CN114771176A - Ray-imitating amphibious robot - Google Patents
Ray-imitating amphibious robot Download PDFInfo
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- CN114771176A CN114771176A CN202210615283.5A CN202210615283A CN114771176A CN 114771176 A CN114771176 A CN 114771176A CN 202210615283 A CN202210615283 A CN 202210615283A CN 114771176 A CN114771176 A CN 114771176A
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- fin
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- connecting rod
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- swing arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000009975 flexible effect Effects 0.000 claims abstract description 11
- 230000002146 bilateral effect Effects 0.000 claims abstract 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 210000000245 forearm Anatomy 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 5
- 239000000741 silica gel Substances 0.000 claims description 5
- 229910002027 silica gel Inorganic materials 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 2
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000009182 swimming Effects 0.000 description 8
- 230000009193 crawling Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 241001417523 Plesiopidae Species 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of amphibious robots and discloses a bionic ray amphibious robot which comprises a chassis assembly, a fin-leg linkage telescopic mechanism and a wave fin, wherein the fin-leg linkage telescopic mechanism is arranged on the chassis assembly; the chassis assembly consists of a bottom plate and a motor, the motor is arranged on the bottom plate through a support, and an output shaft of the motor is provided with a driving gear; the fin leg linkage telescopic mechanism is set into 2n groups, n is a natural number and is arranged in a bilateral symmetry mode relative to the bottom plate, and the fin leg linkage telescopic mechanism consists of a driving gear, a base, an electric push rod, a fin swing arm and a fin vertical leg; the driving gear is driven by the driving gear of the motor to drive the fin swing arm to do up-and-down swinging motion, and the electric push rod drives the fin swing arm to stretch and drive the fin stand leg to fold and unfold. The amphibious vehicle has the advantages of small volume, light weight and flexible action, can adapt to an amphibious state, and can walk on complex land terrains.
Description
Technical Field
The invention belongs to the field of amphibious robots, and particularly relates to a bionic ray amphibious robot.
Background
At present, the common underwater propeller takes a propeller as a propelling device, and the propelling device has the defects of high energy consumption, large volume, poor maneuverability and the like. In addition to the ocean, the natural environment on the land is complex and changeable, and robots with ground mobility also play an increasingly important role. However, most robots can only move in a single environment, for example, land robots cannot move underwater due to the absence of underwater propellers, and underwater robots mostly do not have land movement capability. The bionic amphibious robot can play a great role in underwater/ground operation, underwater archaeology, underwater/ground target observation, survey rescue and the like in complex environments.
The invention patent CN202111108658.0 discloses a flexible wave fin bionic submersible. The mechanical structure of the submersible vehicle adopts a steering engine-connecting rod-bionic wave fin connection mode, the flexible wave fin on each side is connected with the output end of each steering engine on the side through a connecting rod mechanism, and the digital wave surface motion controller controls the swinging of the steering engines to finally realize various motions of the submersible vehicle. The structure is complex and the land walking function is not provided.
The existing amphibious bionic ray submersible vehicle moves underwater and on land in a fluctuating motion process, particularly moves forwards on land by means of friction between a flexible fluctuating fin and the ground, has poor motion performance, is greatly influenced by ground working conditions, and is particularly difficult to smoothly complete the motion process on complex land terrains.
Disclosure of Invention
In view of the above, the invention aims to provide a bionic ray amphibious robot, which is based on the existing stage and improves the adaptability of the bionic ray amphibious robot to the complex ground environment on the basis of overcoming the defects of large noise, high energy consumption and the like of a propeller underwater propeller.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a bionic ray amphibious robot which comprises a chassis assembly, a fin leg linkage telescopic mechanism and a wave fin, wherein the fin leg linkage telescopic mechanism is arranged on the chassis assembly; the disc assembly consists of a bottom plate and motors, the motors are arranged on the bottom plate through supports, the number of the motors is equal to that of the fin leg linkage telescopic mechanisms, and a driving gear is arranged on an output shaft of each motor; the fin leg linkage telescopic mechanisms are set into 2n groups, n is a natural number, are symmetrically arranged left and right relative to the bottom plate and consist of driving gears, a base, an electric push rod, a fin swing arm and fin vertical legs, the fin swing arm is arranged on the base through an installation block, the base is arranged on the bottom plate, the electric push rod and the fin vertical legs are arranged on the fin swing arm, and the fin swing arm is connected with a driving gear in meshing transmission with a driving gear of a motor; the driving gear is driven by the driving gear of the motor to drive the fin swing arm to do up-and-down swinging motion, and the electric push rod drives the fin swing arm to stretch and drive the fin stand leg to fold and unfold.
