CN113619336B - Wheel fin matched multi-terrain amphibious robot - Google Patents
Wheel fin matched multi-terrain amphibious robot Download PDFInfo
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- CN113619336B CN113619336B CN202110998674.5A CN202110998674A CN113619336B CN 113619336 B CN113619336 B CN 113619336B CN 202110998674 A CN202110998674 A CN 202110998674A CN 113619336 B CN113619336 B CN 113619336B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
Abstract
The invention discloses a multi-terrain amphibious robot with matched wheel fins, wherein wheel driving modules are arranged at four end corners of a bottom plate, and flexible fin surfaces and fin surface driving units are arranged between the wheel driving modules at two sides of the bottom plate. The wheel driving module mainly realizes the land movement of the robot, the flexible fin surface mainly realizes the underwater movement of the robot, and meanwhile, the flexible fin surface and the flexible fin surface can mutually cooperate to realize the flexible movement of the robot under various terrains such as steps, slopes, land and water, cement, sand and stone, grasslands and the like. The multi-terrain amphibious robot with the matched wheel fins has the outstanding advantages of simple and compact structure, low cost, high reliability, strong environment adaptability, good maneuverability, high stability and the like.
Description
Technical Field
The invention belongs to the technical field of amphibious robots, and particularly relates to a multi-terrain amphibious robot with matched wheel and fin.
Background
Along with the vigorous development of modern science and technology, the fields of offshore resource exploration and development, water search and rescue, material transportation, military investigation and the like are increasingly obvious in demands on amphibious robots capable of adapting to various complex environments and task demands, but are bound by practical complex problems such as underwater ocean current turbulence, vegetation cluster, liu Degou sink, longitudinal and transverse, landform change, water and land boundary sediment spreading, rugged topography and the like, and most amphibious robots are huge in size, complex in structure, high in cost, insufficient in environment adaptation capability, limited in flexibility and difficult to effectively improve in stability at present, so that the amphibious robot which is simple and compact in structure, low in cost, high in reliability, strong in environment adaptation capability, good in maneuverability and high in stability and capable of adapting to various complex environments and task demands is developed, and has very important application value and practical significance.
The traditional amphibious robot mostly adopts wheeled, crawler-type and other propulsion modes, has good environment adaptability and strong obstacle surmounting capability, but has the defects of complex structure, low efficiency, insufficient maneuverability and the like, and particularly, the robot is easy to wind in vegetation clustered water areas, and in addition, the robot is difficult to maintain self stability in water areas with rapid waves. In addition, the propulsion types of the legged type, the ball type, the wheel legged type, the wheel paddle type and the like have a plurality of advantages, but better balance among the environmental adaptability, the maneuverability and the stability of the robot is still difficult to realize. The current amphibious robot based on the biological heuristic principle is in a hot spot direction, and a bionic propulsion method based on the fluctuation propulsion principle provides a better thought for solving the problems among a plurality of bionic objects, and the bionic fluctuation propulsion method mainly realizes the movement of the robot through the quasi-sinusoidal fluctuation propulsion principle of the flexible fin surface, and the movement mode has the remarkable characteristic of high low-speed stability. The current research results based on the wave fin type propulsion principle generally adopt a propulsion form of combining a plurality of groups of flexible fin surfaces, and the special low-speed characteristic of the wave type propulsion mode is basically difficult to get rid of.
In summary, the existing amphibious robot generally has the problems of complex structure, insufficient environment adaptability, limited maneuverability, poor stability and the like, so that the design of the amphibious robot with strong environment adaptability, high maneuverability and excellent stability has important significance in the fields of resource exploration and development, water search and rescue, material transportation, military investigation and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the multi-terrain amphibious robot with the matched wheel fins, which has strong environment adaptability, good maneuverability and high stability.
