CN114475987A - Multi-mode mobile robot - Google Patents
Multi-mode mobile robot Download PDFInfo
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- CN114475987A CN114475987A CN202210185116.1A CN202210185116A CN114475987A CN 114475987 A CN114475987 A CN 114475987A CN 202210185116 A CN202210185116 A CN 202210185116A CN 114475987 A CN114475987 A CN 114475987A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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Abstract
The invention relates to a multi-mode mobile robot which comprises a control module, a head drag reduction cap, a double-unit creeping module, a vertical swimming driving module, a single-unit creeping module, a horizontal swimming driving module and a tail drag reduction cap, wherein two adjacent modules are connected through a connecting module. Compared with the prior art, the invention enables the robot to creep in the underwater pipeline through the single-unit creeping module and the double-unit creeping module, enables the robot to efficiently move in a wide underwater water area through the horizontal moving driving module and the vertical moving driving module, solves the problem that the existing robot can only adapt to a single working environment, and can greatly improve the working efficiency of submarine pipeline maintenance, resource detection and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-mode mobile robot capable of swimming underwater and creeping.
Background
The conventional single-mode legged, wheeled robot does not work well in confined spaces or hazardous environments, such as the inability to effectively detect and clean foreign objects in elongated ducts, and the inability to enter the gastrointestinal tract of a human body for disease detection and treatment, and the crawling robot can move effectively in these environments to perform work. At present, the research direction of the crawling robot mainly focuses on morphological features and kinematic mechanisms. For example, an earthworm is a typical crawling invertebrate, and has a strong ability to move due to its multi-segment structure and regional movement mechanism. For these reasons, the earthworm-imitating moving people attract a plurality of scholars to research on structural design, model establishment, analysis and the like.
With the research and the continuous improvement of expected values, the prospect and the potential of the earthworm-like mobile robot are continuously explored. However, the limitations of this type of robot in different environments are also exposed. At present, the moving mode of the earthworm-like mobile robot is relatively single, the application environment is limited in the ground and the pipeline, for example, the robot can move in the pipeline, but the robot is not meant to move in the underwater pipeline, and at present, no earthworm-like mobile robot capable of moving in the pipeline and the water simultaneously exists. Moreover, the moving efficiency of the earthworm-like mobile robot in a non-pipeline environment is low, and the requirement cannot be met.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a multi-modal mobile robot.
The purpose of the invention can be realized by the following technical scheme:
a multi-modal mobile robot comprises a control module, a head drag reduction cap, a double-unit peristaltic module, a vertical swimming driving module, a single-unit peristaltic module, a horizontal swimming driving module and a tail drag reduction cap, wherein two adjacent modules are connected through a connecting module; the control module is in communication connection with the double-unit peristalsis module, the vertical swimming driving module, the single-unit peristalsis module and the horizontal swimming driving module.
Preferably, the connecting module comprises a cloth base adhesive tape and a plurality of rolling tapes, the cloth base adhesive tape is wound at the joint of two adjacent modules, and the rolling tapes are sleeved and pressed outside the cloth base adhesive tape.
Preferably, the vertical moving driving module comprises a vertical moving driving frame, a direct current motor and a propeller, wherein a base of the direct current motor is installed in the vertical driving frame, and an output shaft of the direct current motor is connected with the propeller.
Preferably, the horizontal moving driving module comprises a horizontal moving driving frame, a driving rod piece control steering engine, a first driving rod piece, a second driving rod piece, a third driving rod piece, a fourth driving rod piece, a fifth driving rod piece, a sixth driving rod piece, a first direct current motor, a first propeller, a second direct current motor and a second propeller; the driving rod piece control steering engine is installed in the horizontal moving driving frame, a four-bar mechanism is formed by the first driving rod piece, the second driving rod piece, the third driving rod piece and the fourth driving rod piece, a four-bar mechanism is formed by the first driving rod piece, the second driving rod piece, the fifth driving rod piece and the sixth driving rod piece, a rotating shaft of the driving rod piece control steering engine is connected with the first driving rod piece, the rotation of the driving rod piece control steering engine controls the expansion and contraction of the two four-bar mechanisms, the first direct current motor and the second direct current motor are installed on the two four-bar mechanisms respectively, and output shafts of the first direct current motor and the second direct current motor are connected with the first propeller and the second propeller respectively.
