with the rudder cabin cover through hole 40 through a bolt; the steering engine threaded blind hole 43 is connected with a steering engine 45 of the steering engine cabin through a bolt and used for fixing the steering engine.

In one embodiment of the present disclosure, as shown in fig. 11 and 12, fig. 11 is a schematic structural view of the rudder trunk cover 33 of the biomimetic amphibious robot in fig. 10, and fig. 12 is a sectional view of the rudder trunk cover 33 of the biomimetic amphibious robot in fig. 10. The rudder nacelle cover 33 comprises a rudder nacelle cover O-ring housing seal groove 39, a rudder nacelle cover through hole 40 and a rudder nacelle cover O-ring seal groove 41. The rudder cabin cover O ring shell sealing groove 39 and the rudder cabin shell 34 are sealed through an O ring; the rudder cabin cover through hole 40 is connected with the rudder cabin shell 34 through a bolt; the rudder nacelle cover O-ring seal groove 41 is sealed with the rudder nacelle output shaft 32 by an O-ring.

In one embodiment of the present disclosure, as shown in fig. 14, fig. 14 is a schematic structural view of the middle portion 3 of the biomimetic amphibious robot in fig. 1. The middle portion 3 includes a middle through hole 46, a middle sealing surface 47, an air lubrication inclined hole 48, a middle threaded blind hole 49, and a middle O-ring seal groove 50. The middle through hole 46 is connected with a tail threaded blind hole 55 of the tail part 2 through a bolt; the middle sealing surface 47 and the tail O-ring sealing groove 56 of the tail part 2 are sealed through O-rings; the air lubrication inclined hole 48 is used for outputting compressed air of an internal air lubrication system; the middle threaded blind hole 49 is connected with the head through hole 12 of the head 5 through a bolt; an O-ring is arranged in the middle O-ring sealing groove 50 to seal with the head 5.

In one embodiment of the present disclosure, as shown in fig. 15, fig. 15 is a schematic structural view of a tail portion 2 of the biomimetic amphibious robot in fig. 1. The tail 2 includes a tail blind hole 53, a first tail threaded blind hole 54, a second tail threaded blind hole 55, and a tail O-ring seal groove 56. The amphibious robot flipper 1 is arranged in the tail blind hole 53; the first tail thread blind hole 54 is connected with the flipper through hole 57 through a bolt; the second tail threaded blind hole 55 is connected with the middle through hole 46 through a bolt; an O ring is arranged in the tail O ring sealing groove 56 to seal with the middle part 3 of the amphibious robot.

In one embodiment of the present disclosure, as shown in fig. 16, fig. 16 is a schematic structural view of a flipper 1 of the biomimetic amphibious robot in fig. 1. Two flippers 1 are arranged on two sides of the tail part 2. The two flippers 1 are connected with the flipper through hole 57 and the tail threaded blind hole 54 through bolts, and then the two flippers 1 are fixed at both sides of the tail 2.

In one embodiment of the disclosure, the bionic amphibious robot based on air lubrication is convenient to assemble and disassemble due to the adoption of a static sealing structure design among the outer walls of the top 6, the head 5, the middle 3 and the tail 2, the adoption of a dynamic sealing structure design of a pectoral fin cabin of the head 5 and the adoption of an installation design of a water sucking and draining structure 7 in the head 5.

According to the shape of the air lubrication-based bionic amphibious robot provided by the disclosure, the air lubrication-based bionic amphibious robot drives the pectoral fins 4 through two degrees of freedom controlled by the steering engine 45 and the motor 10 respectively in an underwater motion stage to realize plane motion, and realizes floating and submerging motions in the Z-axis direction through the water sucking and discharging mechanism 7; in the jumping-out stage, compressed gas stored in the air lubrication mechanism is released through the air lubrication inclined hole to realize acceleration so as to jump out to the ice surface; in the stage of ice surface movement, two pectoral fins 4 are driven by coordinating two degrees of freedom controlled by a steering engine 45 and a motor 10 to realize movement parallel to a horizontal plane, wherein the movement phase difference between the two pectoral fins 4 is +/-180 degrees, the degree of freedom controlled by the motor 10 is a main source of thrust, and the degree of freedom controlled by the steering engine can adjust the contact area of the pectoral fins and the ice surface to improve the friction force.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. The utility model provides a bionical amphibious robot based on air lubrication, includes one head top (6), one head (5), one middle part (3) and a afterbody (2) that connect gradually, its characterized in that:

a ring belt area is arranged on the outer wall of the middle part (3), a cavity is arranged between the ring belt area and the inner wall of the middle part (3), and a plurality of air lubrication inclined holes are formed in the surface of the ring belt area;

and an air lubrication mechanism is further installed in the middle part (3), compressed air is stored in the air lubrication mechanism and is communicated with the cavity through an air transmission passage, so that the air in the air lubrication mechanism enters the cavity through the air transmission passage and is sprayed out of the air lubrication inclined holes.

2. The air lubrication based bionic amphibious robot as claimed in claim 1, wherein the whole bionic amphibious robot is streamlined, and static sealing structures are adopted between the outer walls of the components.

3. The air lubrication based bionic amphibious robot according to claim 1, wherein two pectoral fins (4) are mounted on two sides of the head (5), a steering engine (45) and a motor (10) for driving the two pectoral fins (4) to enable the bionic amphibious robot to perform plane motion are mounted inside the head (5), and in an underwater motion stage, the bionic amphibious robot drives the two pectoral fins (4) through two degrees of freedom controlled by the steering engine (45) and the motor (10) respectively to realize motion parallel to a horizontal plane.