Furthermore, the fin swing arm consists of a fin front arm and a fin rear arm which are hinged, and the electric push rod is fixed on the fin rear arm and acts on the fin front arm; the fin forearm is of a scissor-fork type telescopic structure; the fin rear arm adopts a multi-connecting-rod structure and consists of a connecting rod shaft, a driven gear, a vertical short rod, a right-angle connecting rod, a grooved connecting rod and a connecting rod, wherein the connecting rod shaft and the connecting rod which are arranged in parallel up and down are arranged on the mounting block; the driving gear is arranged on the connecting rod shaft; the driven gear is arranged on the long edge of the right-angle connecting rod and is in meshing transmission with the driving gear; the driven gear is provided with a convex block which is in sliding fit with the strip-shaped groove on the connecting rod with the groove on the corresponding surface facing the connecting rod with the groove.
Further, the scissor type telescopic structure of the fin forearm is composed of a main long scissor bar, a plurality of auxiliary long scissor bars and three short scissor bars, the middle of the main long scissor bar is hinged to the corner of the right-angle connecting rod, the middle hinged point of the main long scissor bar is hinged to a short scissor bar, the fin forearm is far away from the fin rear arm, the far end of the fin rear arm is arranged at two short scissor bars hinged to the respective end, and the main long scissor bar and the single short scissor bar hinged to the main long scissor bar are connected with the two short scissor bars through at least one group of auxiliary long scissor bars and the scissor bars are crossed.
Furthermore, the fin vertical leg is composed of a leg supporting rod and a leg locking sliding block, the leg supporting rod is hinged with the end of the short side of the right-angle connecting rod, and the leg locking sliding block is sleeved on the leg supporting rod and is hinged with the free end of the main long shear cutter bar.
Further, the leg support rod is provided with a leg flexible sucker at the far end departing from the hinged point of the leg support rod.
Further, single group of fin leg linkage telescopic machanism includes two at least parallel arrangement's fin swing arm, and sets up an electric putter and a fin on the single fin swing arm and founds the leg, and the base of the same group of a plurality of fin swing arms sharing, installation piece, connecting rod axle and connecting rod.
Further, a plurality of fin swing arms arranged in the multi-group fin leg linkage telescopic mechanism or the single-group fin leg linkage telescopic mechanism have the same or different phase angles.
Further, the wave fins integrally cover a plurality of groups of fin leg linkage telescopic mechanisms, or the wave fins are arranged on a single group of fin leg linkage telescopic mechanism; the wave fin adopts the silica gel material.
Further, a shell and a water tank are arranged on the chassis assembly, the shell covers the water tank, and a fin swing arm and a fin vertical leg of the fin leg linkage telescopic mechanism extend out of the shell.
Further, the support and the base are both connected with the bottom plate in a sliding mode through guide rails.
The invention has the beneficial effects that:
the invention provides a bionic ray amphibious robot which comprises a shell, a silica gel fluctuation fin, a chassis assembly and a fin-leg linkage telescopic mechanism. The chassis assembly outputs power through a driving motor to drive the fin leg to link the swing motion of the telescopic mechanism; the fin-leg linkage telescopic mechanism mainly realizes the state of up-and-down reciprocating swing, and fins on the same side just swing and are staggered in sequence according to the difference of initial phases, so that the up-and-down swing of the fins is realized to achieve the effect of swimming in water; the electric push rod realizes the conversion between the underwater swimming state and the land crawling state, and realizes the purpose of amphibious movement.
The bionic ray amphibious robot has the characteristics of small size, small noise, light weight and flexible action, can adapt to an amphibious state, can walk on a complex land terrain, and has strong adaptability. The robot can play a great role in underwater/ground operation in complex environment, underwater archaeology, underwater/ground target observation, survey rescue and the like.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic overall structure diagram (without a shell) of the bionic ray amphibious robot of the invention;
FIG. 2 is a schematic cross-sectional view of a shell of the bionic ray amphibious robot;
FIG. 3 is a schematic view of a chassis assembly of the present invention;
FIG. 4 is a schematic view of a swimming state of a fin-leg linkage telescopic mechanism of the ray-simulating amphibious robot;
fig. 5 is a schematic view of a crawling state of the fin-leg linkage telescopic mechanism of the ray-simulating amphibious robot;
reference numerals: the device comprises a shell 1, a chassis assembly 2, a fin-leg linkage telescopic mechanism 3, a wave fin 4 and a water tank 5; a bottom plate 21, a driving gear 22, a support 23 and a motor 24; the device comprises a connecting rod shaft 301, a driving gear 302, a driven gear 303, a vertical short rod 304, an electric push rod 305, a main long scissor rod 306, an auxiliary long scissor rod 307, a short scissor rod 308, a right-angle connecting rod 309, a leg supporting rod 310, a leg locking sliding block 311, a slotted connecting rod 312, a base 313, a connecting rod 314, an installation block 315, a leg flexible suction cup 316, a strip-shaped groove 317 and a bump 318.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and not for the purpose of limiting the same, the same is shown by way of illustration only and not in the form of limitation; for a better explanation of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
As shown in fig. 1 to 5, the ray-simulated amphibious robot in the embodiment mainly relates to a shell 1, a wave fin 4, a water tank 5, a chassis assembly 2 and a fin-leg linkage telescopic mechanism 3. Wherein, the ballast water tank 5 is embedded in the shell 1, the total volume is 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, and the wave fin 4 covers the fin-leg linkage telescopic mechanism 3. The chassis assembly consists of a bottom plate 21 and motors 24, the motors 24 are arranged on the bottom plate 21 through supports 23, the number of the motors 24 is equal to that of the fin-leg linkage telescopic mechanisms 3, and a driving gear 22 is arranged on an output shaft of each motor 24; the fin leg linkage telescopic mechanism 3 is set to 2n groups, n is a natural number and is arranged symmetrically left and right relative to the bottom plate 21, in this example, four groups of structures are adopted and comprise a driving gear 302, a base 313, an electric push rod 305, a fin swing arm and a fin standing leg, the fin swing arm is arranged on the base 313 through an installation block 315, the base 313 is arranged on the bottom plate 21, and the support 23 and the base 313 are both in sliding connection with the bottom plate 21 through a guide rail (not marked) so as to be convenient to install and detach. The electric push rod 305 and the fin vertical leg are both arranged on the fin swing arm, and the fin swing arm is connected with a driving gear 302 in meshing transmission with the driving gear 22 of the motor 24; thus, the driving gear 22 of the motor 24 drives the driving gear 302 to drive the fin swing arm to swing up and down, and the electric push rod 305 drives the fin swing arm to extend and retract and simultaneously drive the fin standing leg to unfold.