Preferably, the single-unit peristaltic module comprises a main body structure, a head sleeve, a tail sleeve, a single-unit waterproof skin and a sealing cover; the head sleeve and the tail sleeve are respectively installed at the head and the tail of the main body structure, the single-unit waterproof skin is sleeved on the head sleeve, the main body structure and the tail sleeve, the number of the sealing covers is two, the two sealing covers are respectively sleeved at the two ends of the single-unit waterproof skin and used for plugging the end portion of the single-unit waterproof skin.
Preferably, the double-unit peristaltic module comprises a main body structure, a middle sleeve, a head sleeve, a double-unit waterproof skin and a sealing cover; the number of the main body structures is two, the tails of the two main body structures are connected through the middle sleeve, the number of the head sleeves is two, the two heads of the two main body structures are respectively installed at the heads of the two main body structures, the double-unit waterproof skin is sleeved on the head sleeve, the main body structures, the middle sleeve, the main body structures and the head sleeve, and the number of the sealing covers is two, the two sealing covers are respectively sleeved at the two ends of the double-unit waterproof skin and used for plugging the end parts of the double-unit waterproof skin.
Preferably, the major structure includes prelude backup pad, afterbody backup pad, haulage rope, spring leaf, steering wheel and steering wheel, the one end of haulage rope is connected to the afterbody backup pad, and one end system is on the steering wheel, prelude backup pad and afterbody backup pad are connected respectively to the both ends of spring leaf, the steering wheel is installed in the prelude backup pad, links to each other with the steering wheel, under the effect of steering wheel the steering wheel takes place to rotate and the pulling haulage rope is in order to change the distance between prelude backup pad and the afterbody backup pad, and the spring leaf warp thereupon.
Preferably, the head support plate and the tail support plate are circular, the number of the traction ropes is 4, the traction ropes are uniformly arranged along the circumferential direction of the head support plate and the circumferential direction of the tail support plate, the number of the spring pieces is 8, and the traction ropes are uniformly arranged along the circumferential direction of the head support plate and the circumferential direction of the tail support plate.
Preferably, the sealing cover is provided with at least one wire harness through hole for passing a wire harness.
Preferably, the head drag reduction cap comprises a head conical structure, the tail drag reduction cap comprises a tail conical structure and a tail cylindrical structure which are connected, and the control module is installed in the tail cylindrical structure.
Compared with the prior art, the invention has the following beneficial effects:
(1) the robot can creep in an underwater pipeline through the single-unit peristaltic module and the double-unit peristaltic module, and can efficiently move in a wide underwater water area through the horizontal moving driving module and the vertical moving driving module, so that the problem that the conventional robot can only adapt to a single working environment is solved, and the working efficiency of submarine pipeline maintenance, resource detection and the like can be greatly improved.
(2) The six driving rod pieces form two four-bar mechanisms, and the rotation of the steering engine rotating shaft controls the expansion and contraction of the four-bar mechanisms, so that the propeller extends out or retracts into the horizontal moving driving frame, the occupied space can be reduced, and the horizontal moving driving frame is suitable for narrow working environments.
