CN114770484B - Electrically-driven rigid-flexible coupling water snake robot - Google Patents
Electrically-driven rigid-flexible coupling water snake robot Download PDFInfo
- Publication number
- CN114770484B CN114770484B CN202210552674.7A CN202210552674A CN114770484B CN 114770484 B CN114770484 B CN 114770484B CN 202210552674 A CN202210552674 A CN 202210552674A CN 114770484 B CN114770484 B CN 114770484B
- Authority
- CN
- China
- Prior art keywords
- snake
- trunk
- driving mechanism
- electric driving
- flange plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241000270282 Nerodia Species 0.000 title claims abstract description 43
- 230000008878 coupling Effects 0.000 title claims abstract description 19
- 238000010168 coupling process Methods 0.000 title claims abstract description 19
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 19
- 241000270295 Serpentes Species 0.000 claims abstract description 94
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 241001597062 Channa argus Species 0.000 claims abstract description 23
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 13
- 239000012530 fluid Substances 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 13
- 238000005452 bending Methods 0.000 claims description 10
- 239000004033 plastic Substances 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000005684 electric field Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 239000000463 material Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000007711 solidification Methods 0.000 description 3
- 230000008023 solidification Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
The invention discloses an electrically-driven rigid-flexible coupling water snake robot which comprises a snake body framework, an electric driving mechanism, a bionic snake skin and a control mechanism, wherein the snake body framework comprises a snake head, a snake body trunk and a snake tail which are sequentially connected, the snake body trunk comprises a plurality of trunk sections which are sequentially connected, and any trunk section comprises a flexible supporting jacket, a variable stiffness spine and a plurality of groups of elastic telescopic members. The invention adopts a rigid-flexible coupling structure, the rigid part is mainly embodied in an electric driving mechanism, the flexible part is mainly embodied in a rigidity-variable spine, the soft part is mainly embodied in a flexible supporting jacket and a bionic snake skin adopted by a snake trunk, and the overall structure of the water snake robot is simple, small in size, light in weight, high in movement speed, high in flexibility, strong in maneuverability, capable of meeting the operation requirements of underwater extreme environments and the like, so that the problems that the existing water snake robot is poor in flexibility, maneuverability and environment adaptability, and therefore cannot meet the underwater complex operation environments are solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an electrically-driven rigid-flexible coupling water snake robot.
Background
In recent years, the research field of robots is quite hot, especially in the aspects of rigid-flexible coupling and rigidity-changing technology, the application of the robots in bionic robots, especially serpentine robots, enables mobility, flexibility and intelligence of the underwater robots to be broken through greatly, and enables the underwater robots to have wide application prospects in various fields of continuous operation, multi-task demands, complex environment operation and the like, so that the water snake robots are also more and more focused by students.
At present, most of the researches on the snake-shaped robots are based on traditional mechanical structures, and the problems of large volume, heavy weight, low movement speed, poor load capacity and the like exist, so that the application of the snake-shaped robots in the fields of underwater sampling, underwater obstacle avoidance, pipeline inspection, bionic driving and the like is limited. When the water snake robot works underwater, the environment facing the water snake robot is extremely complex, so the water snake robot needs to have better flexibility, maneuverability, environmental adaptability and the like.
Disclosure of Invention
The invention aims to provide an electrically-driven rigid-flexible coupling water snake robot, which aims to solve the problems that the existing water snake robot is poor in flexibility, mobility and environment adaptability, so that the existing water snake robot cannot meet the underwater complex operation environment.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides an electrically driven rigid-flexible coupling water snake robot, comprising:
the snake body framework comprises a snake head, a snake body trunk and a snake tail which are sequentially connected, the snake body trunk comprises a plurality of trunk sections which are sequentially connected, any trunk section comprises a flexible supporting jacket, a variable stiffness spine and a plurality of groups of elastic telescopic members, the plurality of groups of elastic telescopic members are distributed on the periphery of the variable stiffness spine, and the flexible supporting jacket covers the periphery of the plurality of groups of elastic telescopic members;
the two ends of any elastic telescopic piece are connected with one electric driving mechanism, and the electric driving mechanism is used for driving the elastic telescopic piece to stretch so as to drive the trunk section to bend;
the bionic snake skin is coated on the periphery of the snake body framework;
the control mechanism is in communication connection with the electric driving mechanism, and the control mechanism can realize the movement of the snake skeleton in water by controlling the bending direction of each trunk section.
Optionally, any two adjacent trunk sections are connected through a connecting joint, and the connecting joint comprises:
a connecting rod;
the first flange plate is arranged at one end of the connecting rod and is connected with the variable stiffness spine of one of any two adjacent trunk sections;
the second flange plate is arranged at the other end of the connecting rod and is connected with the variable stiffness spine of the other one of any two adjacent trunk sections;
the trunk section of the trunk head of the snake body is connected with the snake head through the connecting joint, wherein one of the first flange plate and the second flange plate is connected with the snake head, and the other is connected with the rigidity-variable spine of the trunk section of the trunk head of the snake body;
the trunk section positioned at the tail of the trunk of the snake body is connected with the tail of the snake body through the connecting joint, wherein one of the first flange plate and the second flange plate is connected with the tail of the snake, and the other is connected with the rigidity-variable spine of the trunk section positioned at the tail of the trunk of the snake body.
