CN114771176A - A bionic ray amphibious robot - Google Patents

Abstract

The invention belongs to the field of amphibious robots, and discloses a bionic ray amphibious robot, comprising a chassis assembly, a fin-leg linkage telescopic mechanism and a wave fin; the chassis assembly is composed of a bottom plate and a motor, and the motor is arranged on the bottom plate through a support , A drive gear is set on the output shaft of the motor; the fin-leg linkage telescopic mechanism is set to 2n groups, n is a natural number, and is symmetrically arranged with respect to the bottom plate. The fin swing arm is arranged on the base through the mounting block, the base is arranged on the bottom plate, the electric push rod and the fin vertical leg are both arranged on the fin swing arm, and the fin swing arm is connected with a driving gear that meshes with the drive gear of the motor; The driving gear of the motor drives the driving gear to drive the fin swing arm to swing up and down, and the electric push rod drives the fin swing arm to extend and retract while driving the fin vertical leg to retract. The invention is small in size, light in weight and flexible in action, can adapt to amphibious state, and can walk on complex land terrain.

Description

A bionic ray amphibious robot

technical field

The invention belongs to the field of amphibious robots, in particular to a bionic ray amphibious robot.

Background technique

At present, the common underwater propellers all use propellers as propulsion devices, which have many disadvantages such as high energy consumption, large volume, and poor maneuverability. In addition to the ocean, the natural environment on land is complex and changeable, and robots with ground mobility are also playing an increasingly important role. However, most robots can only operate in a single environment. For example, land robots cannot perform underwater activities because they do not have underwater propellers. Most underwater robots do not have the ability to move on land. Bionic amphibious robots can play a huge role in underwater/ground operations in complex environments, underwater archaeology, underwater/ground target observation, survey and rescue, etc.

Invention patent CN202111108658.0 discloses "a flexible wave fin bionic submersible". The mechanical structure of the invention adopts the connection mode of steering gear-linkage-bionic wave fin. The flexible wave fin on each side is connected with the output end of each steering gear on the side through a link mechanism, and the digital wave surface controller controls the steering gear. Swing, and finally realize the various movements of the submersible. Its structure is complex and does not have the function of walking on land.

The motion of the existing amphibious bionic ray submersibles both underwater and on land is a wave motion process, especially on land, relying on the friction between the flexible wave fins and the ground, its motion performance is poor, and it is relatively affected by the ground conditions. It is especially difficult to complete the movement process smoothly in complex land terrain.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a bionic ray amphibious robot, based on the current bionic amphibious robot, on the basis of overcoming the shortcomings of high noise and high energy consumption of the propeller underwater propeller, improve the bionic ray amphibious robot. Adaptability of robots to complex ground environments.

To achieve the above object, the invention provides the following technical solutions:

The invention provides a bionic ray amphibious robot, comprising a chassis assembly, a fin-leg linkage telescopic mechanism arranged on the chassis assembly, and a wave fin covered on the fin-leg linkage telescopic mechanism; the disk assembly consists of a bottom plate, a motor The motor is set on the bottom plate through the support, and the number of motors is equivalent to the number of fin-leg linkage telescopic mechanisms, and a drive gear is set on the output shaft of a single motor; the fin-leg linkage telescopic mechanism is set to 2n groups, n is a natural number, and Relative to the bottom plate, it is symmetrically arranged on the left and right, and is composed of a driving gear, a base, an electric push rod, a fin swing arm, and a fin vertical leg. The legs are all set on the fin swing arm, and the fin swing arm is connected with a driving gear that meshes with the drive gear of the motor; the driving gear of the motor drives the driving gear to drive the fin swing arm to swing up and down, and the electric push rod drives the fin swing When the arm is retracted, the fin leg is retracted.