(3) The main structure of single unit wriggling module and two unit wriggling modules includes two backup pads and haulage rope and spring leaf, guarantees through waterproof covering and sealed lid that the wriggling module has excellent waterproof sealing performance, drives the steering wheel and rotates the interval that the pulling haulage rope changed two backup pads to realize loosening and the compression of main structure, realize the wriggling, the structure is ingenious, and the wriggling is effectual.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a connection module;
FIG. 3 is a schematic diagram of a vertical roving drive module;
FIG. 4 is a schematic view of the horizontal travel drive module when deployed;
FIG. 5 is a schematic view of the horizontal travel drive module when retracted;
FIG. 6 is a schematic view of the relaxed configuration of the single cell peristaltic module;
FIG. 7 is a schematic view of the compression structure of a single unit peristaltic module;
FIG. 8 is a schematic view of the main structure of a single cell peristaltic module;
FIG. 9 is a schematic view of the structure of the nose sleeve-body structure-tail sleeve in a single unit peristaltic module;
FIG. 10 is a schematic structural view of a single-unit waterproof skin;
FIG. 11 is a schematic view of the sealing cap;
FIG. 12 is a schematic view of a dual cell peristaltic module;
FIG. 13 is a schematic view of the head sleeve-body construction-middle sleeve body construction-head sleeve construction in a dual cell peristaltic module;
reference numerals are as follows: 1. the device comprises a head drag reduction cap, 2, a connecting module, 3, a first double-unit peristaltic module, 4, a first vertical swimming driving module, 5, a first single-unit peristaltic module, 6, a horizontal swimming driving module, 7, a second single-unit peristaltic module, 8, a second vertical swimming driving module, 9, a second double-unit peristaltic module, 10 and a tail drag reduction cap;
201. a base adhesive tape 202, a first rolled strip 203, a second rolled strip;
301. a middle sleeve 302, a double-unit waterproof skin;
401. a vertical traveling driving frame 402, a direct current motor 403 and a propeller;
501. the single-unit waterproof skin comprises a single-unit waterproof skin, 502, a first sealing cover, 503, a second sealing cover, 504, a steering engine, 505, a steering wheel, 506, a traction rope, 507, a head supporting plate, 508, a tail supporting plate, 509, a spring piece, 510, a head sleeve, 511, a tail sleeve, 512, a first wire harness through hole, 513, a second wire harness through hole, 514 and a third wire harness through hole;
601. the horizontal moving driving frame 602, the driving rod piece control steering engine 603, the first driving rod piece 604, the second driving rod piece 605, the third driving rod piece 606, the fourth driving rod piece 607, the first direct current motor 608, the first propeller 609, the fifth driving rod piece 610, the sixth driving rod piece 611, the second direct current motor 612 and the second propeller.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. Parts are exaggerated in the drawing where appropriate for clarity of illustration.
Example 1:
a multi-modal mobile robot comprises a control module, a head drag reduction cap 1, a double-unit peristaltic module, a vertical swimming driving module, a single-unit peristaltic module, a horizontal swimming driving module and a tail drag reduction cap 10, wherein the number of the horizontal swimming driving module is at least 1, the number of the vertical swimming driving module is at least 2, the number of the double-unit peristaltic module and the single-unit peristaltic module is at least 1, and two adjacent modules are connected through a connecting module 2; the control module is in communication connection with the double-unit peristalsis module, the vertical swimming driving module, the single-unit peristalsis module and the horizontal swimming driving module through wiring harnesses and the like.
As shown in fig. 1, in the present embodiment, two-unit peristaltic modules are designed: the first double-unit peristaltic module 3, the second double-unit peristaltic module 9, two vertical swimming driving modules: the first vertical moving driving module 4, the second vertical moving driving module 8, and two single-unit peristaltic modules: the first single-unit peristaltic module 5, the second single-unit peristaltic module 7, a horizontal swimming driving module: and a horizontal traveling driving module 6. The assembly sequence is as follows: the head drag reduction cap 1, the first double-unit peristaltic module 3, the first vertical swimming driving module 4, the first single-unit peristaltic module 5, the horizontal swimming driving module 6, the second single-unit peristaltic module 7, the second vertical swimming driving module 8, the second double-unit peristaltic module 9 and the tail drag reduction cap 10 are sequentially connected. In other embodiments, the number of modules and the connection order of the modules may be changed as desired.
The head drag reduction cap 1 comprises a head conical structure, the tail drag reduction cap 10 comprises a tail conical structure and a tail cylindrical structure which are connected, and the tail cylindrical structure is used for installing a control module. Of course, in other embodiments, other structural improvements can be adaptively made, and the installation position of the control module can be reasonably designed.
As shown in fig. 2, the connection module 2 includes a cloth-based adhesive tape 201 and a plurality of rolled tapes, the number of which is 8, disposed at both ends of the first dual-unit peristaltic module 3, both ends of the first single-unit peristaltic module 5, both ends of the second single-unit peristaltic module 7, and both ends of the second dual-unit peristaltic module 9. The base cloth adhesive tape 201 is wound at the joint of the two adjacent modules, and the rolling tape is sleeved and pressed outside the cylindrical wound base cloth adhesive tape 201. In this embodiment, the number of the rolled strips is 2, the two ends of the cloth-based adhesive tape 201 are respectively sleeved with the first rolled strip 202 and the second rolled strip 203, and the modules are connected by compressing the first rolled strip 202 and the second rolled strip 203.