Optionally, the first flange plate includes a flange disc and a cylindrical sleeve, the diameter of the cylindrical sleeve is smaller than that of the flange disc, and the cylindrical sleeve is connected to one side of the flange disc and is coaxially arranged with the flange disc;
the structure of the second flange plate is the same as that of the first flange plate, and the cylindrical sleeve on the first flange plate and the cylindrical sleeve on the second flange plate face towards the two ends of the connecting rod respectively, so as to be connected with the rigidity-variable spine, the snake head or the snake tail.
Optionally, the flexible support overcoat is the rubber sleeve of both ends opening, the cylinder sleeve with become rigidity backbone in the rubber sleeve is connected the back, with the flange disc of cylinder sleeve connection stretches into in the rubber sleeve.
Optionally, four groups of elastic telescopic members are arranged in any one of the flexible supporting jackets and are uniformly distributed on the periphery of the rigidity-variable spine; any group of elastic telescopic parts are connected to the inner wall of the flexible supporting jacket.
Optionally, four groups of electric driving mechanism integrated shells are arranged between any two adjacent trunk sections, and two sides of any one electric driving mechanism integrated shell are provided with one electric driving mechanism;
four groups of electric driving mechanism integrated shells are arranged between the snake head and the snake trunk, and one side, close to the snake trunk, of any one of the electric driving mechanism integrated shells is provided with one electric driving mechanism;
four groups of integrated shells of the electric driving mechanism are arranged between the snake tail and the trunk of the snake body, and one side, close to the trunk of the snake body, of any integrated shell of the electric driving mechanism is provided with one electric driving mechanism.
Optionally, any one of the electric driving mechanisms comprises a controller and two groups of electric telescopic rods, the electric telescopic rods are in communication connection with the controller, and the controller is in communication connection with the control mechanism; the controller is arranged in the corresponding electric driving mechanism integrated shell, one end of the electric telescopic rod is arranged on the corresponding electric driving mechanism integrated shell, and the other end of the electric telescopic rod penetrates through the flange disc and stretches into the flexible supporting jacket so as to be connected with the corresponding elastic telescopic piece.
Optionally, the elastic expansion piece is a spring, and both ends of the spring are provided with spring covers, so as to be connected with the electric expansion rod.
Optionally, the variable stiffness spine is a plastic tube body filled with electrorheological fluid, and any variable stiffness spine is electrically connected with the control mechanism, so that the electrorheological fluid in the plastic tube body can be converted into solid under the action of an electric field, and the stiffness of the variable stiffness spine is controllable.
Optionally, the snake head is a manipulator capable of clamping articles, and the manipulator is in communication connection with the control mechanism.
Compared with the prior art, the invention has the following technical effects:
the invention provides an electric drive rigid-flexible coupling underwater robot with rigidity, which is a novel electric drive rigid-flexible coupling underwater robot with rigidity and flexibility, wherein a rigid part is mainly embodied in an electric drive mechanism, a flexible part is mainly embodied in a rigidity-variable spine, a flexible part is mainly embodied in a flexible supporting jacket and a bionic snake skin adopted by a snake trunk, the whole structure of the underwater snake robot is simple and small, the overall structure is light, the movement speed is high, the flexibility is high, the maneuverability is strong, the operation requirement of the underwater extreme environment is met, and the like, so that the problems of poor flexibility, poor maneuverability and poor environment adaptability of the conventional underwater snake robot are solved, and the underwater complex operation environment cannot be met.
In some technical schemes of the invention, the rigidity-variable spine is used as a flexible part of the water snake robot, so that the rigidity can be variable, and compared with the traditional underwater robot, the rigidity-variable spine adopts intelligent material electrorheological liquid to play a role in changing the rigidity of the trunk of the snake body, so that the water snake robot has better flexibility; meanwhile, an electric driving mode is adopted, so that the water snake robot has higher stability and better maneuverability, and the operation requirement in the underwater extreme environment is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of an electrically driven rigid-flexible coupled water snake robot disclosed in an embodiment of the invention;
FIG. 2 is a schematic diagram of the overall cross-sectional structure of an electrically driven rigid-flexible coupled water snake robot according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a snake head according to an embodiment of the invention;
FIG. 4 is a schematic view of an integrated housing of an electric drive mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a connection joint according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a snake trunk according to an embodiment of the invention;
FIG. 7 is a schematic cross-sectional view of the torso of the snake of FIG. 6;
FIG. 8 is a schematic view of a torso section in a flattened condition, in accordance with an embodiment of the present invention;
FIG. 9 is a schematic cross-sectional view of the torso section of FIG. 8;
FIG. 10 is a schematic view of a torso section in a curved state, in accordance with an embodiment of the present invention;
figure 11 is a schematic cross-sectional view of the torso section of figure 10.