Further, the fin swing arm is composed of hinged fin forearm and fin rear arm, and the electric push rod is fixed on the fin rear arm and acts on the fin forearm; the fin forearm is a scissor-type telescopic structure; the fin rear arm adopts a multi-link structure , consists of connecting rod shaft, driven gear, vertical short rod, right-angle connecting rod, slotted connecting rod and connecting rod. The connecting rod shaft and connecting rod are arranged in parallel up and down on the installation block. The length of the right-angle connecting rod is The long side of the right-angle link and the end close to its corner are hinged with a vertical short rod, and the other end of the vertical short rod is hinged with a slotted link, which is connected with a slot. The other end of the rod is rotatably matched with the connecting rod; the driving gear is arranged on the connecting rod shaft; the driven gear is arranged on the long side of the right-angle connecting rod, and meshes with the driving gear; the driven gear faces the corresponding grooved link. The surface is provided with a convex block that is slidably matched with the strip-shaped groove provided on the connecting rod with the groove.

Further, the scissor-type telescopic structure of the forearm of the fin is composed of a main long scissor rod, a plurality of deputy long scissor rods, and three short scissor rods. The middle hinge point of the long scissor rod is also hinged with a short scissor rod, the forearm of the fin is arranged at the distal end away from the rear arm of the fin at the two short scissor rods hinged at the respective ends, the main long scissors rod and the single short scissor rod hinged with it. The utility model is respectively connected with the two short scissor bars through at least one set of cross-shaped vice-long scissor bars.

Further, the fin leg is composed of a leg support rod and a leg locking slider, the leg support rod is hingedly connected with the short side end of the right-angle link, and the locking leg slider is sleeved on the leg support rod, and is connected with the main length. The free end of the scissor rod is hinged.

Further, the leg support rod is provided with a leg flexible suction cup at the distal end facing away from its hinge point.

Further, the single-group fin-leg linkage telescopic mechanism includes at least two fin-swing arms arranged in parallel, and a single fin-swing arm is provided with an electric push rod and a fin-standing leg, and a plurality of fin-swing arms share the same group of bases and mounting blocks. , connecting rod shaft and connecting rod.

Further, the phase angles of the plurality of fin swing arms set in the multi-group fin-leg linkage telescopic mechanism or the single-group fin-leg linkage telescopic mechanism are the same or different.

Further, the whole wave fin covers multiple sets of fin leg linkage telescopic mechanisms, or a single group of fin leg linkage telescopic mechanism is provided with wave fins; the wave fins are made of silicone material.

Further, a casing and a water tank are arranged on the chassis assembly, and the casing covers the water tank, and the fin swing arm and the fin vertical leg of the fin leg linkage telescopic mechanism extend out of the casing.

Further, both the support and the base are slidably connected to the bottom plate through guide rails.

The beneficial effects of the present invention are:

The bionic ray amphibious robot mentioned in the present invention is composed of a shell, a silicone wave fin, a chassis assembly and a fin-leg linkage telescopic mechanism. The chassis assembly outputs power through the drive motor to drive the swinging motion of the fin-leg linkage telescopic mechanism; the fin-leg linkage telescopic mechanism mainly realizes the state of up and down reciprocating swing, and the fins on the same side are staggered according to the different initial phases, so as to This realizes the up and down swing of the fins to achieve the effect of swimming in the water; and the electric push rod realizes the conversion between the underwater moving state and the land crawling state, and realizes the purpose of amphibious movement.

The bionic ray amphibious robot mentioned in the present invention has the characteristics of small size, low noise, light weight and flexible movement. Most importantly, it can adapt to the amphibious state, can also walk in complex land terrain, and has strong adaptability. Robots can play a huge role in underwater/ground operations in complex environments, underwater archaeology, underwater/ground target observation, survey and rescue, etc.

Other advantages, objects, and features of the present invention will be set forth in the description that follows, and will be apparent to those skilled in the art based on a study of the following, to the extent that is taught in the practice of the present invention. The objectives and other advantages of the present invention may be realized and attained by the following description.