The first vertical swimming driving module 4 and the second vertical swimming driving module 8 have the same structure and are used for realizing the swimming function of the robot in the vertical plane. Taking the first vertical traveling drive module 4 as an example, as shown in fig. 3, the first vertical traveling drive module includes a vertical traveling drive frame 401, a dc motor 402, and a propeller 403, wherein a base of the dc motor 402 is installed in the vertical drive frame 401, and an output shaft of the dc motor 402 is connected to the propeller 403.
The vertical moving driving frame 401 is a cylindrical structure, two ends of the cylindrical structure are connected with the single-unit peristalsis module and the double-unit peristalsis module, the bottom of the direct current motor 402 is mounted on the bottom of a cylindrical surface of the vertical moving driving frame 401 through structures such as bolts in the cylindrical structure, a plurality of water inlet holes are formed in two sides of the cylindrical surface, the function of the vertical moving driving frame is to increase water flow around the propeller 403 so as to generate enough thrust to enable the robot to move upwards or downwards, a mounting hole of the direct current motor 402 is formed in the top of the cylindrical surface, and the hole is mainly used for fixedly mounting the direct current motor 402 with the propeller 403.
The horizontal swimming driving module 6 is located at the center of the robot to realize the swimming function of the robot in the horizontal plane, and the horizontal swimming driving module 6 in the unfolded state and the contracted state is shown in fig. 4 and 5 and comprises a horizontal swimming driving frame 601, a driving rod control steering engine 602, a first driving rod 603, a second driving rod 604, a third driving rod 605, a fourth driving rod 606, a fifth driving rod 609, a sixth driving rod 610, a first direct current motor 607, a first propeller 608, a second direct current motor 611 and a second propeller 612;
the driving rod piece is used for controlling the steering engine 602 to be installed in the horizontal traveling driving frame, the first driving rod piece 603, the second driving rod piece 604, the third driving rod piece 605 and the fourth driving rod piece 606 form a four-bar mechanism, the first driving rod piece 603, the second driving rod piece 604, the fifth driving rod piece 609 and the sixth driving rod piece 610 form a four-bar mechanism, the driving rod piece is used for controlling a rotating shaft of the steering engine 602 to be connected with the first driving rod piece 603, the driving rod piece is used for controlling the steering engine 602 to rotate so as to control the two four-bar mechanisms to be unfolded and retracted, the first direct current motor 607 and the second direct current motor 611 are respectively installed on the two four-bar mechanisms, and output shafts of the first direct current motor 607 and the second direct current motor are respectively connected with the first propeller 608 and the second propeller 612.
Specifically, a driving shaft of the driving rod piece control steering engine 602 is fixedly connected with the middle of a first driving rod piece 603 through screws and is connected with the middle of a second driving rod piece 604 through screws, the second driving rod piece 604 and a horizontal floating driving frame 601 are an integral body, two ends of the first driving rod piece 603 are respectively connected with one end of a fourth driving rod piece 606 and one end of a sixth driving rod piece 610 through screws, the other end of the fourth driving rod piece 606 is connected with one end of a third driving rod piece 605 through screws, the other end of the third driving rod piece 605 is connected with one end of the second driving rod piece 604 through screws, the other end of the sixth driving rod piece 610 is connected with one end of a fifth driving rod piece 609 through screws, the other end of the fifth driving rod piece 609 is connected with the other end of the second driving rod piece 604 through screws, and in addition, one end of the fourth driving rod piece 606 and one end of the sixth driving rod piece 610 are provided with a base for installing a first direct current motor 607 and a second direct current motor 611.