The invention adopts the following technical scheme:
the multi-terrain amphibious robot with the matched wheel fins comprises a bottom plate, fin surface driving units are respectively arranged on two sides of the long edge of the bottom plate, the extending ends of the fin surface driving units are connected with flexible fin surfaces, and the flexible fin surfaces are used for realizing underwater movement of the multi-terrain amphibious robot; wheel driving modules are respectively arranged on the bottom plates at two sides of the fin surface driving unit and are used for realizing land movement of the multi-terrain amphibious robot; the front end, the rear end and the lower side of the bottom plate are respectively provided with a sensor; and the fin surface driving unit, the wheel driving module and the sensor are respectively connected with an electronic cabin module and a power supply which are arranged on the bottom plate.
Specifically, the fin face driving unit comprises a plurality of groups, and the fin face driving units are arranged between the wheel driving modules on two sides of the long side of the bottom plate at intervals.
Further, the fin face driving unit comprises a swing driving element, the output end of the swing driving element is connected with one end of a swing arm, the other end of the swing arm is connected with the flexible fin face through a fin face clamping piece, and the swing arm and the fin face clamping piece share three directions of freedom degrees.
Further, the swing arm comprises a swing arm elastic plate, one end of the swing arm elastic plate is connected with the fin surface clamping piece through a clamping piece rotating shaft, and the other end of the swing arm elastic plate is connected with the swing driving element through the swing arm rotating shaft.
Further, the fin face clamping piece is Y-shaped, the clamping piece through hole is formed in the opening side, the clamping piece through hole is connected with one end of the elastic fin bar, and the other end of the elastic fin bar is correspondingly connected with the fin face through hole on the flexible fin face.
Specifically, the wheel drive module includes a rotary drive element provided at the lower surface of the front and rear ends of the base plate, the rotary drive element being connected to the drive wheel.
Specifically, the flexible fin surface is in an unfolded shape of a fin surface with an arc guide section or a fin surface without an arc guide section.
Specifically, the sensor includes vision sensor, land and water range finding sensor and water depth sensor, and vision sensor and land and water range finding sensor set up respectively at the both ends of bottom plate, and land and water range finding sensor adopts vertical interval arrangement, and water depth sensor sets up the downside at the bottom plate.
Specifically, the electronic cabin module comprises an electronic cabin with a cylinder sealing structure, a control board, an underwater sound communication element and a land communication element are respectively arranged in the electronic cabin, and the underwater sound communication element and the land communication element are respectively connected with the control board.
Specifically, the middle part of bottom plate is opened there is the groove, and electronic cabin module sets up in the groove, and one side of bottom plate is provided with drags the hook, is provided with the shell on the bottom plate.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the multi-terrain amphibious robot with the matched wheel fins, land running is realized through the driving wheels, underwater traveling is mainly realized through the flexible fin surfaces, meanwhile, the movement of various complex environments such as amphibious transition, step-over, climbing and the like can be realized through the matched movement of the driving wheels and the flexible fin surfaces, and particularly, when the robot runs in complex and easily-sunk terrain environments such as soft sand beach, rugged stone and the like, the driving wheels can realize stable running under the matched action of the flexible fin surfaces; meanwhile, the robot has a multi-terrain autonomous recognition function, is provided with a water depth sensor, a vision sensor and an amphibious ranging sensor, and can recognize various environments by comprehensively judging detection signals of the sensors.
Further, the fin surface driving units comprise a plurality of groups of direct driving elements serving as flexible fin surfaces, the swing driving elements in the fin surface driving units can generate swing motion, parameters such as swing motion amplitude, frequency and offset generated by each fin surface driving unit can be independently controlled by the control panel, and various motion waveforms are generated by the flexible fin surfaces through coordination control among the fin surface driving units, and different motion waveforms generate different types of propelling force, so that the robot has multiple motion modes, and the mobility of the robot is realized; in addition, fin face drive unit interval arrangement avoids the mutual influence between flexible fin face and the drive wheel between the wheel drive module of bottom plate long limit both sides, and when the robot moves under water simultaneously, flexible fin face can enough contact large tracts of land forward inflow to provide bigger propulsive force, guaranteed the holistic dynamic stability of robot again.
Further, the swing driving element is connected with one end of the swing arm, the other end of the swing arm is connected with the flexible fin surface through the fin surface clamping piece, the swing arm transmits the swing driving force output by the swing driving element to the fin surface clamping piece, the fin surface clamping piece can rotate relative to the swing arm, and the fin surface clamping piece converts the plane swing motion of the swing arm into plane swing and space rotation compound motion, so that the driving force of the swing driving element is transmitted to the flexible fin surface; the swing arm and the fin surface clamping piece share three directions of freedom: the swing arm has a swing degree of freedom relative to the swing driving element, a bending degree of freedom of the swing arm itself, and a rotation degree of freedom of the fin surface holder relative to the swing arm.
Further, the swing arm is used as a main transmission part for the fluctuation movement of the flexible fin surface, the swing arm elastic plate can adapt to certain bending deformation, the distance between adjacent fin surface driving units can be periodically changed in the fluctuation movement process of the flexible fin surface, larger internal stress can be generated on the flexible fin surface between adjacent fin surface clamping part connecting parts, and the bending freedom degree of the swing arm elastic plate can enable the swing arm to generate certain self-adaptive action on the pulling of the flexible fin surface in the swinging process, so that the energy loss caused by the internal stress of the flexible fin surface is reduced; one end of the swing arm elastic plate is connected with the fin surface clamping piece through a clamping piece rotating shaft, the fin surface clamping piece can freely rotate around the clamping piece rotating shaft relative to the swing arm elastic plate, and as the tangential direction of the flexible fin surface at the joint of the fin surface clamping piece is continuously changed when the flexible fin surface moves in a fluctuation mode, the rotation freedom degree of the fin surface clamping piece relative to the swing arm can enable the swing arm to generate certain self-adaptive action, the flexible fin surface is compliant to the fluctuation motion of the flexible fin surface, and the fluctuation motion continuity and the flexibility of the flexible fin surface are better; the other end of the swing arm elastic plate is fixedly connected with the output end of the swing driving element through a swing arm rotating shaft and is used for transmitting the swing driving force generated by the swing driving element.
Further, the fin face clamping piece is Y-shaped, two elastic fin bars are respectively arranged inside the opening side of the fin face clamping piece, clamping piece through holes are formed in the opening side of the fin face clamping piece and are connected with through holes in corresponding positions on the elastic fin bars, the through holes in corresponding positions on the elastic fin bars are correspondingly connected with the fin face through holes on the flexible fin faces, the elastic fin bars are bonded with the flexible fin faces in a gluing mode, and therefore the flexible fin faces and the fin face clamping piece are fixed.
Further, the rotary driving element is arranged on the lower surfaces of the front end and the rear end of the bottom plate, one end of the rotary driving element is connected with the driving wheel, the driving wheel adopts a larger diameter, the bottom plate can be lifted, the robot has stronger obstacle surmounting capacity, and meanwhile, the arrangement mode can increase the span between the driving wheels and the stability of the robot.
Further, the expansion shape of the flexible fin surface is a fin surface with an arc guide section or a fin surface without an arc guide section, the fin surface without an arc guide section is in a fan-shaped shape, a plurality of groups of fin surface through holes are arranged near the inner arc side at intervals, and after the inner arc of the fin surface is stretched into a straight line, the space curved surface shape of the flexible fin surface can be obtained, so that the flexible fin surface can be mounted on a corresponding fin surface driving unit; the fin surface with the arc guide section is respectively added with a guide section along the radial direction on the two sides of the fan shape of the fin surface compared with the fin surface without the arc guide section, the guide section can be connected to a robot bottom plate, and the arrangement of the guide section can limit the freedom degree of the end part of the flexible fin surface, so that the flexible fin surface has higher rigidity under the condition that the end part is stressed in the land running process, and the robot has better land movement performance.
Further, the vision sensor, the water-land distance measuring sensor and the water depth sensor are respectively connected to the control board through cables, and the control board can judge the state of the robot through the analysis of real-time sensing data of the sensors, such as environments of underwater, land, water-land junction, steps, slopes and the like, so that correct maneuvering actions can be made.
Further, the electronic cabin module adopts a cylinder sealing structure, water flow is placed into the electronic cabin module, a control board, an underwater sound communication element and a land communication element which are connected with the control board through cables are arranged in the electronic cabin module, the robot can have an amphibious environment beyond visual range communication function through the underwater sound communication element and the land communication element, remote control and real-time state detection of the robot can be achieved, and the control board has the functions of receiving and processing information from the sensor and the communication element, processing data, controlling the fin surface driving unit, controlling the movement state of the wheel driving module and the like.