Description of drawings

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be preferably described in detail below with reference to the accompanying drawings, wherein:

1 is a schematic diagram of the overall structure of the bionic ray amphibious robot of the present invention (without a shell);

FIG. 2 is a schematic cross-sectional view of the casing of the bionic ray amphibious robot of the present invention;

3 is a schematic structural diagram of the chassis assembly of the bionic ray amphibious robot of the present invention;

4 is a schematic diagram of the swimming state of the fin-leg linkage telescopic mechanism of the bionic ray amphibious robot of the present invention;

5 is a schematic diagram of the crawling state of the fin-leg linkage telescopic mechanism of the bionic ray amphibious robot of the present invention;

Reference signs: shell 1, chassis assembly 2, fin leg linkage telescopic mechanism 3, wave fin 4, water tank 5; bottom plate 21, driving gear 22, support 23, motor 24; connecting rod shaft 301, driving gear 302, from Moving gear 303, vertical short rod 304, electric push rod 305, main long scissor rod 306, deputy long scissor rod 307, short scissor rod 308, right-angle link 309, leg support rod 310, lock leg slider 311, belt Groove link 312 , base 313 , connecting rod 314 , mounting block 315 , leg flexible suction cup 316 , strip groove 317 , convex block 318 .

Detailed ways

The present invention will be further described below in conjunction with specific embodiments. Among them, the accompanying drawings are only used for exemplary description, and they are only schematic diagrams, not physical drawings, and should not be construed as restrictions on this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings will be omitted, The enlargement or reduction does not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the accompanying drawings may be omitted.

As shown in FIGS. 1-5 , a bionic ray amphibious robot in this embodiment mainly involves a casing 1 , a wave fin 4 , a water tank 5 , a chassis assembly 2 and a fin-leg linkage telescopic mechanism 3 . Among them, the shell 1 is embedded with a ballast water tank 5 with a total volume of 1.2 liters. The shell 1, the water tank 5 and the fin leg linkage telescopic mechanism 3 are all installed on the chassis assembly 2, while the wave fin 4 is covered on the fin leg linkage telescopic mechanism. 3 on. The chassis assembly is composed of a bottom plate 21 and a motor 24. The motor 24 is arranged on the bottom plate 21 through the support 23, and the number of the motors 24 is equal to the number of the fin-leg linkage telescopic mechanism 3. The output shaft of a single motor 24 is provided with a drive gear 22; and the fin leg linkage telescopic mechanism 3 is set to 2n groups, n is a natural number, and is arranged symmetrically with respect to the bottom plate 21. In this example, four groups of structures are used, consisting of a driving gear 302, a base 313, an electric push rod 305, and a fin. The swing arm is composed of a swing arm and a fin leg. The swing arm of the fin is set on the base 313 through the mounting block 315, and the base 313 is set on the bottom plate 21. Yu Anxie. The electric push rod 305 and the fin leg are both arranged on the fin swing arm, and the fin swing arm is connected with a driving gear 302 that meshes with the driving gear 22 of the motor 24; in this way, the driving gear 302 can be driven by the driving gear 22 of the motor 24. The fin swing arm swings up and down, and the electric push rod 305 drives the fin swing arm to extend and retract while driving the fin vertical leg to retract.