The first direct current motor 607 and the second direct current motor 611 are respectively installed on two four-bar linkages, the rotation of the steering engine 602 is controlled by the driving rod to drive the first driving rod 603 to rotate around the middle part, so as to drive the fourth driving rod 606 and the sixth driving rod 610 to move, and further drive the third driving rod 605 and the fifth driving rod 609 to rotate, the mechanism can be regarded as two parallel four-bar linkages, the first four-bar linkage is composed of one half of the first driving rod 603, one half of the second driving rod 604, the third driving rod 605 and the fourth driving rod 606, and the second four-bar linkage is composed of the other half of the first driving rod 603, the other half of the second driving rod 604, the fifth driving rod 609 and the sixth driving rod 610. The steering engine 602 and the six driving rod members are controlled by the driving rod members, so that the expansion and contraction states can be switched.
The first single-unit peristaltic module 5 and the second single-unit peristaltic module 7 are structurally identical, taking the first single-unit peristaltic module 5 as an example, as shown in fig. 6 to 11, the single-unit peristaltic module comprises a main body structure, a head sleeve 510, a tail sleeve 511, a single-unit waterproof skin 501 and a sealing cover; the head sleeve 510 and the tail sleeve 511 are respectively installed at the head and the tail of the main structure, the single-unit waterproof skin 501 is sleeved on the head sleeve 510, the main structure and the tail sleeve 511, the number of the sealing covers is two, the sealing covers are marked as a first sealing cover 502 and a second sealing cover 503, the two sealing covers are respectively sleeved at the two ends of the single-unit waterproof skin 501 and are used for plugging the end part of the single-unit waterproof skin 501.
As shown in fig. 8, the main body structure includes a head support plate 507, a tail support plate 508, a hauling rope 506, a spring piece 509, a steering engine 504 and a rudder disk 505, the head support plate 507 and the tail support plate 508 are circular and made of acrylic plates, one end of the hauling rope 506 is connected to the tail support plate 508, the other end of the hauling rope is tied to the rudder disk 505, the two ends of the spring piece 509 are respectively connected with the head support plate 507 and the tail support plate 508, the steering engine 504 is installed on the head support plate 507 and connected with the rudder disk 505, the rudder disk 505 rotates under the action of the steering engine 504 and pulls the hauling rope 506 to change the distance between the head support plate 507 and the tail support plate 508, and the spring piece 509 deforms accordingly. Therefore, the rotation of the rotating shaft of the steering engine 504 can control the single unit peristalsis module to be in a compression state and a relaxation state, and the single unit peristalsis module in the relaxation state and the compression state is shown in fig. 6 and 7.
The number of the hauling ropes 506 is 4, four groups of holes are formed in the edges of the support plates, the hauling ropes 506 penetrate through the holes, the 4 hauling ropes 506 are uniformly arranged along the circumferential directions of the head support plate 507 and the tail support plate 508, and the distance between the head support plate 507 and the tail support plate 508 is reduced by pulling or releasing the hauling ropes 506 by the rudder disk; the spring pieces 509 are made of elastic spring steel sheets, the number of the spring pieces is 8, the spring pieces are connected to the edges of the head supporting plate 507 and the tail supporting plate 508 through bolts and the like, the 8 spring pieces 509 are uniformly arranged along the circumferential direction of the head supporting plate 507 and the tail supporting plate 508, the spring pieces 509 are bent and restored along with the pulling and releasing of the traction ropes 506, and the bent and deformed spring pieces 509 serve as supports to support the whole main body structure and the single-unit waterproof skin 501.
The two ends of the main structure are provided with a head supporting plate 507 and a tail supporting plate 508, a steering engine 504, a rudder plate 505, a bolt and other components are arranged on the acrylic, and in order to enable the two ends of the single-unit peristaltic module to be conveniently connected with a vertical moving driving module and a horizontal moving driving module 6, as shown in fig. 9, a head sleeve 510 and a tail sleeve 511 are arranged on the head supporting plate 507 and the tail supporting plate 508, and can be installed through a bolt and other structures, and can also be connected through a buckle, a thread and other modes. The tail sleeve 511 is designed to be cylindrical or cylindrical, and the head sleeve 510 comprises a cylindrical side wall and a polygonal hollowed-out end cover in consideration of the arrangement of the steering engine 504 and the steering wheel 505. The invention realizes the deformation of the robot in the axial direction through the composite structure of the steering engine and the spring pieces, reduces the complexity of the manufacturing process and simplifies the control system.
