CN113771566B - Amphibious bionic robot - Google Patents
Amphibious bionic robot Download PDFInfo
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- CN113771566B CN113771566B CN202111183762.6A CN202111183762A CN113771566B CN 113771566 B CN113771566 B CN 113771566B CN 202111183762 A CN202111183762 A CN 202111183762A CN 113771566 B CN113771566 B CN 113771566B
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- motor
- fixedly connected
- fish
- round table
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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
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
- G01N2001/085—Grabs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1006—Dispersed solids
- G01N2001/1012—Suspensions
- G01N2001/1025—Liquid suspensions; Slurries; Mud; Sludge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1031—Sampling from special places
Abstract
The invention provides an amphibious bionic robot which comprises a fish shell, a baffle, a swimming running device, a sample collecting device, an image photographing device and an upward floating submerging device, wherein the upper fish shell and the lower fish shell are respectively and fixedly connected with two ends of the running shell, a fish head baffle and a fish tail baffle are respectively positioned at the front end and the rear end of the running shell, the sample collecting device is fixedly connected with the upper wall of an open slot of the lower fish shell, and the image photographing device and the upward floating submerging device are respectively positioned in the upper fish shell. The swimming running device can realize underwater forward, backward, turning movement and walking on a rugged road, the image photographing device can stably photograph useful information in underwater and land environments, the floating and submerging device can realize vertical up-and-down movement of the bionic robot fish, and the sample collecting device can realize a grabbed sample and a drilling hard sample. The invention can walk under water and on the road surface, and simultaneously carries two manipulators, so that the invention can collect resources and has wide application prospect.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to an amphibious bionic robot.
Background
In recent years, the problem of energy shortage is more and more prominent, and human needs to fully utilize land, ocean and other resources to maintain self development, so that compared with the traditional robot, the amphibious robot can adapt to more working environments, and further the movable range can be enlarged, and more resources can be acquired.
Aiming at the published patent, for example, an amphibious robot with the application number of 202011274282.6, the amphibious walking problem of the robot is solved, a leg mechanism is adopted, and a motor and a composite crank rocker slider mechanism are used for driving, but sliding friction is easy to generate, so that the efficiency is reduced; the amphibious bionic robot with the application number of 201810678294.1 can flexibly move in water, can walk on complex land, is provided with various sensing testers, can acquire underwater information, and has a single function.
Disclosure of Invention
Aiming at the problems existing in the prior art, the amphibious bionic robot provided by the invention has the advantages that the pectoral fins of the cam mechanism are adopted, so that the occurrence of a sudden return condition in the movement process is prevented, the stable movement of the body is promoted, the sliding friction is reduced, and the working efficiency is improved; the image photographing device with the combination of the outer frame, the middle frame and the inner frame not only realizes the three-degree-of-freedom movement of the cradle head, but also can stably photograph useful information in two environments of the water and land, so that the moving range of the device is wider.
The invention provides an amphibious bionic robot which comprises an upper fish shell, a lower fish shell, a fish head baffle, a fish tail baffle, a swimming walking device, a sample collecting device, an image photographing device and an upward floating submerging device, wherein the upper fish shell and the lower fish shell are respectively and fixedly connected with the upper end and the lower end of a walking shell in the swimming walking device, the fish head baffle and the fish tail baffle are respectively positioned at the front end and the rear end of the walking shell in the swimming walking device, the sample collecting device is fixedly connected with the upper wall of an opening groove of the lower fish shell, and the image photographing device and the upward floating submerging device are respectively positioned in the upper fish shell. The traveling device comprises a traveling shell, a cam, a swinging rod, a flexible fluctuation fin, a stepping motor, a motor support, a tail fin connecting piece, a tail fin, a double-shaft steering engine and a steering engine support, wherein an output shaft of the stepping motor is connected with the rotation center of the cam, a groove of the cam is fixedly connected with a first end of the swinging rod, and a second end of the swinging rod is connected with the flexible fluctuation fin; the shell of biax steering wheel pass through the steering wheel support with the center fixed connection in the fishtail baffle outside, the output shaft of biax steering wheel pass through the steering wheel support with the first end fixed connection of tail fin connecting piece, the second end of tail fin connecting piece with tail fin fixed connection. The sample collection device comprises a grabbing manipulator, a drilling manipulator, a lifting platform, a parallel platform, a motor and a collecting box, wherein the first end of the lifting platform and the grabbing manipulator are fixedly connected with a first installation end and a second installation end of the upper wall of the opening groove of