Wherein, the reference numerals are as follows:
100. electrically driven rigid-flexible coupling water snake robot;
1. snake head; 2. a snake trunk; 3. snake tail; 4. a torso section; 41. a flexible support jacket; 42. a variable stiffness spine; 43. an elastic expansion piece; 5. bionic snake skin; 6. a control mechanism; 7. connecting joints; 71. a connecting rod; 72. a flange disc; 73. a cylindrical sleeve; 8. an electric drive mechanism integrated housing; 9. a controller; 10. an electric telescopic rod; 101. a first electric telescopic rod; 102. a second electric telescopic rod; 103. a third electric telescopic rod; 104. a fourth electric telescopic rod; 105. a fifth electric telescopic rod; 106. a sixth electric telescopic rod; 107. a seventh electric telescopic rod; 108. an eighth electric telescopic rod; 11. a power supply; 12. a spring cover; 13. a mechanical arm; 14. an independent power supply; 15. a wireless signal transceiver.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
The invention aims to provide an electrically-driven rigid-flexible coupling water snake robot, which aims to solve the problems that the existing water snake robot is poor in flexibility, mobility and environment adaptability, so that the existing water snake robot cannot meet the underwater complex operation environment.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1 to 11, the present embodiment provides an electrically driven rigid-flexible coupling water snake robot 100, which mainly includes a snake skeleton, an electrically driven mechanism, a bionic snake skin 5 and a control mechanism 6, wherein the snake skeleton includes a snake head 1, a snake trunk 2 and a snake tail 3 which are sequentially connected, the snake trunk 2 includes a plurality of trunk sections 4 which are sequentially connected, any trunk section 4 is a flexible coupling structure, and includes a flexible supporting sleeve 41, a rigidity-variable spine 42 and a plurality of groups of elastic telescopic members 43, the groups of elastic telescopic members 43 are distributed on the periphery of the rigidity-variable spine 42, and the flexible supporting sleeve 41 is covered on the periphery of the plurality of groups of elastic telescopic members 43; two ends of any elastic telescopic piece 43 are connected with an electric driving mechanism, and the electric driving mechanism is used for driving the elastic telescopic piece 43 to stretch so as to drive the trunk section 4 to bend; the bionic snake skin 5 is coated on the periphery of the snake skeleton; the control mechanism 6 is in communication connection with the electric driving mechanism, and the control mechanism 6 can realize the tail swing movement of the snake skeleton by controlling the bending direction of each trunk section 4, thereby achieving the accurate simulation of the S-shaped peristaltic mode of the water snake. The rigidity-variable electrically-driven rigid-flexible coupling water snake robot 100 has the advantages of compact overall structure, small space occupation area, flexible body shape change according to the operation environment, and the whole water snake robot is in a bent shape in a motion state, and can swing to the tail through bending the trunk of the snake body, so that compared with the existing underwater robot, the rigidity-variable electrically-driven rigid-flexible coupling water snake robot has better flexibility, mobility and environment adaptation capability, and can meet the task requirements of underwater complex environment operation.
In this embodiment, the two adjacent trunk sections 4 are all connected through the connection joint 7, the connection joint 7 includes a connecting rod 71, a first flange and a second flange, the first flange is disposed at one end of the connecting rod 71 and is used for connecting the variable stiffness spine 42 of one of the two adjacent trunk sections 4, and the second flange is disposed at the other end of the connecting rod 71 and is used for connecting the variable stiffness spine 42 of the other of the two adjacent trunk sections 4. The trunk section 4 positioned at the head of the trunk 2 of the snake body is also connected with the snake head 1 through a connecting joint 7, wherein one of the first flange plate and the second flange plate is connected with the snake head 1, and the other is connected with the rigidity-variable spine 42 positioned at the trunk section 4 at the head of the trunk 2 of the snake body; correspondingly, the trunk section 4 positioned at the tail of the trunk 2 of the snake body is also connected with the snake tail 3 through the connecting joint 7, wherein one of the first flange plate and the second flange plate is connected with the snake tail 3, and the other is connected with the rigidity-variable spine 42 positioned at the trunk section 4 at the tail of the trunk 2 of the snake body. As shown in fig. 5, the first flange and the second flange are respectively located at the left end and the right end of the connecting rod 71, and taking the first flange as an example, the first flange includes a flange disc 72 and a cylindrical sleeve 73, the diameter of the cylindrical sleeve 73 is smaller than that of the flange disc 72, and the cylindrical sleeve 73 is connected to one side of the flange disc 72 and is coaxially arranged with the flange disc 72; the structure of the second flange is the same as that of the first flange, and the cylindrical sleeve 73 on the first flange and the cylindrical sleeve 73 on the second flange face the two ends of the connecting rod 71 respectively, so as to be connected with the rigidity-variable spine 42, the snake head 1 or the snake tail 3, for example: when the connecting joint 7 connects two adjacent trunk sections 4, the cylindrical sleeves 73 positioned at the two ends of the connecting joint 7 are respectively connected with the variable stiffness spines 42 at the two sides; when the connecting joint 7 connects the trunk section 4 and the snake head 1, the cylindrical sleeves 73 at the two ends of the connecting joint 7 are respectively connected with the rigidity-variable spine 42 and the snake head 1 in the trunk section 4; similarly, when the connecting joint 7 connects the trunk section 4 and the snake tail 3, the cylindrical sleeves 73 at the two ends of the connecting joint 7 are respectively connected with the rigidity-variable spine 42 and the snake tail 3 in the trunk section 4. Preferably, the flange disc 72 and the cylindrical sleeve 73 in the first flange disc and the second flange disc are of an integrated structure, the connecting rod 71 is preferably a stud, and a threaded hole is formed in the center of the flange disc 72 so as to be in threaded connection with the stud.