The single-unit waterproof skin 501 is shown in fig. 10, and has a drum-shaped main body adapted to the main body structure, and cylindrical both ends adapted to the head sleeve 510 and the tail sleeve 511, so as to be capable of being fitted over the main body structure and the outside of the head sleeve 510 and the tail sleeve 511, and the main function is waterproof. Sealing cover as shown in fig. 11, single-unit waterproof skin 501 is sleeved on head sleeve 510 and tail sleeve 511, and sealing cover is sleeved on the end of single-unit waterproof skin 501, so that good sealing is realized, and water is prevented from entering inside the single-unit peristaltic unit. Considering the threading of pencil, sealed covering is equipped with at least one pencil through-hole for pass the pencil, in this embodiment, sealed covering is equipped with three pencil through-holes: a first wire harness through hole 512, a second wire harness through hole 513, and a third wire harness through hole 514.
The first double-unit peristaltic module 3 and the second double-unit peristaltic module 9 have the same structure, and taking the first double-unit peristaltic module 3 as an example, as shown in fig. 12 and 13, the first double-unit peristaltic module comprises a main body structure, a middle sleeve 301, a head sleeve, a double-unit waterproof skin 302 and a sealing cover; the number of the main body structures is two, the tails of the two main body structures are connected through the middle sleeve 301, the number of the head sleeves is two, the two heads are respectively installed at the heads of the two main body structures, the double-unit waterproof skin 302 is sleeved on the head sleeve-the main body structure-the middle sleeve 301-the main body structure-the head sleeve, and the number of the sealing covers is two, the two sealing covers are respectively sleeved at the two ends of the double-unit waterproof skin 302 and used for plugging the end parts of the double-unit waterproof skin 302.
In the design of the invention, the single-unit peristaltic module and the double-unit peristaltic module have excellent waterproof performance, can work in an underwater environment, and realize forward peristalsis of the robot by utilizing the cooperation of the peristaltic modules. The horizontal swimming driving module can drive the robot to swim in a horizontal plane through the two propellers, has the capability of structure contraction and expansion, expands when needing horizontal swimming, contracts when not needing horizontal swimming to reduce the occupied area, can follow the robot to enter a narrow environment, and can also reduce resistance. The vertical swimming driving module can drive the robot to swim in a vertical plane, so that the depth of the robot in water is changed.
Some additions are suggested:
the multi-mode mobile robot provided by the invention can move in an underwater pipeline, a wide water area and a cross environment of the underwater pipeline and the wide water area, and the movement mode is as follows:
the underwater pipeline creeping method comprises the following steps: the horizontal swimming driving module contracts, the vertical swimming driving module does not work, and the single-unit peristalsis module and the double-unit peristalsis module are mutually matched to realize contraction anchoring and relaxation forward pushing, so that forward peristalsis is generated;
the water-saving swimming pool swims in a wide water area, and specifically comprises the following steps: the creeping module does not work, keeps a relaxed state, controls the robot to swim in a horizontal plane by the horizontal swimming driving module, and controls the robot to swim in a vertical plane by the vertical swimming driving module;
the underwater pipeline and the wide water area move under the crossed environment, and the method specifically comprises the following steps: when the robot is in the pipeline, the robot can creep in the creeping mode, and after the pipeline is out, the horizontal swimming driving module is unfolded, so that the robot can be switched from the creeping mode to the swimming mode to drive the robot to swim in a wide water area.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A multi-modal mobile robot is characterized by comprising a control module, a head drag reduction cap, a double-unit creeping module, a vertical swimming driving module, a single-unit creeping module, a horizontal swimming driving module and a tail drag reduction cap, wherein two adjacent modules are connected through a connecting module; the control module is in communication connection with the double-unit peristalsis module, the vertical swimming driving module, the single-unit peristalsis module and the horizontal swimming driving module.
2. The multi-modal mobile robot according to claim 1, wherein the connection module comprises a cloth-based adhesive tape and a plurality of rolling tapes, the cloth-based adhesive tape is wound around the connection position of two adjacent modules, and the rolling tapes are sleeved and pressed outside the cloth-based adhesive tape.