the lower fish shell respectively, the second end of the lifting platform and a base of the parallel platform are connected, a shell of the motor is fixedly connected with a main platform of the parallel platform, an output shaft of the motor penetrates through a shaft hole of the main platform and is connected with the drilling manipulator, and the collecting box is located in a groove at the bottom of the lower fish shell. The image photographing device comprises an outer rotating device, an outer frame device, a middle frame device, an inner frame device, a camera, a waterproof shell, an inner frame motor, an outer frame motor and a first coupling, wherein the lower end of the outer frame device is fixedly connected with a first mounting end of the upper end of an outer rotating frame in the outer rotating device, the waterproof shell is fixedly connected with a second mounting end of the upper end of the outer rotating frame in the outer rotating device, a shell of the outer frame motor is connected with the upper end of the outer frame device, an output shaft of the outer frame motor is connected with the first end of the middle frame device, the second end of the middle frame device is connected with a shell of the inner frame motor, an output shaft of the inner frame motor penetrates through the second end of the middle frame device and the first end of the inner frame device through the first coupling, and the camera is positioned in the inner frame device; the floating submerging device comprises a first round table, a second round table, a gravity center adjusting device and a water absorbing and draining adjusting device, wherein the first round table is connected with the inner side of the fish head baffle, the second round table is connected with the inner side of the fish tail baffle, and the gravity center adjusting device and the water absorbing and draining adjusting device are respectively located between the first round table and the second round table.
Preferably, in the travelling device, the motor brackets are symmetrically distributed at two ends of the travelling shell and fixedly connected with two ends of the travelling shell, and the shell of the stepping motor is fixedly connected with the motor brackets.
Preferably, the outer rotating device comprises an outer rotating frame, an outer rotating shaft, a worm wheel, a worm gear box, a driving motor and a magnetic ring encoder, wherein the upper end of the outer rotating shaft is fixedly connected with the lower end of the outer rotating frame, the lower end of the outer rotating shaft is sequentially connected with the magnetic ring encoder and the worm wheel, the worm wheel is meshed with the worm, the worm is connected with an output shaft of the driving motor through a first coupling, and a mounting hole of the worm gear box is connected with the middle mounting end of the outer rotating shaft.
Preferably, the center of gravity adjusting device comprises a direct current motor, a motor support, a synchronous belt, a first synchronous belt pulley, a second synchronous belt pulley, a synchronous belt pulley shaft, a balancing weight, an optical axis sliding block, an optical axis seat and a second coupling, wherein the direct current motor is fixedly connected with the first end of the motor support, the second end of the motor support is fixedly connected with the first installation end of the inner side of the first round table, an output shaft of the direct current motor sequentially passes through the second coupling and the synchronous belt pulley shaft to be connected with the center of the first synchronous belt pulley, the outer ring of the first synchronous belt pulley is connected with the outer ring of the second synchronous belt pulley, the center of the second synchronous belt pulley is fixedly connected with the first installation end of the inner side of the second round table through the synchronous belt pulley shaft, the first end of the balancing weight is fixedly connected with the middle of the synchronous belt, the second end of the optical axis sliding block is fixedly connected with the middle of the optical axis, and the two ends of the optical axis are respectively connected with the second round table through the optical axis seat and the inner side of the first fixed round table.
Preferably, the water suction and drainage adjusting device comprises a water pump, a water tank, a normally closed electromagnetic valve, an aluminum profile and a pipeline, wherein two ends of the aluminum profile are fixedly connected with a first circular table and a third installation end on the inner side of a second circular table respectively, the water pump, the water tank and a shell of the normally closed electromagnetic valve are fixedly connected with a first installation end, a second installation end and a third installation end on the middle part of the aluminum profile respectively, a water outlet of the water pump is connected with the first end of the normally closed electromagnetic valve through the pipeline, a second end of the normally closed electromagnetic valve is connected with a water inlet of the water tank through the pipeline, a water inlet of the water pump is used as a water inlet of the device, and a water outlet of the water tank is used as a water outlet of the device.
Preferably, the worm wheel, the worm, the driving motor and the magnetic ring encoder are all inside a worm wheel and worm box, the outer frame device, the middle frame device, the inner frame device and the camera are all inside a waterproof shell, and the waterproof shell is symmetrically distributed on two sides of the outer rotating frame.
Preferably, the axes of the drilling manipulator, the lifting platform, the parallel platform and the motor are on the same straight line; the axis of the first round table and the axis of the fish head baffle are on the same straight line, and the axis of the second round table and the axis of the fish tail baffle are on the same straight line.
Preferably, the cam, the swing rod, the flexible fluctuation fin and the stepping motor are symmetrically distributed on two sides of the walking shell; the optical axis is vertically symmetrically distributed on two sides of the synchronous belt, and the water pump, the water tank and the normally closed electromagnetic valve are located on the same plane.
Compared with the prior art, the invention has the following advantages:
1. the swimming running device adopts a design of combining the pectoral fin and the caudal fin, wherein the pectoral fin adopts a cam mechanism, and the device can prevent the occurrence of emergency back and promote the stable movement of a machine body in consideration of simple structural composition.
2. The image photographing device adopts the design of the outer frame device, the middle frame device and the inner frame device, can realize three-degree-of-freedom movement of the image photographing device, has a compact structure, can stably photograph useful information in underwater and land environments, and can help a robot to walk in the two environments.
3. The floating and submerging device adopts the design of the gravity center adjusting device and the water absorbing and draining adjusting device, and can realize the vertical up-and-down movement or the inclined up-and-down movement of the bionic robot, so that the robot can move more flexibly and move more conveniently.
4. The grabbing manipulator in the sample collection device adopts a double-bucket structure, and can collect special underwater sand resources compared with a common manipulator.
Drawings
Figure 1 is an isometric view of an amphibious biomimetic robot of the present invention;
figure 2 is a front view of the amphibious biomimetic robot of the present invention;
fig. 3 is a schematic view of the internal structure of the amphibious bionic robot according to the present invention;
fig. 4 is a schematic structural view of a swimming running gear in pectoral fins in the amphibious bionic robot of the present invention;
fig. 5 is a schematic view of a part of a swimming running gear in pectoral fins in the amphibious bionic robot according to the present invention;
fig. 6 is a schematic structural view of a swimming running gear in a tail fin in the amphibious bionic robot of the present invention;
fig. 7 is a schematic structural view of a collection device in the amphibious bionic robot of the present invention;
fig. 8 is a schematic structural view of a drilling mechanism in the amphibious bionic robot of the present invention;
fig. 9 is a schematic structural view of an image photographing device in the amphibious bionic robot of the present invention;
FIG. 10 is an enlarged schematic view of a portion of an image photographing device in the amphibious bionic robot of the present invention;
FIG. 11 is a schematic structural view of an upward floating and submerging device of the amphibious bionic robot of the present invention;
fig. 12 is a schematic structural view of a gravity center adjusting device in the amphibious bionic robot of the present invention.
The main reference numerals:
the upper fish shell 1, the lower fish shell 2, the fish head baffle 3, the fish tail baffle 4, the traveling device 5, the traveling shell 51, the cam 52, the swing link 53, the flexible fluctuation fin 54, the stepping motor 55, the motor bracket 56, the tail fin connecting piece 57, the tail fin 58, the biaxial steering engine 59, the steering engine bracket 510, the sample collection device 6, the grasping manipulator 61, the drilling manipulator 62, the lifting table 63, the parallel platform 64, the motor 65, the collection box 66, the image photographing device 7, the outer rotating device 71, the outer rotating frame 711, the outer rotating shaft 712, the worm wheel 713, the worm 714, the worm wheel and worm box 715, the driving motor 716, the magnetic ring encoder 717, the device comprises an outer frame device 72, a middle frame device 73, an inner frame device 74, a camera 75, a waterproof shell 76, an inner frame motor 77, an outer frame motor 78, a first coupler 79, an upward floating submerging device 8, a first round table 81, a second round table 82, a gravity center adjusting device 83, a direct current motor 831, a motor bracket 832, a synchronous belt 833, a first synchronous pulley 834, a second synchronous pulley 835, a synchronous pulley shaft 836, a balancing weight 837, an optical axis 838, an optical axis sliding block 839, an optical axis seat 8310, a second coupler 8311, a water suction and drainage adjusting device 84, a water pump 841, a water tank 842, a normally closed electromagnetic valve 843, an aluminum profile 844 and a pipeline 85.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The amphibious bionic robot is shown in fig. 1 and combined with fig. 2 and 3, and comprises an upper fish shell 1, a lower fish shell 2, a fish head baffle 3, a fish tail baffle 4, a swimming running device 5, a sample acquisition device 6, an image photographing device 7 and an upward floating submerging device 8, wherein the swimming running device 5 can realize underwater forward, backward, turning movement and rough road walking, and control the balance and power supply of the bionic robot; the image photographing device 7 can realize three-degree-of-freedom motion, and can stably photograph useful information and collect images in underwater and land environments; the floating and submerging device 8 is used for adjusting the gravity center of the bionic robot and controlling the sinking and floating of the bionic robot, and comprises a gravity center adjusting part and a water suction and drainage adjusting part, so that the bionic robot fish can vertically move up and down; the sample acquiring device 6 is used for collecting resources, wherein the grabbing manipulator 61 can be used for directly contacting a sample to be grabbed, and the drilling manipulator 62 can be used for drilling a hard sample. The amphibious bionic robot can flexibly move in water, can walk on complex land, is provided with two manipulators, namely a grabbing manipulator 61 and a drilling manipulator 62, can collect resources, and has wide application prospects.
The upper fish shell 1 and the lower fish shell 2 are both composed of a skin and glass fiber reinforced plastic, the upper fish shell 1 is fixedly connected with the upper end of a walking shell 51 in a swimming walking device 5 through bolts, the lower fish shell 2 is fixedly connected with the lower end of the walking shell 51 in the swimming walking device 5 through bolts, a fish head baffle 3 and a fish tail baffle 4 are respectively positioned at the front end and the rear end of the walking shell 51 in the swimming walking device 5 and are respectively connected with the front end and the rear end of the walking shell 51 in the swimming walking device 5, the upper fish shell 1 and the lower fish shell 2 through bolts, a sample collecting device 6 is fixedly connected with the upper wall of an opening groove of the lower fish shell 2, a worm gear box 715 in the image photographing device 7 is arranged on an aluminum profile 844 of the upper floating submerging device 8, and an outer rotating shaft 712 passes through a shaft hole on the upper fish shell 1 and a seam of a bionic robot is coated with waterproof glue so as to play a role in waterproof.
The traveling device 5, as shown in fig. 4 and in combination with fig. 5 and 6, comprises a traveling shell 51, a cam 52, a swinging rod 53, a flexible fluctuation fin 54, a stepping motor 55, a motor bracket 56, a tail fin connecting piece 57, a tail fin 58, a double-shaft steering engine 59 and a steering engine bracket 510, specifically, the stepping motor 55 is provided with an encoder, the cam 52, the swinging rod 53, the flexible fluctuation fin 54 and the stepping motor 55 are symmetrically distributed on two sides of the traveling shell 51, 7 driving chambers are respectively arranged on two sides of the traveling shell 51, the flexible fluctuation fin 54 is formed by bending a fan-shaped plane, and the phase difference between the flexible fluctuation fins 54 connected by two adjacent swinging rods 53 is 120 degrees at most.
The motor brackets 56 are symmetrically distributed at two ends of the walking housing 51 and are fixedly connected with driving chambers at two ends of the walking housing 51 through bolts, the housing of the stepping motor 55 is fixedly connected with the motor brackets 56, an output shaft of the stepping motor 55 is connected with the rotation center of the cam 52, a groove of the cam 52 is fixedly connected with the first end of the swing rod 53, and the second end of the swing rod 53 is connected with the flexible fluctuation fin 54; the shell of biax steering wheel 59 passes through the center fixed connection in steering wheel support 510 and fish tail baffle 4 outside, and the output shaft of biax steering wheel 59 passes through steering wheel support 510 and the first end fixed connection of tail fin connecting piece 57, and tail fin 58 adopts symmetrical structure, installs the middle part at tail fin connecting piece 57 second end both sides wall through the bolt.
As shown in fig. 7 and 8, the sample collection device 6 includes a gripping robot 61, a drilling robot 62, a lifting table 63, a parallel platform 64, a motor 65, and a collection box 66, and specifically, the axes of the drilling robot 61, the lifting table 63, the parallel platform 64, and the motor 65 are on the same straight line. The first end of elevating platform 63 and snatch manipulator 61 respectively with lower fish shell 2 open slot upper wall first installation end and second installation end fixed connection, elevating platform 63's second end passes through the base connection of bolt and parallelly connected platform 64, the shell of motor 65 passes through the main platform fixed connection of bolt and parallelly connected platform 64, the shaft hole of main platform is passed to the output shaft of motor 65 and is got manipulator 62 with boring, motor 65 drive and get manipulator 62 rotation, collection box 66 is located the recess of lower fish shell 2 bottom.
The image photographing device 7, as shown in fig. 9, includes the image photographing device 7, an outer rotating device 71, an outer frame device 72, a middle frame device 73, an inner frame device 74, a camera 75, a waterproof case 76, an inner frame motor 77, an outer frame motor 78, and a first coupling 79. The lower end of the outer frame device 72 is fixedly connected with a first mounting end of the upper end of an outer rotating frame 711 in the outer rotating device 71, a waterproof shell 76 is fixedly connected with a second mounting end of the upper end of the outer rotating frame 711 in the outer rotating device 71, a shell of an outer frame motor 78 is connected with the upper end of the outer frame device 72, an output shaft of the outer frame motor 78 is connected with a first end of the middle frame device 73, a second end of the middle frame device 73 is connected with a shell of an inner frame motor 77, an output shaft of the inner frame motor 77 passes through the second end of the middle frame device 73 and the first end of the inner frame device 74 through a first coupling 79, and a camera 75 is positioned inside the inner frame device 74.
The outer rotating device 71, as shown in fig. 10, comprises an outer rotating frame 711, an outer rotating shaft 712, a worm wheel 713, a worm 714, a worm and gear box 715, a driving motor 716 and a magnetic ring encoder 717, wherein the upper end of the outer rotating shaft 712 is fixedly connected with the lower end of the outer rotating frame 711, the lower end of the outer rotating shaft 712 is sequentially connected with the magnetic ring encoder 717 and the worm wheel 713, the worm wheel 713 is meshed with the worm 714, the worm 714 is connected with the output shaft of the driving motor 716 through a first coupling 79, and the mounting hole of the worm and gear box 715 is connected with the middle mounting end of the outer rotating shaft 712.
Specifically, the outer frame device 72, the middle frame device 73, the inner frame device 74 and the camera 75 are all inside a waterproof shell 76, and the waterproof shell 76 is symmetrically distributed on two sides of the outer rotating frame 711; the worm wheel 713, worm 714, drive motor 716, and magnetic ring encoder 717 are all inside the worm gear box 715.
The floating submerging device 8, as shown in fig. 11, comprises a first round table 81, a second round table 82, a gravity center adjusting device 83 and a water absorbing and draining adjusting device 84, wherein the first round table 81 is connected with the inner side of the fish head baffle 3, the second round table 82 is connected with the inner side of the fish tail baffle 4, the gravity center adjusting device 83 and the water absorbing and draining adjusting device 84 are respectively located between the first round table 81 and the second round table 82, meanwhile, the axis of the first round table 81 and the axis of the fish head baffle 3 are on the same straight line, and the axis of the second round table 82 and the axis of the fish tail baffle 4 are on the same straight line.
The gravity center adjusting device 83, as shown in fig. 12, comprises a dc motor 831, a motor bracket 832, a synchronous belt 833, a first synchronous pulley 834, a second synchronous pulley 835, a synchronous pulley shaft 836, a balancing weight 837, an optical axis 838, an optical axis slider 839, an optical axis seat 8310 and a second coupling 8311, and further, in order to ensure the stability of the operation of the gravity center adjusting device 83, the optical axis 838 is vertically symmetrically distributed on two sides of the synchronous belt 833.
The shell of the direct current motor 831 is fixedly connected with the first end of the motor support 832, the second end of the motor support 832 is fixedly connected with the first installation end of the inner side of the first round platform 81, the output shaft of the direct current motor 831 sequentially passes through the second coupler 8311 and the synchronous pulley shaft 836 to be connected with the center of the first synchronous pulley 834, the outer ring of the first synchronous pulley 834 is connected with the outer ring of the second synchronous pulley 835 through the synchronous pulley 833, the center of the second synchronous pulley 835 is fixedly connected with the first installation end of the inner side of the second round platform 82 through the synchronous pulley shaft 836, the first end of the balancing weight 837 is fixedly connected with the middle part of the synchronous pulley 833, the second end of the balancing weight 837 is fixedly connected with the first end of the optical axis sliding block 839 through a bolt, the second end of the optical axis sliding block 839 is connected with the middle part of the optical axis 838, the optical axis sliding block 839 can freely slide on the optical axis 838, and two ends of the optical axis 838 are fixedly connected with the second installation ends of the inner side of the first round platform 81 and the second round platform 82 respectively through the optical axis seat 8310.
The water suction and drainage adjusting device comprises a water pump 841, a water tank 842, a normally closed electromagnetic valve 843, an aluminum profile 844 and a pipeline 85, wherein two ends of the aluminum profile 844 are fixedly connected with third mounting ends on the inner sides of a first round table 81 and a second round table 82 respectively, shells of the water pump 841, the water tank 842 and the normally closed electromagnetic valve 843 are fixedly connected with the first mounting ends, the second mounting ends and the third mounting ends on the middle of the aluminum profile 844 respectively, the water pump 841, the water tank 842 and the normally closed electromagnetic valve 843 are located on the same plane, a water outlet of the water pump 841 is connected with the first end of the normally closed electromagnetic valve 843 through the pipeline 85, a second end of the normally closed electromagnetic valve 843 is connected with a water inlet of the water tank 842 through the pipeline 85, and a water inlet of the water pump 841 is used as a water inlet of the device, and a water outlet of the water tank 842 is used as a water outlet of the device.
The amphibious bionic robot of the invention is further described in the following with reference to the examples:
the amphibious bionic robot is divided into two working processes of land and underwater, and the main working processes are realized as follows:
1. land working process:
the stepping motors 55 on two sides of the robot traveling device 5 are started to move, the stepping motors 55 drive the flexible fluctuation fins 54 to perform rhythmic vibration motion through the swinging rods 53, and as the flexible fluctuation fins 54 on one side of the traveling shell 51 have two wave troughs, the robot always keeps 4 points to contact the ground, and the flexible fluctuation fins 54 are driven to move through the action of the swinging rods 53.
When resources on land are to be acquired, the robot finds the resources and positions the resources through the image photographing device 7, realizes three-degree-of-freedom movement of the image photographing device 7 through the outer frame device 72, the middle frame device 73 and the inner frame device 74, and drives the driving motor 716 to rotate the outer rotating shaft 712 of the outer rotating device 71 and the outer rotating frame 711 under the combined action of the worm wheel 713 and the worm 714 in the worm and gear box 715, wherein a magnetic ring encoder 717 on the outer rotating shaft 712 can feed back the rotation angle of the outer rotating shaft 712 and is matched with the driving motor 717, so that a preset value of the rotation angle of the outer rotating shaft 712 is reached, and the cameras 75 on the left side and the right side on the outer rotating frame 711 are driven to rotate; when only one camera 75 on the left side and the right side needs to be adjusted, the inner frame motor 77 and the outer frame motor 78 are started respectively, the outer frame motor 78 in the middle frame device 73 drives the middle frame device 73 to move, and the inner frame device 74 rotates under the driving of the inner frame motor 77, so that the single camera 75 can realize the left-right up-down movement, and useful information in the land environment can be shot stably.
After the resource position is located, the grabbing manipulator 61 in the sample collection device 6 is started to grab resources and put into the collection box 66 at the bottom of the lower fish shell 2, when the resources to be collected are hard and difficult to grab, the drilling manipulator 62 in the sample collection device 6 is started to crush the resources, the resources are collected through the grabbing manipulator 61 after crushing, the lifting platform 63 can realize up-and-down movement of the drilling manipulator 61, and the parallel platform 64 can realize multi-angle rotation of the drilling manipulator 61, so that the omnibearing grabbing of the grabbing manipulator 61 is ensured, and the resources are collected rapidly.
2. The underwater working process comprises the following steps:
when the robot needs to launch, the gravity center adjusting device 83 in the floating submerging device 8 is started, the normally closed electromagnetic valve 843 in the water suction and drainage device 84 is opened, the water pump 841 starts to move clockwise, water outside the robot is introduced into the water tank 842 from the water inlet on the fish shell 2 through the pipeline 85, and therefore the total weight of the robot is increased, and the robot can move vertically downwards.
When the robot needs to move underwater, as the flexible fluctuation fin 54 of the pectoral fin part is formed by bending a fan-shaped plane, the phase difference between the flexible fluctuation fins 54 connected with two adjacent swinging rods 53 is 120 degrees at most, the end faces of the flexible fluctuation fins 54 are controlled by the swinging rods 53, the edge lines of the inner end faces and the outer end faces perform sinusoidal movement, and the fluctuation amplitude of the positive chord line of the inner end faces is smaller than that of the positive chord line of the outer end faces, under the action of the stepping motor 55 of the swimming walking device 5, the swinging rods 53 drive the flexible fluctuation fins to generate waveforms, so that the movement of the flexible fluctuation fins is similar to the movement of a real fish pectoral fin, the double-shaft steering engine 59 positioned on the pectoral fin directly drives the pectoral fin to move, and the pectoral fin part jointly provide power for the robot, so that the robot can realize the underwater forward, backward, turning and other movements under the swimming walking device 5.