Specifically, the fin swing arm is composed of hingedly connected fin forearm and fin rear arm. The electric push rod 305 is fixed on the fin rear arm and acts on the fin forearm; The driven gear 303, the vertical short rod 304, the right-angle connecting rod 309, the slotted connecting rod 312 and the connecting rod 314 are composed. The rod 309 only has nouns, and does not limit the angle at its corners, that is, the right-angle link is L-shaped, and its corners can be acute, right or obtuse, as long as it conforms to the design structure, and its long side is away from its corner. It rotates and cooperates with the connecting rod shaft 301, and its rotating cooperation is the rotation of the two with a certain phase angle. The long side of the right-angle connecting rod 309 and one end close to its corner are hinged with a vertical short rod 304, and the other end of the vertical short rod 304 is hinged. A slotted connecting rod 312 is hinged, and the other end of the slotted connecting rod 312 is rotated with the connecting rod 314, and the rotation cooperation is the rotation of the two with a certain phase angle; the driving gear 302 is arranged on the connecting rod shaft 301; the driven gear 303 is arranged on the long side of the right-angle link 309, and meshes with the driving gear 302 for transmission; the driven gear 303 is arranged on the corresponding surface facing the slotted link 312 and slides with the strip slot 317 provided on the slotted link 312 Mating bumps 318 . The forearm of the fin adopts a scissor-type telescopic structure, which is composed of a main long scissor rod 306, a plurality of deputy long scissor rods 307, and three short scissor rods 308. Connect, and also hinge a short scissor bar 308 at the middle hinge point of the main long scissor bar 306, the fin forearm is arranged on the two short scissor bars 308 hinged at the respective ends at the far end away from the fin rear arm, the main long scissor bar 306 and a single short scissor rod 308 hinged therewith are respectively connected with two short scissor rods 308 through at least one set of vice-long scissor rods 307 which are crossed. The fin leg is composed of a leg support rod 310 and a leg locking slider 311. The leg support rod 310 is hingedly connected with the short side end of the right-angle link 309, and the locking leg slider 311 is sleeved on the leg support rod 310. and hingedly connected to the free end of the main long scissor rod 306, the leg support rod 310 is provided with a leg flexible suction cup 315 at the distal end away from its hinge point.

With the above structure, the chassis 21 is connected with the two supports 23 on which the motors 24 are installed by bolts, the four motors 24 are fitted on the supports 23, and the four drive gears 22 are respectively fixed on the output shafts of the corresponding motors 24, It is used to drive the swing motion of the fin leg linkage telescopic mechanism 3 . The flipper leg linkage telescopic mechanism 3 has a total of four groups, which are driven and oscillated by four driving gears 22 respectively. Since the connection relationship and working process of the four groups are the same, take one of the mechanisms as an example: two driving gears 302 and a connecting rod shaft 301 are fixedly connected to form a group, supported by the base 313, and the driving gear 22 is directly connected to one of the groups. The driving gear 302 is meshed to drive the two driving gears 302 to rotate, and the two driven gears 303 are meshed with the two driving gears 302; one end of the slotted link 312 is matched with the base 313, and the strip groove 317 is connected to the driven gear 313. The bumps 318 on the gear 303 are matched, and the other end is connected with one end of the vertical short rod 304 through the female and female nails; the other end of the vertical short rod 304 is connected with the middle of the long side of the right-angle link 309 through the child and female nails; the right-angle link The head end of the long side of 309 is matched with the connecting rod shaft 301 on the base 313, the middle right-angle end is connected with the main long scissor rod 306, a short scissor rod 308 and the electric push rod 305 through the sub-pins, and the tail end of the short side is connected with the leg The support rods 310 are connected by a pin and nail; the ends of the leg support rods 310 are hinged with the leg flexible suction cups 314; One end of the rod 306 is connected and matched by a pin-and-socket nail. When the special long scissors rod 306 rotates with the middle right-angle end of the right-angle link 309 as the axis, the leg-locking slider 311 will slide relative to the leg support rod 310, and at the same time the legs will slide. The partial support rod 310 will rotate around the short end of the right-angle link 309 as the axis; the other end of the main long scissors rod 306 is connected with a sub-long scissor rod 307 through a sub-pin, and the middle hole of the main long scissors rod 306 is connected with the right angle. The rod 309, the electric push rod 305 and a short scissor rod 308 are connected and matched by the sub-nail and ensure that the length of the opening to this end is the same as the length of the short scissors rod 308; Twice the size of the scissors, the long and short scissor rods are combined into a rhombus shape as shown in the figure through the connection of the sub-nails, that is, there are three groups of long fins and two groups of short fins, and six vice-long scissor rods 307 and six short scissor rods 308 are required. One end of the electric push rod 305 is hinged with the right-angle connecting rod 309, and the other end is hinged with the middle hole of a pair of long scissor rods 307 shared by the first and second groups of diamonds, and the middle part is hinged with the right-angle connecting rod 309, a short scissor rod 308 and the main long scissor rod 306 are hinged.