3. The multi-modal mobile robot of claim 1, wherein the vertical traveling drive module comprises a vertical traveling drive frame, a dc motor and a propeller, a base of the dc motor is mounted in the vertical traveling drive frame, and an output shaft of the dc motor is connected to the propeller.
4. The multi-modal mobile robot of claim 1, wherein the horizontal travel drive module comprises a horizontal travel drive frame, a drive rod control steering engine, a first drive rod, a second drive rod, a third drive rod, a fourth drive rod, a fifth drive rod, a sixth drive rod, a first direct current motor, a first propeller, a second direct current motor, and a second propeller; the driving rod piece control steering engine is installed in the horizontal moving driving frame, a four-bar mechanism is formed by the first driving rod piece, the second driving rod piece, the third driving rod piece and the fourth driving rod piece, a four-bar mechanism is formed by the first driving rod piece, the second driving rod piece, the fifth driving rod piece and the sixth driving rod piece, a rotating shaft of the driving rod piece control steering engine is connected with the first driving rod piece, the rotation of the driving rod piece control steering engine controls the expansion and contraction of the two four-bar mechanisms, the first direct current motor and the second direct current motor are installed on the two four-bar mechanisms respectively, and output shafts of the first direct current motor and the second direct current motor are connected with the first propeller and the second propeller respectively.
5. The multi-modal mobile robot of claim 1, wherein the single-unit peristaltic module comprises a body structure, a head sleeve, a tail sleeve, a single-unit waterproof skin, and a sealing cover; the head sleeve and the tail sleeve are respectively installed at the head and the tail of the main body structure, the single-unit waterproof skin is sleeved on the head sleeve, the main body structure and the tail sleeve, the number of the sealing covers is two, the two sealing covers are respectively sleeved at the two ends of the single-unit waterproof skin and used for plugging the end portion of the single-unit waterproof skin.
6. The multi-modal mobile robot of claim 1, wherein the dual-cell peristaltic module comprises a body structure, a middle sleeve, a head sleeve, a dual-cell waterproof skin, and a sealing cover; the number of the main body structures is two, the tails of the two main body structures are connected through the middle sleeve, the number of the head sleeves is two, the two heads of the two main body structures are respectively installed at the heads of the two main body structures, the double-unit waterproof skin is sleeved on the head sleeve, the main body structures, the middle sleeve, the main body structures and the head sleeve, and the number of the sealing covers is two, the two sealing covers are respectively sleeved at the two ends of the double-unit waterproof skin and used for plugging the end parts of the double-unit waterproof skin.
7. The multi-modal mobile robot as claimed in claim 5 or 6, wherein the main structure comprises a head support plate, a tail support plate, a traction rope, a spring piece, a steering engine and a steering wheel, one end of the traction rope is connected to the tail support plate, the other end of the traction rope is tied to the steering wheel, the two ends of the spring piece are respectively connected with the head support plate and the tail support plate, the steering engine is installed on the head support plate and connected with the steering wheel, the steering wheel rotates under the action of the steering engine and pulls the traction rope to change the distance between the head support plate and the tail support plate, and the spring piece deforms accordingly.
8. The multi-modal mobile robot according to claim 7, wherein the head support plate and the tail support plate are circular, the pulling ropes are 4 in number and are uniformly arranged in the circumferential direction of the head support plate and the tail support plate, and the spring pieces are 8 in number and are uniformly arranged in the circumferential direction of the head support plate and the tail support plate.
9. The multi-modal mobile robot according to claim 5 or 6, wherein the sealing cover is provided with at least one wire harness through hole for passing a wire harness therethrough.
10. The multi-modal mobile robot of claim 1, wherein the head drag reduction cap comprises a head cone structure, the tail drag reduction cap comprises a tail cone structure and a tail cylinder structure connected together, and the control module is mounted within the tail cylinder structure.
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| CN202210185116.1A CN114475987A (en) | 2022-02-28 | 2022-02-28 | Multi-mode mobile robot |
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| CN202210185116.1A CN114475987A (en) | 2022-02-28 | 2022-02-28 | Multi-mode mobile robot |
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