Specifically, the fin swing arm is composed of a fin front arm and a fin rear arm which are hinged, and the electric push rod 305 is fixed on the fin rear arm and acts on the fin front arm; the fin rear arm adopts a multi-link structure and consists of a link shaft 301, a driven gear 303, a vertical short rod 304, a right-angle link 309, a slotted link 312 and a connecting rod 314, the link shaft 301 and the link 314 are disposed in parallel up and down on the mounting block 315, the right-angle link 309 has only a noun term, and is not limited to the angle at the corner thereof, namely the right-angle connecting rod is in an L shape, the corner of the right-angle connecting rod can be an acute angle, a right angle or an obtuse angle, and the right angle connecting rod can be matched with the design structure, one end of the long edge of the rectangular connecting rod 309, which is far away from the corner of the rectangular connecting rod, is in running fit with the connecting rod shaft 301, the running fit is that the rectangular connecting rod 309 and the connecting rod shaft 301 rotate at a certain phase angle, one end of the long edge of the rectangular connecting rod 309, which is near to the corner of the rectangular connecting rod, is hinged with a vertical short rod 304, the other end of the vertical short rod 304 is hinged with a connecting rod 312 with a groove, the other end of the connecting rod 312 with a groove is in running fit with a connecting rod 314, and the running fit is that the rectangular connecting rod 309 and the connecting rod shaft 314 rotate at 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 edge of the right-angle connecting rod 309 and is in meshing transmission with the driving gear 302; the driven gear 303 is provided with a projection 318 on a corresponding surface facing the grooved link 312, which is slidably fitted into a groove 317 provided on the grooved link 312. The fin front arm adopts a scissor type telescopic structure and comprises a main long scissor bar 306, a plurality of auxiliary long scissor bars 307 and three short scissor bars 308, the middle part of the main long scissor bar 306 is hinged with the corner of a right-angle connecting rod 309, a short scissor bar 308 is hinged with a hinge point at the middle part of the main long scissor bar 306, the far end of the fin front arm far away from the fin rear arm is provided with two short scissor bars 308 hinged at the end part of the fin front arm, and the main long scissor bar 306 and the single short scissor bar 308 hinged with the main long scissor bar 306 are respectively connected with the two short scissor bars 308 through at least one group of auxiliary long scissor bars 307 which are in a cross shape. The fin vertical leg is composed of a leg support rod 310 and a leg locking sliding block 311, the leg support rod 310 is hinged with the end of the short edge of the right-angle connecting rod 309, the leg locking sliding block 311 is sleeved on the leg support rod 310 and is hinged with the free end of the main long shear bar 306, and the leg support rod 310 is provided with a leg flexible sucking disc 315 at the far end departing from the hinged point of the leg support rod 310.
By adopting the structure, the chassis 21 is connected with the two supports 23 provided with the motors 24 through bolts, the four motors 24 are matched on the supports 23, and the four driving gears 22 are respectively and fixedly connected on the output shafts of the corresponding motors 24 and used for driving the swinging motion of the fin-leg linkage telescopic mechanism 3. The fin-leg linkage telescopic mechanisms 3 are four groups in total and are driven by four driving gears 22 to swing respectively. Because the four groups of connection relations are the same as the working process, taking one group of mechanisms as an example: the two driving gears 302 are fixedly connected with a connecting rod shaft 301 to form a group and are supported by a base 313, the driving gear 22 is directly meshed with one driving gear 302 in the group 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 connecting rod 312 with a groove is matched with the base 313, the strip-shaped groove 317 of the connecting rod is matched with the convex block 318 on the driven gear 303, and the other end of the connecting rod is connected with one end of the vertical short rod 304 through the snap-pin; the other end of the vertical short rod 304 is connected with the middle part of the long side of the right-angle connecting rod 309 through a primary-secondary nail; the long edge head end of the right-angle connecting rod 309 is matched with a connecting rod shaft 301 on a base 313, the middle right-angle end is connected with a main long shear bar 306, a short shear bar 308 and an electric push rod 305 through snap nails, and the tail end of the short edge is connected with a leg supporting rod 310 through the snap nails; the tail end of the leg support rod 310 is hinged with a leg flexible suction cup 314; the leg support bar 310 is matched with a leg locking slide block 311, the leg locking slide block 311 is connected and matched with one end of a special long shear bar 306 through a snap-pin, the leg locking slide block 311 slides relative to the leg support bar 310 when the special long shear bar 306 rotates by taking the middle right-angle end of the right-angle connecting rod 309 as an axis, and the leg support bar 310 rotates by taking the tail end of the short side of the right-angle connecting rod 309 as an axis; the other end of the main long shear bar 306 is connected with an auxiliary long shear bar 307 through a snap-pin, the middle hole of the main long shear bar 306 is connected and matched with a right-angle connecting rod 309, an electric push rod 305 and a short shear bar 308 through the snap-pin, and the length from the hole to the end is ensured to be the same as the length of the short shear bar 308; the length of the auxiliary long scissor rods 307 is twice that of the short scissor rods 308, and the long scissor rods and the short scissor rods are combined into a diamond shape through the connection of snap nails, namely three groups of long fins are formed, two groups of short fins are formed, and six auxiliary long scissor rods 307 and six short scissor rods 308 are required to be combined; one end of the electric push rod 305 is hinged with a right-angle connecting rod 309, the other end is hinged with a 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 a main long scissor rod 306.
When the amphibious ray robot works, a certain volume of water tank 5 for ballast is added into the shell 1, and the amphibious ray robot can freely float or sink in water by discharging and filling a certain volume of water according to the floating and sinking principle of a submarine; the wave fins 4 are made of silica gel and are connected with the fin leg linkage telescopic mechanism 3 to move forwards in a wave propulsion mode imitating 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 to rotate; when the fin-leg linkage telescopic mechanism 3 is in an underwater swimming state, the driving gear 302 drives the driven gear 303 to rotate together when rotating, and meanwhile, the bump 318 fixed on the driven gear 303 slides in the strip-shaped groove 317 of the slotted connecting rod 312, so that the fin rear arm of the multi-connecting-rod structure is driven to realize a vertical reciprocating swinging motion state. The invention has four mechanisms including two left mechanisms and two right mechanisms, the symmetrical fins on the left side and the right side have the same swing direction, and the fins on the same side swing just and are staggered in sequence according to the difference of initial phases, so that the upward and downward swinging of the fins achieves the effect of swimming in water. The problem of the direction of the swinging of the fin is determined by the initial installation position of the fin, namely the initial phase. When the underwater swimming state of the fin-leg linkage telescopic mechanism 3 is converted into the land crawling state, the electric push rod 305 is an active part, the leg support rod extends out when the electric push rod retracts, the land crawling state is realized, and the leg support rod retracts when the electric push rod extends out, the underwater swimming state is realized; when the fin-leg linkage telescopic mechanism 3 is in a land crawling state, the swinging motion of the fin-leg linkage telescopic mechanism is consistent with the underwater swimming state, and the difference is that the leg support rod 310 extends out to enable the swinging motion to drive the legs to be lifted and landed, so that the robot can transversely move on the land.
The single-group fin-leg linkage telescopic mechanism in the embodiment comprises at least two fin swing arms arranged in parallel, an electric push rod and a fin stand leg are arranged on each single fin swing arm, and the plurality of fin swing arms share the same group of base 313, mounting block 315, connecting rod shaft 301 and connecting rod 314. Thus, a motor can drive a plurality of rows of fin swing arms arranged in parallel, and the length of the fin swing arms is prolonged. Meanwhile, the multiple groups of fin leg linkage telescopic mechanisms 3 or the multiple fin swing arms arranged in the single group of fin leg linkage telescopic mechanism 3 have the same or different phase angles. So as to adapt to different floating requirements.
In the embodiment, the wave fin 4 may cover multiple sets of fin-leg linkage telescopic mechanisms 3 on one side or both sides of the bottom plate, or the wave fin 4 may be arranged on a single set of fin-leg linkage telescopic mechanism 3; the swinging and floating effect can be achieved, and the wave fin 4 is made of silica gel and used in a floating mode.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A bionic ray amphibious robot is characterized by comprising a chassis assembly (2), a fin-leg linkage telescopic mechanism (3) arranged on the chassis assembly and a fluctuation fin (4) covered on the fin-leg linkage telescopic mechanism;
the chassis assembly consists of a bottom plate (21) and motors (24), the motors are arranged on the bottom plate through supports (23), the number of the motors is equal to that of the fin leg linkage telescopic mechanisms, and a driving gear (22) is arranged on an output shaft of each motor;
the fin leg linkage telescopic mechanism is set to be 2n groups, n is a natural number and is arranged in a bilateral symmetry mode relative to the bottom plate, and the fin leg linkage telescopic mechanism consists of a driving gear (302), a base (313), an electric push rod (305), a fin swing arm and a fin vertical leg, wherein the fin swing arm is arranged on the base through an installation block (315), the base is arranged on the bottom plate, the electric push rod and the fin vertical leg are arranged on the fin swing arm, and the fin swing arm is connected with a driving gear in meshing transmission with a driving gear of a motor; the driving gear is driven by the driving gear of the motor to drive the fin swing arm to do up-and-down swinging motion, and the electric push rod drives the fin swing arm to stretch and drive the fin stand leg to fold and unfold.
2. The ray-imitating amphibious robot according to claim 1, wherein the fin swing arm is composed of a fin front arm and a fin rear arm which are hinged, and the electric push rod is fixed on the fin rear arm and acts on the fin front arm; the fin forearm is of a scissor-fork type telescopic structure; the fin rear arm adopts a multi-connecting-rod structure and consists of a connecting rod shaft (301), a driven gear (303), a vertical short rod (304), a right-angle connecting rod (309), a grooved connecting rod (312) and a connecting rod (314), wherein the connecting rod shaft and the connecting rod which are arranged in parallel up and down are arranged on the mounting block; the driving gear is arranged on the connecting rod shaft; the driven gear is arranged on the long edge of the right-angle connecting rod and is in meshing transmission with the driving gear; the driven gear is provided with a convex block (318) which is in sliding fit with a strip-shaped groove (317) on the connecting rod with the groove on the corresponding surface facing the connecting rod with the groove.
3. The amphibious robot of bionic torpedo as claimed in claim 2, wherein the scissor type telescopic structure of the fin forearm comprises a main long scissor bar (306), a plurality of auxiliary long scissor bars (307) and three short scissor bars (308), the middle part of the main long scissor bar is hinged to the corner of the right angle connecting rod, a short scissor bar is hinged to the middle hinged point of the main long scissor bar, the far end of the fin forearm far away from the fin rear arm is provided with two short scissor bars hinged to the end of the fin forearm, and the main long scissor bar and the single short scissor bar hinged to the main long scissor bar are connected with the two short scissor bars through at least one group of auxiliary long scissor bars which are crossed.
4. The bionic ray amphibious robot according to claim 3, wherein the fin vertical leg is composed of a leg supporting rod (310) and a leg locking sliding block (311), the leg supporting rod is hinged to the end of the short side of the right-angle connecting rod, and the leg locking sliding block is sleeved on the leg supporting rod and is hinged to the free end of the main long shear cutter rod.
5. The skate-imitating amphibious robot according to claim 4, wherein the leg support rod is provided with a leg flexible suction cup (315) at a distal end away from a hinge point thereof.
6. The skate-imitating amphibious robot as claimed in any one of claims 2 to 5, wherein the single set of fin-leg linkage telescoping mechanism comprises at least two fin swing arms arranged in parallel, and an electric push rod and a fin stand leg are arranged on the single fin swing arm, and the plurality of fin swing arms share the same set of base, mounting block, connecting rod shaft and connecting rod.
7. The skate-like amphibious robot of claim 6, wherein the plurality of fin swing arms arranged in the plurality of sets of fin leg linkage telescoping mechanisms or the single set of fin leg linkage telescoping mechanisms are of the same or different phase angles.
8. The ray-imitating amphibious robot according to claim 7, wherein the wave fin covers a plurality of groups of fin-leg linkage telescopic mechanisms as a whole, or a single group of fin-leg linkage telescopic mechanism is provided with wave fins; the wave fin adopts the silica gel material.
9. The ray-imitating amphibious robot according to claim 8, wherein the chassis assembly is provided with a shell (1) and a water tank (5), the shell covers the water tank, and a fin swing arm and a fin stand leg of the fin leg linkage telescopic mechanism extend out of the shell.
10. The biomimetic ray amphibious robot as claimed in claim 1, wherein the support and the base are both slidably connected to the base plate via a guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210615283.5A CN114771176B (en) | 2022-05-31 | 2022-05-31 | Bionic ray amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210615283.5A CN114771176B (en) | 2022-05-31 | 2022-05-31 | Bionic ray amphibious robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114771176A true CN114771176A (en) | 2022-07-22 |
| CN114771176B CN114771176B (en) | 2024-06-18 |
Family
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