When working, a certain volume of ballast water tank 5 is added to the inside of the shell 1. Referring to the floating and sinking principle of the submarine, by discharging and filling a certain volume of water, the amphibious ray robot can float or sink freely in the water; The fin 4 is made of silicone and is connected with the fin leg linkage telescopic mechanism 3 to move forward in the wave propulsion mode of the flexible fin of the ray; the chassis assembly 2 outputs power through the motor 24 to drive the driving gear 302 in the fin leg linkage telescopic mechanism 3. When the fin leg linkage telescopic mechanism 3 is in the underwater running state, the driving gear 302 will drive the driven gear 303 to rotate together, and the fixed bump 318 on the driven gear 303 will be on the strip of the slotted link 312. Sliding in the shaped groove 317, thereby driving the rear arm of the fin of the multi-link structure to realize the movement state of up and down reciprocating swing. This invention has a total of four mechanisms, the second left and the second right. The symmetrical fins on the left and right sides swing in the same direction, while the fins on the same side just swing and are staggered according to the initial phase, so as to realize the up and down swing of the fins. To achieve the effect of swimming in water. The direction of the fin swing is determined by the initial installation position of the fin, that is, the initial phase. When the fin-leg linkage telescopic mechanism 3 is converted from the underwater moving state to the land crawling state, the electric push rod 305 is the active part. When it is retracted, the leg support rod is extended, and it is in the land crawling state. When it is extended, the leg support rod is retracted. It is in the underwater moving state; when the fin leg linkage telescopic mechanism 3 is in the land crawling state, its swing motion is consistent with the underwater moving state, the difference is that the extension of the leg support rod 310 makes the swing motion drive the lifting of the leg and the movement. Landing, enabling the robot to perform lateral movements on land.

In this embodiment, the single-group fin-leg linkage telescopic mechanism includes at least two fin-swing arms arranged in parallel, and a single fin-swing arm is provided with an electric push rod and a fin-upright leg, and a plurality of fin-swing arms share the same set of The base 313 , the mounting block 315 , the connecting rod shaft 301 and the connecting rod 314 . In this way, multiple rows of parallel fin swing arms can be driven by one motor to extend their length. At the same time, the phase angles of the plurality of fin swing arms set in the multi-group fin-leg linkage telescopic mechanism 3 or the single-group fin-leg linkage telescopic mechanism 3 are the same or different. To meet different floating needs.

The wave fins 4 in this embodiment can cover multiple groups of fin leg linkage telescopic mechanisms 3 as a whole on one side or both sides of the bottom plate, or a single group of fin leg linkage telescopic mechanisms 3 can be provided with wave fins 4; all can achieve swinging Floating effect, and the wave fin 4 is made of silicone material, which is used for floating.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent replacements, without departing from the spirit and scope of the technical solution, should all be included in the scope of the claims of the present invention.