In this embodiment, the flexible supporting sleeve 41 is a rubber sleeve with two open ends, the rubber sleeve is cylindrical, and the flange disc 72 connected with the cylindrical sleeve 73 extends into the rubber sleeve after the cylindrical sleeve 73 is connected with the variable stiffness spine 42 in the rubber sleeve. Here, the outer diameter of the flange disc 72 is preferably the same as or substantially the same as the inner diameter of the flexible supporting sleeve 41, and after the assembly is completed, the outer ring of the flange disc 72 and the inner wall of the flexible supporting sleeve 41 can be sealed by interference fit, vulcanization or gluing, so as to avoid water from entering the flexible supporting sleeve 41 or parts inside the flexible supporting sleeve 41 from falling out. The flexible supporting jacket 41 is made of a customized rubber material, and is used for assisting in installing the elastic telescopic piece 43 and connecting with the connecting joint 7, and the outer side of the flexible supporting jacket 41 is connected with the bionic snake skin 5. The bionic snake skin 5 is preferably a rubber bellows.
In this embodiment, four groups of elastic telescopic members 43 are disposed in any one of the flexible supporting jackets 41, and the four groups of elastic telescopic members 43 are uniformly distributed on the periphery of the variable stiffness spine 42; the middle part of any group of elastic telescopic members 43 is connected to the inner wall of the flexible supporting jacket 41 through the related auxiliary mounting structure, such as hitching, bonding, etc., and the connection mode between the elastic telescopic members 43 and the inner wall of the flexible supporting jacket 41 does not affect the telescopic action of the elastic telescopic members 43.
In the embodiment, four groups of electric driving mechanism integrated shells 8 are arranged between any two adjacent trunk sections 4, and two sides of any one electric driving mechanism integrated shell 8 are provided with an electric driving mechanism; four groups of electric driving mechanism integrated shells 8 are arranged between the snake head 1 and the snake trunk 2, and one side, close to the snake trunk 2, of any one electric driving mechanism integrated shell 8 is provided with an electric driving mechanism; similarly, four groups of electric driving mechanism integrated shells 8 are arranged between the snake tail 3 and the snake trunk 2, and one electric driving mechanism is installed on one side, close to the snake trunk 2, of any one of the electric driving mechanism integrated shells 8.
In the embodiment, any one electric driving mechanism comprises a controller 9 and two groups of electric telescopic rods 10, the electric telescopic rods 10 are in communication connection with the controller 9, and the controller 9 is in communication connection with the control mechanism 6; the controller 9 is disposed in the corresponding electric driving mechanism integrated housing 8, and a power supply 11 capable of supplying power to the corresponding controller 9 and the electric telescopic rod 10 is further disposed in the electric driving mechanism integrated housing 8. One end of the electric telescopic rod 10 is disposed on the corresponding electric drive mechanism integrated housing 8, and the other end of the electric telescopic rod 10 penetrates the flange disc 72 and extends into the flexible support jacket 41 to be connected with the corresponding elastic telescopic member 43. Based on the structural arrangement that each group of electric driving mechanisms comprises two groups of electric telescopic rods 10, and four groups of electric driving mechanisms are arranged between any two adjacent trunk sections 4, 8 holes for the electric telescopic rods 10 to penetrate are symmetrically formed in the outer eaves of the flange disc 72 which is embedded (stretched into) the flexible supporting jacket 41, and the holes play a role in supporting and guiding the electric telescopic rods 10. In practice, the electric drive mechanism is not limited to the electric telescopic rod 10, and a push rod provided with a motor or a hydraulic cylinder may be used.
In this embodiment, the elastic expansion member 43 is preferably a spring, and the spring covers 12 are disposed at both ends of the spring, and the electric expansion rod 10 is directly connected to the spring covers 12.
