CN112518726B - Multi-module flexible water snake robot - Google Patents
Multi-module flexible water snake robot Download PDFInfo
- Publication number
- CN112518726B CN112518726B CN202011456507.XA CN202011456507A CN112518726B CN 112518726 B CN112518726 B CN 112518726B CN 202011456507 A CN202011456507 A CN 202011456507A CN 112518726 B CN112518726 B CN 112518726B
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- Prior art keywords
- flexible
- trunk
- joint
- nitrile rubber
- water
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- 241000270282 Nerodia Species 0.000 title claims abstract description 31
- 229920000459 Nitrile rubber Polymers 0.000 claims abstract description 30
- 241000270295 Serpentes Species 0.000 claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000005452 bending Methods 0.000 claims abstract description 8
- 229920002595 Dielectric elastomer Polymers 0.000 claims abstract description 5
- 229920001971 elastomer Polymers 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract 1
- 150000001875 compounds Chemical class 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to a flexible mobile robot mechanism, in particular to a multi-module flexible water snake robot which comprises a plurality of flexible trunk bodies, flexible joints and flexible swing snake tails, wherein two adjacent flexible trunk bodies are connected through the flexible joints, and the last flexible trunk body is connected with the flexible swing snake tails; the flexible trunk is a dielectric elastomer and comprises nitrile rubber and springs, two ends of the nitrile rubber are respectively connected with adjacent flexible trunks through flexible joints, and the springs are accommodated in the nitrile rubber; the nitrile rubber is electrified to generate bending deformation, the nitrile rubber after the power failure is restored to the original state through a spring, swing generated by the electrified bending deformation of each flexible trunk is finally transmitted to the flexible swing snake tail to beat water, and the flexible water snake robot is driven to swim underwater through the reaction force of the water. The invention has the characteristics of modularization, reconfigurability, high module integration level, high flexibility and the like, and can flexibly deform according to the actual environment.
Description
Technical Field
The invention relates to a flexible mobile robot mechanism, in particular to a multi-module flexible water snake robot.
Background
At present, the working environment of the flexible robot is more and more complex, and the working environment of the flexible robot can be a structured environment, or a complex, unknown and changeable unstructured environment in a natural state, or even an underwater limit environment. When the flexible robot works in an underwater environment, the flexible robot faces complex terrains and water flow environments, and the motion capability and the environment adaptability of a robot platform are critical.
Disclosure of Invention
In order to adapt to the extreme working environment of the flexible robot, the invention aims to provide the multi-module flexible water snake robot.
The aim of the invention is realized by the following technical scheme:
the flexible trunk and the flexible joints are multiple, two adjacent flexible trunks are connected through the flexible joints, and the last flexible trunk is connected with the flexible swing snake tail; the flexible trunk is a dielectric elastomer and comprises nitrile rubber and springs, two ends of the nitrile rubber are respectively connected with adjacent flexible trunks through the flexible joints, and the springs are accommodated in the nitrile rubber; the nitrile rubber is electrified to generate bending deformation, the nitrile rubber after the power failure is restored to the original state through the springs, swing generated by the electrified bending deformation of each flexible trunk is finally transmitted to the flexible swing snake tails to beat water, and the flexible water snake robot is driven to swim underwater through the reaction force of the water.
Wherein: the flexible joint comprises a rubber corrugated pipe, a universal joint and a flange, wherein the universal joint is accommodated in the rubber corrugated pipe, two ends of the universal joint are respectively connected with the flanges arranged at two ends of the rubber corrugated pipe, and the flanges at two ends of the universal joint are respectively connected with two adjacent flexible trunk bodies.
Each flexible trunk is independently electrified or powered off, and each flexible trunk serves as a body of the flexible water snake robot and is a power source of the flexible water snake robot.
Each flexible trunk has the same structure and can be interchanged; the flexible joints are identical in structure and interchangeable.
The spring is abutted with the inner wall of the nitrile rubber.
Seven flexible trunk are respectively a flexible trunk A, a flexible trunk B, a flexible trunk C, a flexible trunk D, a flexible trunk E, a flexible trunk F and a flexible trunk G; the number of the flexible joints is six, namely a flexible joint A, a flexible joint B, a flexible joint C, a flexible joint D, a flexible joint E and a flexible joint F; the utility model discloses a flexible swing snake tail, including flexible truck, flexible joint A and flexible truck, flexible truck A links to each other with flexible truck B's one end through flexible joint A, and flexible truck B's the other end links to each other with flexible truck C's one end through flexible joint B, and flexible truck C's the other end links to each other with flexible truck D's one end through flexible joint D, and flexible truck E's the other end links to each other with flexible truck F's one end through flexible joint E, and flexible truck F's the other end links to each other with flexible truck G's one end through flexible joint F, and this flexible truck G's the other end is connected flexible swing snake tail.
The invention has the advantages and positive effects that:
1. the flexible water snake robot fault tolerance system has the characteristics of modularization, reconfigurability, strong expansibility and the like, the degree of freedom of high redundancy enables the fault tolerance of the flexible water snake robot to be higher, and even if a certain module fails, the whole performance of the flexible water snake robot is not affected, so that the flexible water snake robot can normally operate.
2. The invention adopts the dielectric elastomer as the drive, thereby greatly reducing the volume and the weight of the flexible water snake robot and enhancing the movement performance of the flexible water snake robot.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the flexible torso of the present invention;
FIG. 3 is a schematic view of the flexible joint of the present invention;
wherein: 1 is a flexible trunk A,2 is a flexible trunk B,3 is a flexible trunk C,4 is a flexible trunk D,5 is a flexible trunk E,6 is a flexible trunk F,7 is a flexible trunk G,8 is a flexible swing snake tail, 9 is a flexible joint A,10 is a flexible joint B,11 is a flexible joint C,12 is a flexible joint D,13 is a flexible joint E,14 is a flexible joint F,15 is nitrile rubber, 16 is a spring, 17 is a rubber bellows, and 18 is a universal joint.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the invention comprises a flexible trunk, a plurality of flexible joints and a plurality of flexible swing snake tails, wherein two adjacent flexible trunks are connected through the flexible joints, and the last flexible trunk is connected with the flexible swing snake tail 8. Seven flexible trunk in this embodiment are respectively a flexible trunk A1, a flexible trunk B2, a flexible trunk C3, a flexible trunk D4, a flexible trunk E5, a flexible trunk F6 and a flexible trunk G7; the number of flexible joints in this embodiment is six, namely flexible joint A9, flexible joint B10, flexible joint C11, flexible joint D12, flexible joint E13 and flexible joint F14. The flexible trunk A1 is connected with one end of the flexible trunk B2 through a flexible joint A9, the other end of the flexible trunk B2 is connected with one end of the flexible trunk C3 through a flexible joint B10, the other end of the flexible trunk C3 is connected with one end of the flexible trunk D4 through a flexible joint C11, the other end of the flexible trunk D4 is connected with one end of the flexible trunk E5 through a flexible joint D12, the other end of the flexible trunk E5 is connected with one end of the flexible trunk F6 through a flexible joint E13, the other end of the flexible trunk F6 is connected with one end of the flexible trunk G7 through a flexible joint F14, and the other end of the flexible trunk G7 is connected with the flexible swing snake tail 8.
As shown in fig. 1 and 2, the flexible trunk of the present embodiment is a dielectric elastomer, and includes a nitrile rubber 15 and a spring 16, wherein two ends of the nitrile rubber 15 are connected with adjacent flexible trunks through flexible joints respectively, the spring 16 is accommodated in the nitrile rubber 15, and the spring 16 is abutted to an inner wall of the nitrile rubber 15. The flexible trunk A1-G7 of the embodiment is of a modularized structure with the same mechanism, and different modules can be replaced with each other and can be randomly combined; each flexible trunk is independently electrified or powered off, and each flexible trunk serves as a body of the flexible water snake robot and is a power source of the flexible water snake robot, so that the whole structure of the flexible water snake robot is highly integrated. In this embodiment, the two ends of each nitrile rubber 15 are sealed and embedded with wires, the wires are connected with a power supply (such as a button cell) on a circuit board sealed and embedded in the nitrile rubber 15, and the circuit board is provided with a controller which can receive signals sent by a control end, so as to control the power supply to turn on or off the nitrile rubber 15. The scheme for realizing the on-off of each flexible trunk is the prior art and will not be repeated.
As shown in fig. 1 to 3, the flexible joint of the present embodiment includes a rubber bellows 17, a universal joint 18 and a flange 19, the universal joint 18 is accommodated in the rubber bellows 17, two ends of the universal joint 18 are respectively connected with the flanges 19 mounted at two ends of the rubber bellows 17, and the flanges 19 at two ends of the universal joint 18 are respectively connected with the nitrile rubber 15 of two adjacent flexible trunk bodies. The flexible joints A9 to F14 of this embodiment have the same structure and can be interchanged.
The flexible swing snake tail 8 of the embodiment is a swing piece with a bionic structure, and can swing through the compound motion of each flexible trunk, so as to provide the advancing power of the flexible water snake robot.
The working principle of the invention is as follows:
the nitrile rubber 15 is electrified to generate bending deformation, and the nitrile rubber 15 after power failure is restored to the original state through the spring 16. The integral sinuous swing of the flexible water snake robot can be realized through the compound motion of seven modules of the flexible trunk A1-G7, and the integral swing frequency and swing amplitude of the flexible water snake robot can be controlled through changing the swing frequency and swing amplitude of each flexible trunk. When the flexible water snake robots move underwater, the whole sinuous swing generated by the electrified bending deformation of each flexible trunk is finally transmitted to the flexible swing snake tail 8, the slapping force to water is generated, and the reaction force of the water can push the flexible water snake robots to swim underwater.
Claims (5)
1. A multi-module flexible water snake robot which is characterized in that: the flexible trunk and the flexible joints are multiple, two adjacent flexible trunks are connected through the flexible joints, and the last flexible trunk is connected with the flexible swing snake tail; the flexible trunk is a dielectric elastomer and comprises nitrile rubber (15) and springs (16), two ends of the nitrile rubber (15) are respectively connected with adjacent flexible trunks through the flexible joints, and the springs (16) are accommodated in the nitrile rubber (15); the two ends of the nitrile rubber (15) are respectively embedded with an electric wire in a sealing manner, the electric wire is connected with a power supply on a circuit board which is embedded in the nitrile rubber (15), the nitrile rubber (15) is electrified to generate bending deformation, the nitrile rubber (15) after power failure is restored to the original state through the springs (16), and the swing generated by the electrified bending deformation of each flexible trunk is finally transmitted to the flexible swing snake tail (8) to slap water, and the flexible water snake robot is pushed to swim under water by the reaction force of the water;
the flexible joint comprises a rubber corrugated pipe (17), a universal joint (18) and flanges (19), wherein the universal joint (18) is accommodated in the rubber corrugated pipe (17), two ends of the universal joint (18) are respectively connected with the flanges (19) arranged at two ends of the rubber corrugated pipe (17), and the flanges (19) at two ends of the universal joint (18) are respectively connected with two adjacent flexible trunk bodies.
2. The multi-module flexible water snake robot of claim 1, wherein: each flexible trunk is independently electrified or powered off, and each flexible trunk serves as a body of the flexible water snake robot and is a power source of the flexible water snake robot.
3. The multi-module flexible water snake robot of claim 1, wherein: each flexible trunk has the same structure and can be interchanged; the flexible joints are identical in structure and interchangeable.
4. The multi-module flexible water snake robot of claim 1, wherein: the spring (16) is abutted against the inner wall of the nitrile rubber (15).
5. The multi-module flexible water snake robot of claim 1, wherein: seven flexible trunk parts are respectively a flexible trunk part A (1), a flexible trunk part B (2), a flexible trunk part C (3), a flexible trunk part D (4), a flexible trunk part E (5), a flexible trunk part F (6) and a flexible trunk part G (7); the number of the flexible joints is six, namely a flexible joint A (9), a flexible joint B (10), a flexible joint C (11), a flexible joint D (12), a flexible joint E (13) and a flexible joint F (14); the flexible trunk A (1) is connected with one end of the flexible trunk B (2) through a flexible joint A (9), the other end of the flexible trunk B (2) is connected with one end of the flexible trunk C (3) through a flexible joint B (10), the other end of the flexible trunk C (3) is connected with one end of the flexible trunk D (4) through a flexible joint C (11), the other end of the flexible trunk D (4) is connected with one end of the flexible trunk E (5) through a flexible joint D (12), the other end of the flexible trunk E (5) is connected with one end of the flexible trunk F (6) through a flexible joint E (13), the other end of the flexible trunk F (6) is connected with one end of the flexible trunk G (7) through a flexible joint F (14), and the other end of the flexible trunk G (7) is connected with the flexible swing snake tail (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011456507.XA CN112518726B (en) | 2020-12-10 | 2020-12-10 | Multi-module flexible water snake robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011456507.XA CN112518726B (en) | 2020-12-10 | 2020-12-10 | Multi-module flexible water snake robot |
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| Publication Number | Publication Date |
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| CN112518726A CN112518726A (en) | 2021-03-19 |
| CN112518726B true CN112518726B (en) | 2023-12-19 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086135A (en) * | 2021-03-30 | 2021-07-09 | 苏州永鼎智联科技有限公司 | Modularized underwater coupling cruising robot |
| CN113386929B (en) * | 2021-05-07 | 2022-11-08 | 上海大学 | Underwater soft snake-shaped robot |
| CN113427494A (en) * | 2021-07-02 | 2021-09-24 | 西安工业大学 | Bionic water snake-shaped robot based on dielectric elastomer |
| CN114233395B (en) * | 2021-12-10 | 2023-11-17 | 太原理工大学 | Mine accident robot rescue detecting system that permeates water |
| CN115091439B (en) * | 2022-07-28 | 2024-03-29 | 浙江大学 | Modularized soft mechanical arm system based on dielectric elastomer and control method |
| GB2624655A (en) * | 2022-11-24 | 2024-05-29 | Rolls Royce Plc | Actuators |
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| JPH09267278A (en) * | 1996-04-01 | 1997-10-14 | Denso Corp | Manufacture of micromanipulator and piezoelectric actuator |
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| JPH09267278A (en) * | 1996-04-01 | 1997-10-14 | Denso Corp | Manufacture of micromanipulator and piezoelectric actuator |
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| CN112518726A (en) | 2021-03-19 |
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