Claims (10)

1. a bionic ray amphibious robot, is characterized in that, comprises chassis assembly (2), the fin leg linkage telescopic mechanism (3) that is arranged on this chassis assembly and covers the fluctuation on the fin leg linkage telescopic mechanism fin(4); The chassis assembly is composed of a bottom plate (21) and a motor (24), the motor is arranged on the bottom plate through a support (23), and the number of the motors is equivalent to the number of the fin-leg linkage telescopic mechanisms, and the output shaft of a single motor is provided with drive gear (22); The fin-leg linkage telescopic mechanism is set to 2n groups, where n is a natural number, and is arranged symmetrically with respect to the bottom plate. It consists of legs, the fin swing arm is set on the base through the mounting block (315), the base is set on the bottom plate, the electric push rod and the fin vertical leg are all set on the fin swing arm, and the fin swing arm is connected with the drive gear of the motor. The driving gear is driven by the driving gear of the motor to drive the fin swing arm to swing up and down, and the electric push rod drives the fin swing arm to extend and retract while driving the fin vertical leg to retract. 2. The bionic ray amphibious robot according to claim 1, is characterized in that, described fin swing arm is made up of hingedly connected fin forearm and fin rear arm, and electric push rod is fixed on the fin rear arm, and acts on the fin rear arm. Fin forearm; the forearm of the fin is a scissor-type telescopic structure; , a grooved connecting rod (312) and a connecting rod (314), a connecting rod shaft and a connecting rod arranged in parallel up and down are arranged on the mounting block, and the long side of the right-angle connecting rod and the end away from its corner rotate with the connecting rod shaft Matching, a vertical short rod is hinged on the long side of the right-angle link and one end close to its corner, the other end of the vertical short rod is hinged with a slotted link, and the other end of the slotted link rotates with the connecting rod; the driving gear It is arranged on the connecting rod shaft; the driven gear is arranged on the long side of the right-angle connecting rod, and meshes with the driving gear for transmission; The grooves (317) are slidably fitted with the projections (318). 3. The bionic ray amphibious robot according to claim 2, wherein the scissor-type telescopic structure of the fin forearm is composed of a main long scissor rod (306), a plurality of deputy long scissor rods (307) , three short scissor rods (308), the middle part of the main long scissor rod is hingedly connected with the corner of the right-angle link, and a short scissor rod is hinged at the hinge point in the middle of the main long scissor rod, and the forearm of the fin is far from the rear arm of the fin. The distal end is arranged on two short scissor bars hinged at the respective ends, the main long scissors bar and the single short scissor bar hinged with it are respectively connected with the two short scissor bars through at least one set of cross-shaped vice-long scissor bars. . 4. The bionic ray amphibious robot according to claim 3, wherein the fin stand-up leg is composed of a leg support rod (310) and a leg locking slider (311), and the leg support rod is connected with a right angle. The short side ends of the rods are hingedly connected, and the leg locking sliders are sleeved on the leg support rods and are hingedly connected with the free ends of the main and long scissor rods. 5. The bionic ray amphibious robot according to claim 4, wherein the leg support rod is provided with a leg flexible suction cup (315) at the distal end away from its hinge point. 6. The bionic ray amphibious robot according to any one of claims 2-5, wherein the single group of fin legs linked telescopic mechanism comprises at least two fin swing arms arranged in parallel, and the single fin swing arm is provided with An electric push rod and a fin stand-up leg, and a plurality of fin swing arms share the same group of bases, mounting blocks, connecting rod shafts and connecting rods. 7 . The bionic ray amphibious robot according to claim 6 , wherein the phase angles of the plurality of fin swing arms set in the multi-group fin-leg linkage telescopic mechanism or the single-group fin-leg linkage telescopic mechanism are the same or different. 8 . 8 . The bionic ray amphibious robot according to claim 7 , wherein the wave fins as a whole cover multiple groups of fin legs linked telescopic mechanisms, or a single group of fin legs linked telescopic mechanisms is provided with wave fins; The fins are made of silicone. 9. The bionic ray amphibious robot according to claim 8, wherein a casing (1) and a water tank (5) are provided on the chassis assembly, and the casing covers the water tank, and the fins of the fin legs linked telescopic mechanism Arms and fin stand legs extend out of the shell. 10 . The bionic ray amphibious robot according to claim 1 , wherein the support and the base are both slidably connected to the bottom plate through guide rails. 11 .

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