In this embodiment, the stiffness variable spine 42 is a plastic tube body filled with electrorheological fluid, and any stiffness variable spine 42 is electrically connected with the control mechanism 6, so that the electrorheological fluid in the plastic tube body can be converted into solid under the action of an electric field, and the stiffness of the stiffness variable spine 42 is controllable. By changing the electric field intensity around the electrorheological fluid, the shear yield stress can be changed, and when the shear yield stress is increased, the electrorheological fluid is subjected to a solidification reaction, namely the rigidity of the electrorheological fluid is improved. Based on the principle, the requirement of controllable rigidity of the spine can be easily realized, wherein the spine is rigid, namely, the initial straight line state of the snake body. The control mechanism 6 is preferably electrically connected to each of the variable stiffness spines 42 by cables, and each of the cables is sequentially housed in the trunk 2 of the snake body, and each of the flange discs 72 is further provided with a wire hole through which the cable passes. The principle of converting the liquid state of the electrorheological fluid into the solid state is the prior art and is not described herein.
In actual operation, the magnetorheological fluid can be replaced by a magnetorheological fluid material, namely, the shear yield stress of the magnetorheological fluid can be changed by changing the magnetic field intensity around the magnetorheological fluid, and when the shear yield stress is increased, the magnetorheological fluid is subjected to a solidification reaction, namely, the rigidity of the magnetorheological fluid is improved. Based on the principle, the requirement of controllable rigidity of the spine can be easily realized. The spine is here rigid, i.e. the initial straight state of the snake. The principle of converting the liquid state of the magnetorheological fluid into the solid state is the prior art and is not described herein.
In this embodiment, the snake head 1 is preferably a manipulator capable of gripping an article, and the manipulator is in communication connection with the control mechanism 6. The control mechanism 6 can be arranged in a manipulator as a main control module of the whole robot, the manipulator is further provided with a common existing device such as a mechanical arm 13, an independent power supply 14 and a wireless signal transceiver 15, the mechanical arm 13 is mainly used for grabbing objects underwater, the independent power supply 14 is mainly used for supplying power to the control mechanism 6 and the mechanical arm 13, and the wireless signal transceiver 15 is in communication connection with the control mechanism 6 and is used for receiving and transmitting signals for moving or grabbing objects of the robot. The manipulator is fixedly connected with the 1 st trunk section 4 in the snake trunk 2 through a connecting joint 7. The manipulator and the mechanical arm 13 all adopt the existing structure, and the specific structure and the working principle are not described herein.
The working principle of the water snake robot is specifically described below by taking the example that the snake trunk 2 is provided with 20 trunk sections 4. Wherein, the structures of any two trunk sections 4 are the same and can be used interchangeably; any two connection joints 7 have the same structure and can be used interchangeably.
As shown in fig. 11, in order to achieve this bending state, the electric telescopic rods 10 of each group on both sides of the trunk section 4, namely, the first electric telescopic rod 101, the second electric telescopic rod 102, the third electric telescopic rod 103, the fourth electric telescopic rod 104, the fifth electric telescopic rod 105, the sixth electric telescopic rod 106, the seventh electric telescopic rod 107 and the eighth electric telescopic rod 108, are energized, and at the same time, the controller 9 controls the extension of the third electric telescopic rod 103 and the fifth electric telescopic rod 105 on both ends on the upper side of the trunk section 4, the contraction of the fourth electric telescopic rod 104 and the sixth electric telescopic rod 106, the extension of the second electric telescopic rod 102 and the eighth electric telescopic rod 108, and the contraction of the first electric telescopic rod 101 and the seventh electric telescopic rod 107, the upward bending of the spring shown in fig. 11 can be accomplished, thereby achieving the bending of the trunk section. The principle of realizing bending of other trunk sections 4 in all directions is the same as the principle, and in the actual moving process of the water snake robot, the control mechanism 6 controls the bending of different trunk sections 4 towards different directions, so that the movement of the water snake robot can be realized. Because four groups of springs are arranged in any trunk section 4, the trunk section 4 can not only bend up and down, but also bend left and right, and the specific principle is the same as the above, and the detailed description is omitted here.
Therefore, the water snake robot of the technical scheme is a novel rigidity-variable electrically-driven rigid-flexible coupling underwater robot based on a soft robot, and is mainly used for realizing object grabbing and sample collection in an underwater extreme service environment. The water snake robot adopts a rigid-flexible coupling structure, and the rigid part is mainly embodied by parts such as an electric telescopic rod, an electric driving mechanism integrated shell, a connecting joint, a flange plate and the like; the flexible part is mainly embodied in a variable stiffness spine made of an electric/magnetic rheological fluid intelligent material; the soft part is mainly made of rubber materials adopted by the trunk of the snake body and corrugated pipe materials adopted by the bionic snake skin. The variable stiffness spine adopts intelligent material electro-rheological fluid, and by taking magnetorheological fluid material as an example, the shear yield stress of the magnetorheological fluid can be changed by changing the magnetic field intensity around the magnetorheological fluid, and when the shear yield stress is increased, the magnetorheological fluid is subjected to solidification reaction, so that the stiffness of the magnetorheological fluid is improved. Based on the principle, the requirement of controllable spine rigidity can be easily realized, and the flexibility of the water snake robot is improved.