Furthermore, the middle part of the bottom plate is provided with a groove for placing the electronic cabin module, so that the robot is compact in structure, the weight of the robot is reduced, and the movement efficiency of the robot is improved; the towing hook at the tail of the robot can be used for towing materials and is suitable for tasks such as material conveying and rescue; the shell is streamline and wraps all parts except the flexible fin surface and the driving wheel, which are static relative to the bottom plate, so that the water flow resistance is reduced and the movement efficiency of the robot is improved.
In conclusion, the invention has the outstanding advantages of simple and compact structure, low cost, high reliability, strong environment adaptability, good maneuverability, high stability and the like.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Fig. 1 is a schematic perspective view of a multi-terrain amphibious robot with matched wheel fins.
Fig. 2 is a schematic perspective view of a multi-terrain amphibious robot with the wheel fin engaged after the outer shell is removed.
Fig. 3 is a schematic view of a bottom perspective view of the multi-terrain amphibious robot with wheel fin engagement.
Fig. 4 is a schematic perspective view of a flexible fin driving unit.
Fig. 5 is a schematic perspective view of the working principle of the fin driving swing arm.
Fig. 6 is an expanded schematic view of two exemplary flexible fin surfaces.
FIG. 7 is a schematic cross-sectional view of a perspective structure of an electronics module;
fig. 8 is a schematic diagram of a step-over process of the multi-terrain amphibious robot with wheel fin matching.
Wherein: 1. a fin surface driving unit; 111. a swing driving element; 112. a fixing frame; 121. swing arms; 1211. a swing arm rotation shaft; 1212. swing arm elastic plate; 122. fin face clamps; 1221. a clamping member rotating shaft; 1222. a clamping piece through hole; 13. an elastic fin; 2. a wheel drive module; 21. a driving wheel; 22. a rotary drive element; 3. a flexible fin surface; 31. a fin surface via; 4. a housing; 5. an electronic cabin module; 511. a control board; 512. an underwater acoustic communication element; 513. a land communication element; 52. an electronic cabin; 61. a bottom plate; 62. a towing hook; 71. a visual sensor; 72. an amphibious ranging sensor; 73. a water depth sensor; 8. a power supply; 91. a first wireless ranging signal; 92. and a second wireless ranging signal.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Various structural schematic diagrams according to the disclosed embodiments of the present invention are shown in the accompanying drawings. The figures are not drawn to scale, wherein certain details are exaggerated for clarity of presentation and may have been omitted. The shapes of the various regions, layers and their relative sizes, positional relationships shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
The invention provides a multi-terrain amphibious robot with matched wheel fins, which comprises a bottom plate 61, a shell 4, a flexible fin surface 3, a fin surface driving unit 1, a wheel driving module 2, a power supply 8, the shell 4, an electronic cabin module 5, a vision sensor 71, an amphibious ranging sensor 72 and a water depth sensor 73.
The casing 4 is arranged on the bottom plate 61 and can cover all parts which are static relative to the bottom plate 61;
the wheel driving modules 2 comprise four wheels which are respectively arranged at four end corners of the bottom plate 61, and the wheel driving modules 2 are used for realizing land movement of the multi-terrain amphibious robot;
the electronic cabin module 5, the power supply 8, the vision sensor 71, the water-land distance measuring sensor 72 and the water depth sensor 73 are respectively arranged on the bottom plate 61, the power supply 8 is arranged on the front side and the rear side of the bottom plate 61, the electronic cabin module 5 is arranged between the two power supplies 8, the control board 511 is arranged inside the electronic cabin module, the vision sensor 71 and the water-land distance measuring sensor 72 are respectively arranged on the front end and the rear end of the bottom plate 61, the water depth sensor 73 is arranged on the lower side of the bottom plate 61, and the vision sensor 71, the water-land distance measuring sensor 72, the water depth sensor 73, the wheel driving module 2 and the fin surface driving unit 1 are respectively connected with the electronic cabin module 5 and the power supply 8 through cables;
the fin surface driving units 1 are arranged on the left side and the right side of the bottom plate 61, the flexible fin surface 3 is connected with the extending end of the fin surface driving units 1, the flexible fin surface 3 and the fin surface driving units 1 are positioned among the four wheel driving modules 2, and the flexible fin surface 3 is used for realizing underwater movement of the multi-terrain amphibious robot; meanwhile, the wheel driving module 2 and the fin surface driving unit 1 can mutually cooperate to realize flexible movement of the robot under various terrains such as steps, slopes, water-land junctions, cement lands, sand and stone lands, grasslands and the like.
Referring to fig. 1, 2, 4 and 5, a bottom plate 61 is rectangular, four corners of the bottom surface of the bottom plate 61 are respectively provided with a wheel driving module 2, and a plurality of groups of fin surface driving units 1 are respectively arranged between the wheel driving modules 2 on two sides of the long side of the bottom plate 61 at intervals;
the fin surface driving unit 1 comprises a swing driving element 111, a fixing frame 112, a swing arm 121, a fin surface clamping piece 122 and an elastic fin bar 13, wherein the swing driving element 111 is connected with a power supply 8 and a control board 511 through cables respectively.
The fixing frame 112 fixes the swing driving element 111 on the bottom plate 61, one end of the swing arm 121 is fixed at the output end of the swing driving element 111, the other end is matched with the fin surface clamping piece 122, the fin surface clamping piece 122 is in a Y shape, a clamping piece through hole 1222 is arranged at the opening side, and the fixing between the fin surface clamping piece 122 and the elastic fin strip 13 is realized through the through hole of the corresponding position of the clamping piece through hole 1222 and the elastic fin strip 13.
It should be noted that seven groups of fin surface driving units 1 are equally spaced on one side in the present embodiment, fourteen groups are used in total, the remaining number of fin surface driving units 1 are still suitable for the present invention, and the number of fin surface driving units 1 on one side should not be less than five, and the arrangement manner is not required to be equally spaced.
Referring to fig. 4 and 5, in the present embodiment, the swing arm 121 and the fin-surface clamping member 122 have three degrees of freedom:
first, the swing arm 121 is swingable about a swing arm rotation shaft 1211 coinciding with the output axis of the swing drive element 111 in order to transmit the swing motion of the swing drive element 111 to the swing arm 121;
secondly, the middle part of the swing arm 121 is formed by a thin plate-shaped swing arm elastic plate 1212 with certain elasticity, the swing arm elastic plate 1212 has enough rigidity and strength along the swing direction, but is easy to bend along the thin wall direction, because the inner side of the flexible fin surface 3 generates periodic variation internal stress when the flexible fin surface 3 moves in a wave motion, the swing arm 121 can bend in the corresponding direction when the inner side of the flexible fin surface 3 has larger internal stress by arranging the swing arm elastic plate 1212 with certain elasticity, thus realizing unloading effect and reducing the damage effect of the overlarge peak internal stress of the flexible fin surface 3 on the swing driving element 111;
third, the fin surface holder 122 can generate a rotational motion with respect to the swing arm 121, and its rotation axis is a holder rotation axis 1221, so as to improve the compliance and waveform continuity of the flexible fin surface 3 during the wave motion.
Referring to fig. 6, in the present embodiment, the flexible fin surface 3 is unfolded into a circular arc segment shape, and a plurality of groups of fin surface through holes 31 are uniformly distributed along the circumferential direction at intervals.
The unfolded shape of the flexible fin surface 3 is divided into two types:
a first fin surface (a) with a circular arc guide section; the second type of fin without a guide section (b).
The guide section aims to maintain tension of the end part of the flexible fin surface 3 when the flexible fin surface 3 moves in a wave mode, improve rigidity of the end part of the flexible fin surface 3 and avoid the phenomenon of limp and soft caused by insufficient rigidity of the end part of the flexible fin surface 3 when the flexible fin surface 3 contacts the ground. The elastic fins 13 are fixed on the flexible fin surface 3 by adopting an adhesive method, and the alignment of the through holes on each elastic fin 13 with the fin surface through holes 31 is ensured.
In particular, the wave motion of the flexible fin 3 has a plurality of controllable modes: wave number adjustment of the fluctuation motion of the flexible fin surface 3 is realized by controlling the phase difference of the swing driving element 111; by controlling the speed of the swing driving element 111, the frequency adjustment of the fluctuation motion of the flexible fin surface 3 is realized; amplitude adjustment of the fluctuation motion of the flexible fin surface 3 is realized by controlling the oscillation amplitude of the oscillation driving element 111; by controlling the oscillation center of the oscillation driving element 111, offset adjustment of the wave motion of the flexible fin surface 3 is achieved.
Referring to fig. 3, in the present embodiment, the wheel driving module 2 includes a rotary driving element 22 and a driving wheel 21, the rotary driving element 22 is fixed on the lower surface of the bottom plate 61, spokes of the driving wheel 21 adopt a hollow structure, the weight of the robot is reduced, and rims of the driving wheel 21 are provided with patterns to increase friction with the ground. The multi-terrain amphibious robot can move straight and turn by controlling the speed, differential speed and other parameters of the driving wheel 21, and the rotary driving element 22 is connected with the power supply 8 and the control board 511 through cables respectively.
It should be noted that the size of the driving wheel 21 is related to the height of the obstacle surmounting actually required and the length of the elastic fin 13, and in the case that the end moment is constant, the larger the diameter of the driving wheel 21, the higher the multi-terrain amphibious robot can cross the obstacle, the longer the elastic fin 13 is within a certain length range, and the higher the multi-terrain amphibious robot can cross the obstacle.
Referring to fig. 1 to 3, power sources 8 are respectively installed at front and rear sides of a base plate 61, and a hole groove is provided in the middle of the base plate 61 for installing the electronic compartment module 5. The rear edge of the bottom plate 61 is provided with a towing hook 62 which has the function of towing and transporting materials and the like. The exterior of the multi-terrain amphibious robot with the wheel fin fit is provided with a housing 4, and the housing 4 covers all parts which are stationary relative to the base plate 61 except for the necessary relevant sensing equipment, the drag hook 62 and other functional parts which are exposed.
Referring to fig. 7, in the present embodiment, the electronic cabin module 5 includes a control board 511, an underwater sound communication element 512, a land communication element 513, and an electronic cabin 52.
The electronic cabin 52 is internally provided with a control board 511, an underwater sound communication element 512 and a land communication element 513, and the electronic cabin 52 is in a cylindrical airtight structure to prevent water flow from entering, and the underwater sound communication element 512 and the land communication element 513 are respectively connected with the control board 511 through cables.
Referring to fig. 2 to 3, in the present embodiment, a vision sensor 71 and two amphibious distance measuring sensors 72 are respectively disposed at the front and rear edges of the base plate 61, and the amphibious distance measuring sensors 72 are arranged at vertical intervals for information acquisition and obstacle recognition. The front edge of the electronic cabin 52 is provided with a downward-directed amphibious ranging sensor 72 for multi-terrain amphibious robot bottom distance identification. The rear edge of the electronic cabin 52 is provided with a water depth sensor 73 for identifying the water depth in which the robot is located.
Specifically, the multi-terrain amphibious robot with the matched wheel fins can autonomously identify various terrain environments, such as environments of underwater, land and water juncture, land walls/steps and the like, and the robot can realize maneuvering and stable running under various terrain environments by utilizing the matched action of the driving wheel 21 and the flexible fin surface 3.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 8 (a) to (i), in this embodiment, taking a process of crossing a typical step obstacle by a multi-terrain amphibious robot as an example, curved arrows in the figure indicate rotation of the driving wheel 21, and length indicates speed and thickness indicates torque; the straight arrow indicates the swing of the fin face drive unit 1, and the length thereof indicates the swing angle and the torque.