4. The air lubrication based bionic amphibious robot according to claim 3, wherein in the ice surface movement stage, the bionic amphibious robot drives two pectoral fins (4) by coordinating two degrees of freedom controlled by a steering engine (45) and a motor (10) to realize the movement of the bionic amphibious robot on the ice surface.

5. The air lubrication based bionic amphibious robot according to claim 4, wherein the motion phase difference between the two pectoral fins (4) is +/-180 degrees, the degree of freedom controlled by the motor (10) is a main source of thrust, and the degree of freedom controlled by the steering engine (45) can adjust the contact area of the two pectoral fins (4) and the ice surface, so that the friction force is improved.

6. The air lubrication based bionic amphibious robot according to claim 3, wherein a water sucking and discharging mechanism (7) for enabling the bionic amphibious robot to float up and submerge in an underwater motion stage is further installed inside the head portion (5).

7. The air lubrication based bionic amphibious robot according to claim 6, wherein the water sucking and draining mechanism (7) comprises a head water sucking and draining channel (18), and the head water sucking and draining channel (18) is connected with a hollow threaded shaft of the water sucking and draining mechanism (7) through the head nut (15) for sucking and draining water so as to adjust the gravity of the bionic amphibious robot.

8. The air lubrication based bionic amphibious robot according to claim 1, wherein in the jumping-out stage, the bionic amphibious robot releases compressed air stored in the air lubrication mechanism through the plurality of air lubrication inclined holes, and accelerated motion of the bionic amphibious robot under water is realized to jump out to the ice surface.

9. The air lubrication based biomimetic amphibious robot according to claim 1, wherein the crown (6) is cone-shaped, comprising a crown nut groove (52) and a plurality of crown through holes (51), wherein:

the head top nut groove (52) is arranged in the center of the bottom surface of the conical head top (6) and is used as the mounting position of the head nut (15) in the head (5) to provide an accommodating space for the head nut (15) in the head (5);

the plurality of head top through holes (51) are arranged on the bottom surface of the conical head top (6) and are uniformly distributed around the head top nut groove (52);

a plurality of overhead through holes (51) correspond to a plurality of head thread blind holes (14) in the head (5), and the plurality of overhead through holes (51) are fixedly connected with the plurality of head thread blind holes (14) through bolts.

10. The air lubrication based bionic amphibious robot according to claim 1, wherein two side walls inside the head (5) comprise two pectoral fin chambers, each pectoral fin chamber is provided with a rudder chamber (13), and two pectoral fins (4) on two sides of the head (5) are respectively arranged on the two rudder chambers (13) from outside the head (5).

11. The air lubrication based bionic amphibious robot according to claim 10, wherein a universal coupling (8), a pectoral fin chamber cover (9), a motor (10) and a motor support (11) are respectively mounted on two pectoral fin chambers on two side walls inside the head (5), wherein the motor (10) is mounted on the universal coupling (8), the motor support (11) is used for supporting and fixing the motor (10), and the pectoral fin chamber cover (9) is used for sealing the pectoral fin chambers.

12. The air lubrication based bionic amphibious robot according to claim 10, wherein the pectoral fin cabin is designed by adopting a dynamic sealing structure and comprises a pectoral fin cabin O ring sealing groove (21), a pectoral fin cabin rolling bearing groove (22), a pectoral fin cabin elastic retainer groove (23) and a pectoral fin cabin cover groove (24), wherein:

the pectoral fin cabin O-ring sealing groove (21) and the rudder cabin (13) are sealed through an O-ring;

a rolling bearing is arranged in the pectoral fin cabin rolling bearing groove (22) to support the rudder cabin (13);

an elastic retainer ring is arranged in the pectoral fin cabin elastic retainer ring groove (23) and is used for fixing the outer ring of the rolling bearing;

the pectoral fin chamber cover groove (24) and the pectoral fin chamber cover (9) are sealed through an O ring.

13. The air lubrication based biomimetic amphibious robot according to claim 1, wherein the middle part (3) comprises a middle through hole (46), a middle sealing surface (47), an air lubrication inclined hole (48), a middle threaded blind hole (49) and a middle O-ring sealing groove (50), wherein:

the middle through hole (46) is connected with a tail threaded blind hole (55) of the tail part (2) through a bolt;

the middle sealing surface (47) and a tail O-ring sealing groove (56) of the tail part (2) are sealed through an O-ring;

the air lubrication inclined hole (48) is used for outputting compressed air of an internal air lubrication system;

the middle threaded blind hole (49) is connected with the head through hole (12) of the head (5) through a bolt;

and an O ring is arranged in the middle O ring sealing groove (50) to be sealed with the head part (5).

14. The air lubrication based biomimetic amphibious robot according to claim 1, wherein said tail (2) comprises a blind tail hole (53), a blind first tail threaded hole (54), a blind second tail threaded hole (55), and a tail O-ring sealing groove (56), wherein:

amphibious robot flippers (1) are arranged in the tail blind holes (53);

the first tail thread blind hole (54) is connected with the flipper through hole (57) through a bolt;

the second tail thread blind hole (55) is connected with the middle through hole (46) through a bolt;

an O ring is arranged in the tail O ring sealing groove (56) to seal with the middle part (3) of the amphibious robot.

15. The air lubrication based bionic amphibious robot according to claim 14, wherein two flippers (1) are mounted on both sides of the tail portion (2), and the two flippers (1) are bolted through flipper through holes (57) and tail threaded blind holes (54) to fix the two flippers (1) on both sides of the tail portion (2).