According to the technical scheme, the snake head part adopts the manipulator, the tail end of the manipulator is provided with the threaded hole and the small hole, the manipulator is fixedly connected to the head of the snake trunk through the connecting joint, the connection is stable and reliable, the manipulator is arranged at the front end of the manipulator, and after the manipulator is electrified, the manipulator at the front end is driven to rotate through the adjusting manipulator to adjust the azimuth, so that grabbing of underwater objects is realized.
According to the technical scheme, the water snake robot is integrally driven by electricity, each electric telescopic rod can be independently electrified, the electric telescopic rods on two sides of the electric drive mechanism integrated shell are respectively connected with spring covers (or called as 'spring sleeves') in trunk sections on two sides through special flange plates (namely, a combination of the flange plates and the cylindrical sleeves), and the extension and contraction of each electric telescopic rod are controlled simultaneously, so that the bending of the springs is realized, and the tail swing swimming of the trunk of a snake body is realized. The driving principle is simple and the driving is reliable.
The joint of this technical scheme adopts the double-end stud to realize fixed connection, and snake head and truck section, truck section and snake tail all carry out fixed connection through the joint of connection, can guarantee the reliability of water snake overall structure.
The water snake robot of this technical scheme simple structure, small, the quality is light, the movement speed is fast, and the flexibility is high, the mobility is strong, satisfies the extreme environment operation demand under water.
It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. An electrically driven rigid-flexible coupled water snake robot, comprising:
the snake body framework comprises a snake head, a snake body trunk and a snake tail which are sequentially connected, the snake body trunk comprises a plurality of trunk sections which are sequentially connected, any trunk section comprises a flexible supporting jacket, a variable stiffness spine and a plurality of groups of elastic telescopic members, the plurality of groups of elastic telescopic members are distributed on the periphery of the variable stiffness spine, and the flexible supporting jacket covers the periphery of the plurality of groups of elastic telescopic members; the connecting joints comprise connecting rods, a first flange plate and a second flange plate, wherein the first flange plate is arranged at one end of each connecting rod, the first flange plate is connected with the rigidity-variable spine of one of any two adjacent trunk sections, the second flange plate is arranged at the other end of each connecting rod, the second flange plate is connected with the rigidity-variable spine of the other of any two adjacent trunk sections, the trunk sections positioned at the trunk heads of the snakes are connected with the snakes through the connecting joints, one of the first flange plate and the second flange plate is connected with the snakes, and the other flange plate is connected with the rigidity-variable spine of the trunk section positioned at the trunk heads of the snakes; the trunk section positioned at the tail of the trunk of the snake body is connected with the snake tail through the connecting joint, wherein one of the first flange plate and the second flange plate is connected with the snake tail, and the other is connected with the rigidity-variable spine of the trunk section positioned at the tail of the trunk of the snake body; the first flange plate comprises a flange disc and a cylindrical sleeve, the diameter of the cylindrical sleeve is smaller than that of the flange disc, and the cylindrical sleeve is connected to one side of the flange disc and is coaxially arranged with the flange disc; the structure of the second flange plate is the same as that of the first flange plate, and the cylindrical sleeve on the first flange plate and the cylindrical sleeve on the second flange plate face the two ends of the connecting rod respectively and are connected with the rigidity-variable spine, the snake head or the snake tail; the variable stiffness spine is a plastic tube body filled with electrorheological fluid, and the electrorheological fluid can be converted into solid under the action of an electric field, so that the stiffness of the variable stiffness spine is controllable;
the two ends of any elastic telescopic piece are connected with one electric driving mechanism, and the electric driving mechanism is used for driving the elastic telescopic piece to stretch so as to drive the trunk section to bend; four groups of electric driving mechanism integrated shells are arranged between any two adjacent trunk sections, one electric driving mechanism is arranged on each of two sides of any one electric driving mechanism integrated shell, four groups of electric driving mechanism integrated shells are arranged between each snake head and each snake trunk, and one electric driving mechanism is arranged on one side, close to each snake trunk, of any one electric driving mechanism integrated shell; four groups of electric driving mechanism integrated shells are arranged between the snake tail and the snake trunk, and one side, close to the snake trunk, of any one of the electric driving mechanism integrated shells is provided with one electric driving mechanism;
the bionic snake skin is coated on the periphery of the snake body framework;
the control mechanism is in communication connection with the electric driving mechanism, and the control mechanism can realize the movement of the snake skeleton in water by controlling the bending direction of each trunk section.
2. The electrically driven rigid flexible coupling water snake robot of claim 1, wherein the flexible support sleeve is a rubber sleeve with two open ends, and the flange disc connected with the cylindrical sleeve extends into the rubber sleeve after the cylindrical sleeve is connected with the rigidity-variable spine in the rubber sleeve.