Referring to fig. 8 (a) to (b), in the present embodiment, first, two amphibious ranging sensors 72 vertically spaced apart from each other at the front end of a multi-terrain amphibious robot identify a step obstacle through a first wireless ranging signal 91 and a second wireless ranging signal 92, and when the first wireless ranging signal 91 detects that an obstacle exists in front, but the second wireless ranging signal 92 does not detect that an obstacle exists in front, it indicates that a crossing obstacle exists in front, and the robot immediately performs a deceleration action.
Referring to fig. 8 (b) to (c), in the present embodiment, when the signal value detected by the first wireless ranging signal 91 is smaller than a certain value, it indicates that the robot is approaching or even touching the step, the driving wheel 21 of the robot increases the torque immediately, and at the same time, the fin driving unit 1 starts to swing down, and the swing angle and the torque of the fin driving unit 1 increase sequentially from back to front, so that the robot performs the head-up motion.
Referring to fig. 8 (d) to (f), in the present embodiment, in the process of continuously swinging down the robot fin driving unit 1, the driving wheel 21 always rotates at a low speed and a large torque until the amphibious ranging sensor 72 facing the bottom of the robot detects that the distance from the bottom of the robot to the ground is greater than a certain value, the robot determines that the driving wheel 21 located at the front has stepped up, the torque of the driving wheel 21 of the robot is reduced, the speed is unchanged, and meanwhile, the fin driving unit is completely swung up and separated from the ground.
Referring to fig. 8 (g) to (h), in the present embodiment, after the front driving wheel 21 gets over the step, the robot determines that the rear driving wheel 21 is approaching or contacting the step after a long time is calculated by the clock in the control board according to the speed of the driving wheel 21, the driving wheel 21 increases torque immediately, the fin driving unit 1 starts to swing down, the swing angle and torque of the fin driving unit 1 increase sequentially from front to back, and the robot performs tail lifting action.
Referring to fig. 8 (h) to (i), in this embodiment, when the amphibious ranging sensor 72 facing the bottom of the robot detects that the distance from the bottom of the robot to the ground is recovered to a certain range, it indicates that the driving wheel 21 at the rear of the robot has stepped up, the moment of the driving wheel 21 is reduced, the rotation speed is increased, and at the same time, the fin driving unit 1 is completely swung up to separate from the ground, the robot is recovered to a state of flat ground movement, and the process of crossing the typical step obstacle is completed.
In this embodiment, in addition to crossing the above typical step obstacle, the robot can also realize autonomous recognition of the robot land-land transition area and robot land-land mode conversion by the water depth sensor 73 and the land-land ranging sensor 72 toward the bottom of the robot.
It should be noted that the arrangement of the positions of the visual sensor 71, the water and land ranging sensor 72, the water depth sensor 73, the power supply 8, the control board 511, and the communication elements 512/513 in this embodiment is not intended to be the only case, and other embodiments having different arrangements and different combinations with the same function are still considered as the scope of the present invention.
In summary, according to the multi-terrain amphibious robot with the matched wheel fins, the land running is realized through the driving wheels, the underwater swimming is mainly realized through the flexible fin surfaces, meanwhile, the movement of various complex environments such as amphibious transition, step-over, climbing and the like can be realized through the matched movement of the driving wheels and the flexible fin surfaces, and particularly, when the robot runs in complex and easily-sunk terrain environments such as soft sand beach, rugged stone and the like, the driving wheels can realize stable running under the matched action of the flexible fin surfaces; meanwhile, the robot has a multi-terrain autonomous recognition function, is provided with a water depth sensor, a visual sensor and an amphibious ranging sensor, and can complete recognition of various environments by comprehensively judging detection signals of the sensors; the device has the outstanding advantages of simple and compact structure, low cost, high reliability, strong environment adaptability, good maneuverability, high stability and the like.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. The multi-terrain amphibious robot with the matched wheel fins is characterized by comprising a bottom plate (61), fin surface driving units (1) are respectively arranged on two sides of a long side of the bottom plate (61), the extending ends of the fin surface driving units (1) are connected with flexible fin surfaces (3), and the flexible fin surfaces (3) are used for realizing underwater movement of the multi-terrain amphibious robot; the base plates (61) on two sides of the fin surface driving unit (1) are respectively provided with a wheel driving module (2), and the wheel driving modules (2) are used for realizing land movement of the multi-terrain amphibious robot; the front end, the rear end and the lower side of the bottom plate (61) are respectively provided with a sensor; the fin face driving unit (1), the wheel driving module (2) and the sensor are respectively connected with the electronic cabin module (5) and the power supply (8) which are arranged on the bottom plate (61), the fin face driving unit (1) comprises a swing driving element (111), the output end of the swing driving element (111) is connected with one end of a swing arm (121), the other end of the swing arm (121) is connected with a flexible fin face (3) through a fin face clamping piece (122), and the swing arm (121) and the fin face clamping piece (122) share three directions of freedom degrees.
2. The multi-terrain amphibious robot with matched wheel fins according to claim 1, wherein the fin surface driving units (1) comprise a plurality of groups, and the fin surface driving units are arranged between the wheel driving modules (2) on two sides of the long side of the bottom plate (61) at intervals.
3. The multi-terrain amphibious robot with matched wheel and fin according to claim 1, wherein the swing arm (121) comprises a swing arm elastic plate (1212), one end of the swing arm elastic plate (1212) is connected with the fin surface clamping piece (122) through a clamping piece rotating shaft (1221), and the other end of the swing arm elastic plate (1212) is connected with the swing driving element (111) through a swing arm rotating shaft (1211).
4. The multi-terrain amphibious robot with wheel fin matching according to claim 1, wherein the fin surface clamping piece (122) is of a Y shape, a clamping piece through hole (1222) is arranged on the opening side, the clamping piece through hole (1222) is connected with one end of the elastic fin strip (13), and the other end of the elastic fin strip (13) is correspondingly connected with the fin surface through hole (31) on the flexible fin surface (3).
5. The multi-terrain amphibious robot with matched wheel fins according to claim 1, wherein the wheel driving module (2) comprises a rotary driving element (22), the rotary driving element (22) is arranged on the lower surface of the front end and the rear end of the bottom plate (61), and the rotary driving element (22) is connected with the driving wheel (21).
6. The multi-terrain amphibious robot with wheel fin cooperation according to claim 1, wherein the flexible fin surface (3) is in an unfolded shape of a fin surface with or without a circular arc guide section.
7. The multi-terrain amphibious robot with the matched wheel fins according to claim 1, wherein the sensors comprise a vision sensor (71), an amphibious ranging sensor (72) and a water depth sensor (73), the vision sensor (71) and the amphibious ranging sensor (72) are respectively arranged at two ends of the base plate (61), the amphibious ranging sensor (72) is vertically arranged at intervals, and the water depth sensor (73) is arranged at the lower side of the base plate (61).
8. The multi-terrain amphibious robot with wheel fin matching according to claim 1, wherein the electronic cabin module (5) comprises an electronic cabin (52) with a cylinder sealing structure, a control board (511), an underwater sound communication element (512) and a land communication element (513) are respectively arranged in the electronic cabin (52), and the underwater sound communication element (512) and the land communication element (513) are respectively connected with the control board (511).
9. The multi-terrain amphibious robot with matched wheel fins according to claim 1, wherein the middle part of the bottom plate (61) is provided with a groove, the electronic cabin module (5) is arranged in the groove, one side of the bottom plate (61) is provided with a towing hook (62), and the bottom plate (61) is provided with a shell (4).
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| CN110027692A (en) * | 2019-05-14 | 2019-07-19 | 西南石油大学 | A kind of amphibious robot promoted using fluctuation fin |
| CN111959209A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Amphibious robot with wheel fin structure |
| CN112406431A (en) * | 2020-11-30 | 2021-02-26 | 哈尔滨工程大学 | Flexible fin fluctuation propulsion type amphibious bionic robot |
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|---|---|---|---|---|
| CN110027692A (en) * | 2019-05-14 | 2019-07-19 | 西南石油大学 | A kind of amphibious robot promoted using fluctuation fin |
| CN111959209A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Amphibious robot with wheel fin structure |
| CN112406431A (en) * | 2020-11-30 | 2021-02-26 | 哈尔滨工程大学 | Flexible fin fluctuation propulsion type amphibious bionic robot |
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