When resources on land are to be acquired, images are collected and the positions of the resources are determined through the image photographing device 7, three degrees of freedom of movement of the image photographing device 7 are realized through the outer frame device 72, the middle frame device 73 and the inner frame device 74, and the outer rotating shaft 712 of the outer rotating device 71 is adjusted, so that the outer rotating frame 711 can rotate under the combined action of the worm wheel 713 and the worm 714 in the worm wheel and worm box 715, and the cameras 75 on the left side and the right side of the outer rotating frame 711 are driven to rotate, so that the environment around the robot is seen; when only one camera 75 of the left and right sides needs to be adjusted, the inner frame motor 77 and the outer frame motor 78 are started respectively, so that the single camera 75 can move up and down left and right, thereby improving capturing efficiency, and after determining the resource position, resources are collected by the grabbing manipulator 61 and the drilling manipulator 62 in the sample collection device 6.
When the resources are collected and the robot needs to float out of the water, a gravity center adjusting device 83 in an upward floating submerging device 8 is started, a synchronous belt 833 in the gravity center adjusting device 83 is respectively matched with a first synchronous belt pulley 834 and a second synchronous belt pulley 835, a direct current motor 831 drives the first synchronous belt pulley 834 to rotate and drives the synchronous belt 833, an optical axis sliding block 839 and a balancing weight 837 matched with the synchronous belt 833 to jointly move along an optical axis 838 and the synchronous belt 833, and the balancing weight 837 is meshed and fixed with the tooth form at the upper end of the synchronous belt 833 due to the fact that the synchronous belt 833 is provided with tooth forms, so that the gravity center of the robot is changed, and the upward and downward inclination of the movement process of the robot is realized.
At the same time, the normally closed electromagnetic valve 843 in the water suction and discharge device 84 is opened, the water pump 841 starts to move anticlockwise, water passing through the water tank 842 is discharged into external water from the water outlet on the upper fish shell 1 through the pipeline 85, the gravity of the robot is reduced, and the robot starts to float vertically. The normally closed solenoid valve 843 in the suction and drainage device 84 can prevent the water pump 841 from entering the water tank 842 under the action of pressure under the condition of no work, so that the robot can float up and submerge.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. An amphibious bionic robot comprises an upper fish shell, a lower fish shell, a fish head baffle, a fish tail baffle, a swimming walking device, a sample collecting device, an image photographing device and an upward floating submerging device, wherein the upper fish shell and the lower fish shell are respectively fixedly connected with the upper end and the lower end of a walking shell in the swimming walking device, the fish head baffle and the fish tail baffle are respectively positioned at the front end and the rear end of the walking shell in the swimming walking device, the sample collecting device and the upper wall of an opening groove of the lower fish shell are fixedly connected, the image photographing device and the upward floating submerging device are respectively positioned in the upper fish shell,
the traveling device comprises a traveling shell, a cam, a swinging rod, a flexible fluctuation fin, a stepping motor, a motor support, a tail fin connecting piece, a tail fin, a double-shaft steering engine and a steering engine support, wherein an output shaft of the stepping motor is connected with the rotation center of the cam, a groove of the cam is fixedly connected with a first end of the swinging rod, and a second end of the swinging rod is connected with the flexible fluctuation fin; the outer shell of the double-shaft steering engine is fixedly connected with the center of the outer side of the fish tail baffle through a steering engine bracket, the output shaft of the double-shaft steering engine is fixedly connected with the first end of the tail fin connecting piece through a steering engine bracket, and the second end of the tail fin connecting piece is fixedly connected with the tail fin;
the sample collection device comprises a grabbing manipulator, a drilling manipulator, a lifting platform, a parallel platform, a motor and a collecting box, wherein the first end of the lifting platform and the grabbing manipulator are respectively fixedly connected with a first installation end and a second installation end of the upper wall of the opening groove of the lower fish shell, the second end of the lifting platform is connected with a base of the parallel platform, a shell of the motor is fixedly connected with a main platform of the parallel platform, an output shaft of the motor penetrates through a shaft hole of the main platform and is connected with the drilling manipulator, and the collecting box is positioned in a groove at the bottom of the lower fish shell;
the image photographing device comprises an outer rotating device, an outer frame device, a middle frame device, an inner frame device, a camera, a waterproof shell, an inner frame motor, an outer frame motor and a first coupling, wherein the lower end of the outer frame device is fixedly connected with a first mounting end of the upper end of an outer rotating frame in the outer rotating device, the waterproof shell is fixedly connected with a second mounting end of the upper end of the outer rotating frame in the outer rotating device, a shell of the outer frame motor is connected with the upper end of the outer frame device, an output shaft of the outer frame motor is connected with the first end of the middle frame device, the second end of the middle frame device is connected with a shell of the inner frame motor, an output shaft of the inner frame motor penetrates through the second end of the middle frame device and the first end of the inner frame device through the first coupling, and the camera is positioned in the inner frame device; the floating submerging device comprises a first round table, a second round table, a gravity center adjusting device and a water absorbing and draining adjusting device, wherein the first round table is connected with the inner side of the fish head baffle, the second round table is connected with the inner side of the fish tail baffle, and the gravity center adjusting device and the water absorbing and draining adjusting device are respectively located between the first round table and the second round table.
2. The amphibious bionic robot according to claim 1, wherein in the travelling device, the motor brackets are symmetrically distributed at two ends of the travelling shell and fixedly connected with the two ends of the travelling shell, and the shell of the stepping motor is fixedly connected with the motor brackets.
3. The amphibious bionic robot according to claim 1, wherein the outer rotating device comprises an outer rotating frame, an outer rotating shaft, a worm wheel, a worm wheel and worm box, a driving motor and a magnetic ring encoder, the upper end of the outer rotating shaft is fixedly connected with the lower end of the outer rotating frame, the lower end of the outer rotating shaft is sequentially connected with the magnetic ring encoder and the worm wheel, the worm wheel is meshed with the worm, the worm is connected with an output shaft of the driving motor through a first coupler, and a mounting hole of the worm wheel and worm box is connected with a middle mounting end of the outer rotating shaft.
4. The amphibious bionic robot according to claim 1, wherein the gravity center adjusting device comprises a direct current motor, a motor support, a synchronous belt, a first synchronous belt pulley, a second synchronous belt pulley, a synchronous belt pulley shaft, a balancing weight, an optical axis seat and a second coupling, wherein a shell of the direct current motor is fixedly connected with a first end of the motor support, a second end of the motor support is fixedly connected with a first installation end on the inner side of a first round table, an output shaft of the direct current motor is sequentially connected with the center of the first synchronous belt pulley through the second coupling and the synchronous belt pulley shaft, an outer ring of the first synchronous belt pulley is connected with an outer ring of the second synchronous belt pulley through the synchronous belt pulley shaft and a first installation end on the inner side of the second round table, a first end of the balancing weight is fixedly connected with a middle part of the synchronous belt, a second end of the balancing weight is fixedly connected with a first end of the optical axis seat, a second end of the optical axis is connected with the middle part of the optical axis seat, and the optical axis is respectively connected with the inner side of the first round table through the first end of the optical axis.
5. The amphibious bionic robot according to claim 4, wherein the water suction and drainage adjusting device comprises a water pump, a water tank, a normally closed electromagnetic valve, an aluminum profile and a pipeline, wherein two ends of the aluminum profile are fixedly connected with the first round table and the third installation end on the inner side of the second round table respectively, shells of the water pump, the water tank and the normally closed electromagnetic valve are fixedly connected with the first installation end, the second installation end and the third installation end on the middle part of the aluminum profile respectively, a water outlet of the water pump is connected with the first end of the normally closed electromagnetic valve through the pipeline, the second end of the normally closed electromagnetic valve is connected with a water inlet of the water tank through the pipeline, a water inlet of the water pump is used as a water inlet of the device, and a water outlet of the water tank is used as a water outlet of the device.
6. An amphibious biomimetic robot according to claim 3, wherein the worm wheel, worm, driving motor and magnetic ring encoder are all inside a worm wheel and worm box, the outer frame device, middle frame device, inner frame device and camera are all inside waterproof shells, and the waterproof shells are symmetrically distributed on two sides of the outer rotating frame.
7. The amphibious biomimetic robot according to claim 1, wherein the axes of the drilling manipulator, the lifting platform, the parallel platform and the motor are on the same straight line; the axis of the first round table and the axis of the fish head baffle are on the same straight line, and the axis of the second round table and the axis of the fish tail baffle are on the same straight line.
8. The amphibious biomimetic robot according to claim 5, wherein the cam, the swing rod, the flexible fluctuation fin and the stepper motor are symmetrically distributed on both sides of the walking housing; the optical axis is vertically symmetrically distributed on two sides of the synchronous belt, and the water pump, the water tank and the normally closed electromagnetic valve are located on the same plane.
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