3. The electrically driven rigid-flexible coupled water snake robot according to claim 1 or 2, wherein four groups of elastic telescopic members are arranged in any one of the flexible supporting jackets and are uniformly distributed on the periphery of the rigidity-variable spine; any group of elastic telescopic parts are connected to the inner wall of the flexible supporting jacket.
4. The electrically driven rigid flexible coupled water snake robot of claim 1, wherein any one of the electrically driven mechanisms comprises a controller and two sets of electrically driven telescopic rods, the electrically driven telescopic rods are in communication connection with the controller, and the controller is in communication connection with the control mechanism; the controller is arranged in the corresponding electric driving mechanism integrated shell, one end of the electric telescopic rod is arranged on the corresponding electric driving mechanism integrated shell, and the other end of the electric telescopic rod penetrates through the flange disc and stretches into the flexible supporting jacket so as to be connected with the corresponding elastic telescopic piece.
5. The electrically driven rigid flexible coupled water snake robot of claim 4, wherein the elastic telescopic members are springs, and spring covers are arranged at two ends of the springs and are connected with the electric telescopic rods.
6. The electrically driven, rigid and flexible coupled water snake robot of claim 1, wherein the snake head is a manipulator capable of gripping an object, the manipulator in communication with the control mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210552674.7A CN114770484B (en) | 2022-05-19 | 2022-05-19 | Electrically-driven rigid-flexible coupling water snake robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210552674.7A CN114770484B (en) | 2022-05-19 | 2022-05-19 | Electrically-driven rigid-flexible coupling water snake robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114770484A CN114770484A (en) | 2022-07-22 |
| CN114770484B true CN114770484B (en) | 2023-12-05 |
Family
ID=82408358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210552674.7A Active CN114770484B (en) | 2022-05-19 | 2022-05-19 | Electrically-driven rigid-flexible coupling water snake robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114770484B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024015562A1 (en) * | 2022-07-14 | 2024-01-18 | Boston Atomics, Inc. | In-vessel maintenance robot and method of operation |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837307A (en) * | 2012-09-13 | 2012-12-26 | 南京航空航天大学 | Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units |
| CN103056876A (en) * | 2013-01-16 | 2013-04-24 | 北京化工大学 | Variable rigidity parallel joint snake-shaped robot mechanism |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN204913919U (en) * | 2015-08-17 | 2015-12-30 | 浙江工业大学 | Independent controllable software robot of motion and rigidity |
| CN107443415A (en) * | 2017-09-18 | 2017-12-08 | 北京化工大学 | A kind of modularization variation rigidity articulation mechanism of snake-shaped robot |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN107984467A (en) * | 2017-12-21 | 2018-05-04 | 哈尔滨工业大学 | A kind of variation rigidity parallel connection artificial-muscle |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
| CN108927791A (en) * | 2018-08-16 | 2018-12-04 | 大连海事大学 | A kind of variation rigidity software mechanical arm of ER fluid control |
| CN108972527A (en) * | 2018-07-09 | 2018-12-11 | 中南大学 | A kind of snakelike arm robot of variable rigidity based on phase-change material |
| WO2019073489A1 (en) * | 2017-10-12 | 2019-04-18 | INDIAN INSTITUTE OF TECHNOLOGY MADRAS (IIT Madras) | Variable buoyancy elements and underwater devices incorporated therewith |
| CN109877819A (en) * | 2019-04-17 | 2019-06-14 | 中南大学 | The snakelike arm of variation rigidity software |
| CN110539292A (en) * | 2019-10-09 | 2019-12-06 | 北京化工大学 | Semi-soft robot module with rigidity keeping function and semi-soft robot |
| CN111203864A (en) * | 2020-01-16 | 2020-05-29 | 上海大学 | McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity |
| CN112276920A (en) * | 2020-10-15 | 2021-01-29 | 北京邮电大学 | Continuum snake-shaped robot |
| CN112296990A (en) * | 2020-10-27 | 2021-02-02 | 浙江理工大学 | Bionic sea snake robot based on rope traction |
| CN112894782A (en) * | 2021-02-23 | 2021-06-04 | 中铁工程装备集团有限公司 | Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling |
| CN112936336A (en) * | 2021-01-27 | 2021-06-11 | 西安电子科技大学 | Multi-continuum robot modularized unit, continuum robot and application |
| CN113942004A (en) * | 2021-09-30 | 2022-01-18 | 北京科技大学 | Snake-like soft robot based on tension structure |
| CN114367967A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Continuous body snake-shaped arm combining pneumatic muscles and super-elastic rods |
-
2022
- 2022-05-19 CN CN202210552674.7A patent/CN114770484B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837307A (en) * | 2012-09-13 | 2012-12-26 | 南京航空航天大学 | Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units |
| CN103056876A (en) * | 2013-01-16 | 2013-04-24 | 北京化工大学 | Variable rigidity parallel joint snake-shaped robot mechanism |
| CN103358305A (en) * | 2013-06-17 | 2013-10-23 | 西安电子科技大学 | Closed-loop control available multifunctional in-water snake-shaped robot |
| CN204913919U (en) * | 2015-08-17 | 2015-12-30 | 浙江工业大学 | Independent controllable software robot of motion and rigidity |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN107443415A (en) * | 2017-09-18 | 2017-12-08 | 北京化工大学 | A kind of modularization variation rigidity articulation mechanism of snake-shaped robot |
| WO2019073489A1 (en) * | 2017-10-12 | 2019-04-18 | INDIAN INSTITUTE OF TECHNOLOGY MADRAS (IIT Madras) | Variable buoyancy elements and underwater devices incorporated therewith |
| CN107984467A (en) * | 2017-12-21 | 2018-05-04 | 哈尔滨工业大学 | A kind of variation rigidity parallel connection artificial-muscle |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
| CN108972527A (en) * | 2018-07-09 | 2018-12-11 | 中南大学 | A kind of snakelike arm robot of variable rigidity based on phase-change material |
| CN108927791A (en) * | 2018-08-16 | 2018-12-04 | 大连海事大学 | A kind of variation rigidity software mechanical arm of ER fluid control |
| CN109877819A (en) * | 2019-04-17 | 2019-06-14 | 中南大学 | The snakelike arm of variation rigidity software |
| CN110539292A (en) * | 2019-10-09 | 2019-12-06 | 北京化工大学 | Semi-soft robot module with rigidity keeping function and semi-soft robot |
| CN111203864A (en) * | 2020-01-16 | 2020-05-29 | 上海大学 | McKibben thin-diameter soft continuous body mechanical arm based on position variable rigidity |
| CN114367967A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Continuous body snake-shaped arm combining pneumatic muscles and super-elastic rods |
| CN112276920A (en) * | 2020-10-15 | 2021-01-29 | 北京邮电大学 | Continuum snake-shaped robot |
| CN112296990A (en) * | 2020-10-27 | 2021-02-02 | 浙江理工大学 | Bionic sea snake robot based on rope traction |
| CN112936336A (en) * | 2021-01-27 | 2021-06-11 | 西安电子科技大学 | Multi-continuum robot modularized unit, continuum robot and application |
| CN112894782A (en) * | 2021-02-23 | 2021-06-04 | 中铁工程装备集团有限公司 | Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling |
| CN113942004A (en) * | 2021-09-30 | 2022-01-18 | 北京科技大学 | Snake-like soft robot based on tension structure |
Non-Patent Citations (1)
| Title |
|---|
| 复杂环境下仿蛇机器人三维运动建模与优化控制;张东;"中国博士学位论文全文数据库"(第3期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114770484A (en) | 2022-07-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114770484B (en) | Electrically-driven rigid-flexible coupling water snake robot | |
| CN108972527B (en) | Rigidity-variable snakelike arm robot based on phase change material | |
| CN110125978B (en) | Rope traction robot based on parallel platform drive | |
| CN108501039B (en) | Flexible mechanical arm based on ball hinge joint | |
| CN113305827A (en) | Line-driven flexible mechanical arm suitable for underwater operation | |
| CN110202559A (en) | One kind is towards the bionical lightweight mechanical arm of man-machine collaboration | |
| CN110900592A (en) | Reconfigurable redundant mechanical arm based on rope driving | |
| CN113635318A (en) | Soft floating robot based on memory alloy drive | |
| CN209408491U (en) | A kind of variable diameters snake-shaped robot module and snake-shaped robot | |
| CN111251283B (en) | Fruit fly larva-imitating soft body robot based on shape memory alloy | |
| CN114872027A (en) | Air-driven rigid-flexible coupling water snake robot | |
| CN111761595B (en) | Self-adaptive hand driven by SMA and rope in combined mode | |
| CN114852292B (en) | Hybrid driving underwater unmanned aircraft fusing bionic spinal column | |
| CN201818758U (en) | Three-section electric telescopic device | |
| CN112027035B (en) | Flexible bionic eel | |
| CN113320664B (en) | Underwater object taking monitoring bionic fish based on double control systems | |
| CN212497760U (en) | Multi-joint bionic robot | |
| CN113427494A (en) | Bionic water snake-shaped robot based on dielectric elastomer | |
| CN114393574A (en) | Foldable and bendable serial-parallel hybrid flexible mechanical arm | |
| CN101585188A (en) | Multidimensional active joint based on dielectric type EAP | |
| CN210083392U (en) | All-terrain walking and climbing mechanism | |
| CN109202937B (en) | Modular multi-joint line control robot | |
| CN215318797U (en) | Flexible mechanical arm | |
| CN108170191B (en) | PVT accurate control artificial muscle | |
| CN110238875B (en) | Biped robot arm with shoulder rotating function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |