CN114872027A - Air-driven rigid-flexible coupling water snake robot - Google Patents
Air-driven rigid-flexible coupling water snake robot Download PDFInfo
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- CN114872027A CN114872027A CN202210552683.6A CN202210552683A CN114872027A CN 114872027 A CN114872027 A CN 114872027A CN 202210552683 A CN202210552683 A CN 202210552683A CN 114872027 A CN114872027 A CN 114872027A
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- 241001597062 Channa argus Species 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 12
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
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- 229920000459 Nitrile rubber Polymers 0.000 description 3
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- 229920002595 Dielectric elastomer Polymers 0.000 description 2
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Abstract
The invention discloses an air-driven rigid-flexible coupling water snake robot which comprises a snake body framework, an air 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 one trunk section comprises a flexible supporting outer sleeve, a variable-rigidity spine and a plurality of air bags. The flexible water snake robot adopts a rigid and flexible coupling structure, the rigid part is mainly embodied in a connecting joint between the trunk sections, the flexible part is mainly embodied in a variable-stiffness spine, and the soft part is mainly embodied in a flexible supporting coat and a bionic snake skin which are adopted by the snake body trunk.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an air-driven rigid-flexible coupling water snake robot.
Background
In recent years, the maneuverability, flexibility and intelligence of the underwater robot have great breakthrough, and the underwater robot has wide application prospects in various fields such as continuous operation, multi-task requirements, complex environment operation and the like, so that the water snake robot is more and more concerned by students. Most of the traditional snake-shaped robots are based on traditional mechanical structures, and have the problems of large size, heavy mass, low movement speed, poor load capacity and the like, 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.
Patent No. CN214136054U discloses a flexible water snake robot of multimode, its trunk, the joint that connects, the snake tail all adopts flexible material, its flexible trunk adopts dielectric elastomer, including nitrile rubber and spring, and arrange the spring in nitrile rubber, its snake body is crooked mainly controls through switching on or off the power to nitrile rubber, make it crooked during the circular telegram, the resilience through the spring makes it reconversion after the power failure, its drive mode is mainly through the flexible swing snake tail slapping surface of water, reaction force through water moves. Patent No. CN113427494A discloses a bionical water snake robot based on dielectric elastomer, mainly used solves traditional robot structure complicacy, bulky, the big scheduling problem of noise, its snake trunk adopts the threaded connection mode, and four drive arrangement of establishing ties at the trunk position, snake head position installation master control set, its drive mode is for switching on or off through master control set control power, during the circular telegram, drive arrangement produces bending deformation, through four drive arrangement bending deformation in turn of control, thereby the drive water snake moves about.
When the water snake robot works underwater, the environment faced by the water snake robot is extremely complex, and therefore the water snake robot needs to have better flexibility, maneuverability, environmental adaptability and the like. The existing water snake robot is generally lack of flexibility, maneuverability and environment adaptability, and task requirements of underwater complex environment operation are difficult to meet.
Disclosure of Invention
The invention aims to provide an air-driven rigid-flexible coupling water snake robot, which aims to solve the problem that the existing water snake robot cannot meet the complicated underwater operation environment due to poor flexibility, poor maneuverability and poor environment adaptability.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an air-driven rigid-flexible coupling water snake robot, which comprises:
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 one of the trunk sections comprises a flexible supporting outer sleeve, a variable-rigidity spine and a plurality of air bags, the variable-rigidity spine is positioned in the flexible supporting outer sleeve, the plurality of air bags are distributed on the periphery of the variable-rigidity spine, and any one of the air bags is connected to the inner wall of the flexible supporting outer sleeve;
the air driving mechanism comprises an air pump and a plurality of air pipes connected with the air pump, and any air bag is connected with the air pipes so as to inflate the air bags; any one of the air bags is provided with an air valve to deflate the air bag;
the bionic snakeskin is coated on the periphery of the snake body framework;
the control mechanism is in communication connection with the air pump and the air valve and can control the bending direction of the trunk section by controlling the inflation and deflation of each air bag so as to realize the movement of the snake body framework in water.
Optionally, any two adjacent trunk segments are connected by a connecting joint, and the connecting joint includes:
a connecting rod;
the first flange plate is arranged at one end of the connecting rod and is connected with the variable-rigidity spine of one of any two adjacent torso sections;
the second flange plate is arranged at the other end of the connecting rod and is connected with the variable-rigidity spine of the other of any two adjacent torso sections;
the trunk section of the snake body head 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 flange plate is connected with the variable-rigidity spine of the trunk section of the snake body head;
the trunk section positioned at the tail 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 flange plate is connected with the variable-rigidity spine of the trunk section positioned at the tail 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 respectively face the two ends of the connecting rod so as to be connected with the variable-rigidity spine, the snake head or the snake tail.
Optionally, the flexible supporting outer sleeve is a rubber sleeve with openings at two ends, and after the cylindrical sleeve is connected with the variable-stiffness spine in the rubber sleeve, the flange disc connected with the cylindrical sleeve extends into the rubber sleeve.
Optionally, four air bags are uniformly distributed in any one of the flexible support outer sleeves.
Optionally, the snake trunk is sequentially divided into a plurality of sections along the length extension direction thereof, and each section comprises at least one trunk section; each section is internally provided with the air pump; the air pump is arranged in any one of the flexible supporting jackets in the same section, and any one of the air bags in the same section is connected with the air pump in the same section through the air pipe.
Optionally, each said section comprises more than two said torso sections, and said air pump is disposed within said flexible support casing within each said section adjacent said snake head; the air bags in any two adjacent flexible supporting outer sleeves in each section correspond to each other one by one and are connected through the air pipes; any one air bag in the flexible supporting outer sleeve close to the snake head is connected with the air pump through the air pipe; the air pump is arranged on any air pipe in each section.
Optionally, the outer ring of the flange disc extending into the rubber sleeve is hermetically connected with the inner wall of the rubber sleeve; any one of the flange discs is provided with a through hole for the air pipe to pass through.
Optionally, the variable-stiffness spine is a plastic pipe body filled with electro-rheological fluid, and any variable-stiffness spine is electrically connected with the control mechanism, so that the electro-rheological fluid in the plastic pipe body can be converted to a solid state under the action of an electric field, and the controllable stiffness of the variable-stiffness spine is realized.
Optionally, the snake head is a tripod head, and a camera is mounted on the tripod head and used for collecting underwater images.
Compared with the prior art, the invention has the following technical effects:
the invention provides a gas-driven rigid-flexible coupling water snake robot, which is a novel rigid-flexible coupling underwater robot with variable rigidity and is mainly used in extreme service environments represented by underwater operation. It adopts the soft coupling structure of rigidity, the rigidity part mainly embodies at the joint, the flexible part mainly embodies at the variable rigidity backbone, the software part mainly embodies at flexible support overcoat and the bionical snake skin that the snake body truck adopted, water snake robot overall structure is simple, small, it is light to have the quality, the rate of motion is fast, the flexibility is high, mobility is strong, satisfy advantages such as extreme environment operation demand under water, thereby it is poor to have solved the flexibility that current water snake robot exists, mobility is poor and environment adaptability ability is poor, thereby lead to its problem that can't satisfy complicated operation environment under water.
In some technical schemes of the invention, the variable-rigidity spine is used as a flexible part of the water snake robot, the rigidity can be changed, and the water snake driving mode of inflation and deflation is matched, so that compared with the traditional underwater robot, the whole robot is integrally made of intelligent material electro-rheological fluid, the variable-rigidity spine has the function of changing the rigidity of the trunk of a snake body, and the water snake robot has better flexibility; meanwhile, the air pump is driven by air to inflate the air bags through the air pipes, and the air bags are simultaneously controlled to inflate and deflate, so that the trunk of the snake body is bent, the tail swing and swimming of the tail of the snake body are realized, and the driving principle is simple and reliable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of an air-driven rigid-flexible coupling water snake robot disclosed by the embodiment of the invention;
fig. 2 is a schematic overall sectional structure view of the air-driven rigid-flexible coupling water snake robot disclosed by the embodiment of the invention;
FIG. 3 is a schematic view of an installation structure of a bionic snakeskin according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a snake head according to the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a joint according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of a snake body according to the embodiment of the present invention;
FIG. 7 is a schematic sectional view of the torso of the snake of FIG. 6;
FIG. 8 is a schematic illustration of the installation of the torso section and the joint disclosed in the embodiments of the present invention;
FIG. 9 is a schematic view of the installation of an air pump in the torso section disclosed in the embodiments of the present invention;
FIG. 10 is a schematic illustration of the installation of bladders in a torso section according to an embodiment of the present disclosure;
FIG. 11 is a schematic illustration of a variable stiffness spine installation in the torso section disclosed in accordance with an embodiment of the present invention;
FIG. 12 is a schematic illustration of a torso section in a flexed position in accordance with an embodiment of the present disclosure;
FIG. 13 is a cross-sectional view of the torso section of FIG. 12;
FIG. 14 is a schematic illustration of a torso section in a flexed position in accordance with an embodiment of the present disclosure;
fig. 15 is a cross-sectional view of the torso section of fig. 14.
Wherein the reference numerals are:
100. the air-driven rigid-flexible coupling water snake robot;
1. snake head; 2. the trunk of the snake body; 3. snake tail; 4. a torso section; 41. a flexible support jacket; 42. a variable stiffness spine; 43. an air bag; 5. bionic snakeskin; 6. an air pump; 7. a connecting joint; 71. a connecting rod; 72. a flange disk; 73. a cylindrical sleeve; 8. an air tube; 9. an air valve; 91. a first air valve; 92. a second air valve; 93. a third air valve; 94. and a fourth air valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an air-driven rigid-flexible coupling water snake robot, which solves the problem that the existing water snake robot cannot meet the complicated underwater operation environment due to poor flexibility, poor maneuverability and poor environment adaptability.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 15, the present embodiment provides an air-driven rigid-flexible soft coupling water snake robot 100, which includes a snake body framework, an air driving mechanism, a bionic snake skin 5 and a control mechanism, wherein the snake body framework includes a snake head 1, a snake body trunk 2 and a snake tail 3 which are connected in sequence, the snake body trunk 2 includes a plurality of trunk sections 4 which are connected in sequence, any one of the trunk sections 4 includes a flexible supporting outer casing 41, a variable stiffness spine 42 and a plurality of air bags 43, the variable stiffness spine 42 is located in the flexible supporting outer casing 41, the plurality of air bags 43 are distributed on the periphery of the variable stiffness spine 42, and any one of the air bags 43 is connected to the inner wall of the flexible supporting outer casing 41; the air driving mechanism comprises an air pump 6 and a plurality of air pipes 8 connected with the air pump 6, and any air bag 43 is connected with the air pipes 8 so as to inflate the air bags 43; any one of the air bags 43 is provided with an air valve 9 to deflate the air bag 43; the bionic snake skin 5 is coated on the periphery of the snake body framework; the control mechanism is in communication connection with the air pump 6 and the air valve 9, and can control the bending direction of the trunk section 4 by controlling the inflation and deflation of each air bag 43, so that the tail swinging and swimming of the snake body framework are realized, and the accurate simulation of the S-shaped creeping mode of the water snake is further achieved. Above-mentioned air drive rigid and flexible coupling water snake robot 100 of variable rigidity, overall structure is compact, and space area is little, can change the health form according to operation environment is nimble, and the water snake robot is whole to be crooked shape under the motion state, through the bending of snake trunk, realizes swinging the tail and moves about, compares current underwater robot, has better flexibility, mobility and adaptive capacity to environment, and it can satisfy the task requirement of complicated environment operation under water.
In this embodiment, any two adjacent torso sections 4 are connected by a connecting joint 7, the connecting 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 any two adjacent torso 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 any two adjacent torso sections 4. The trunk section 4 positioned at the head of the snake body 2 is also connected with the snake head 1 through a connecting joint 7, wherein one of the first flange and the second flange is connected with the snake head 1, and the other flange is connected with a variable stiffness spine 42 positioned at the trunk section 4 at the head of the snake body 2; correspondingly, the trunk section 4 positioned at the tail part of the snake body 2 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 flange plate is connected with the variable-rigidity spine 42 of the trunk section 4 positioned at the tail part of the snake body 2. Preferably, 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, taking the first flange as an example, the first flange comprises a flange disk 72 and a cylindrical sleeve 73, the diameter of the cylindrical sleeve 73 is smaller than that of the flange disk 72, and the cylindrical sleeve 73 is connected to one side of the flange disk 72 and is coaxially arranged with the flange disk 72; the second flange is identical in structure to the first flange, and the cylindrical sleeves 73 on the first flange and the cylindrical sleeves 73 on the second flange face the two ends of the connecting rod 71 respectively to connect with the variable stiffness 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 at two ends of the connecting joint 7 are respectively connected with the variable-stiffness spines 42 at 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 variable-rigidity spine 42 in the trunk section 4 and the snake head 1; 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 variable stiffness spine 42 in the trunk section 4 and the snake tail 3. Preferably, the flange disks 72 and the cylindrical sleeves 73 of the first and second flanges are of an integral structure, the connecting rods 71 are preferably studs, and the centers of the flange disks 72 are provided with threaded holes for threaded connection with the studs.
In this embodiment, the flexible supporting outer sleeve 41 is a rubber sleeve with openings at two ends, the rubber sleeve is cylindrical, and after the cylindrical sleeve 73 is connected with the variable stiffness spine 42 in the rubber sleeve, the flange disc 72 connected with the cylindrical sleeve 73 extends into the rubber sleeve. The outer diameter of the flange disc 72 is preferably the same as or substantially the same as the inner diameter of the flexible support sleeve 41, and after the assembly is completed, the outer ring of the flange disc 72 and the inner wall of the flexible support sleeve 41 can be sealed in an interference fit, vulcanization or gluing manner, so as to prevent water from entering the flexible support sleeve 41 or prevent internal parts of the flexible support sleeve 41 from falling off. The flexible supporting outer sleeve 41 is made of custom rubber materials and is used for assisting in installing the air pump 6 and the air bag 43 and connecting with the connecting joint 7, and the outer side of the flexible supporting outer sleeve 41 is connected with the bionic snakeskin 5. The bionic snakeskin 5 is preferably a rubber corrugated pipe.
In this embodiment, four air bags 43 are uniformly distributed in any one of the flexible support housings 41, and the four air bags 43 are also symmetrically distributed along the circumference of the variable stiffness spine 42. The middle part of any air bag 43 is connected to the inner wall of the flexible support sleeve 41 through related auxiliary mounting structures, such as hanging, bonding and the like, and the connection mode between the air bag 43 and the inner wall of the flexible support sleeve 41 does not influence the inflation and deflation of the air bag 43.
In this embodiment, the snake trunk 2 is sequentially divided into a plurality of sections along the length extension direction thereof, and each section comprises at least one trunk section 4; an air pump 6 is arranged in each section; the air pump 6 is arranged in any one of the flexible supporting jackets 41 in the same section, and any one of the air bags 43 in the same section is connected with the air pump 6 in the same section through the air pipe 8.
In this embodiment, each section comprises more than two torso sections 4, and the air pump 6 is disposed in the flexible support casing 41 near the snake head 1 in each section; the air bags 43 in any two adjacent flexible supporting jackets 41 in each section correspond to each other one by one and are connected through the air pipes 8; any one air bag 43 in the flexible supporting outer sleeve 41 close to the snake head 1 is connected with the air pump 6 through the air pipe 8; an air pump 6 is arranged on any air pipe 8 in each section.
In this embodiment, the outer ring of the flange disc 72 extending into the rubber sleeve is hermetically connected with the inner wall of the rubber sleeve; any one of the flange disks 72 is provided with a through hole through which the air supply pipe 8 passes. Because four air bags 43 are uniformly distributed in any one flexible supporting outer sleeve 41, 4 through holes are correspondingly formed in the flange disc 72.
In this embodiment, each of the connecting joints 7 has the same structure and can be used interchangeably.
In this embodiment, the variable-stiffness spine 42 is a plastic tube filled with an electro-rheological fluid therein, and any variable-stiffness spine 42 is electrically connected to the control mechanism, so that the electro-rheological fluid in the plastic tube can be converted into a solid state under the action of an electric field, thereby realizing the controllable stiffness of the variable-stiffness spine 42. The shear yield stress of the electrorheological fluid can be changed by changing the electric field intensity around the electrorheological fluid, and when the shear yield stress is increased, the electrorheological fluid generates a 'curing' reaction, namely the rigidity of the electrorheological fluid is improved. Based on the principle, the requirement of controllable spinal rigidity can be easily realized, wherein the spinal is rigid, namely the initial straight state of the snake body. The control mechanism is preferably electrically connected to each of the variable stiffness spines 42 by a cable, each cable is sequentially received in the snake body 2, and each flange disk 72 is further provided with a cable hole through which the cable passes. The principle of liquid to solid conversion of electrorheological fluids is prior art and will not be described herein.
In actual operation, the electrorheological fluid can also 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 'curing' reaction, namely the rigidity of the magnetorheological fluid is improved. Based on the principle, the requirement of controllable spinal rigidity can be easily realized. The spine is here rigid, i.e. the initial straight state of the snake. The principle of the liquid to solid conversion of the magnetorheological fluid is prior art and will not be described herein.
In this embodiment, the snake head 1 is a pan-tilt, and a camera is mounted on the pan-tilt for underwater image acquisition, and is mainly used for underwater observation. The aforementioned control mechanism 6 may be integrated in the head. The cradle head is preferably a fixed cradle head, the bottom of the cradle head is provided with a threaded hole, and the threaded hole is connected to the first trunk section 4 of the snake body 2 through a connecting joint 7.
In this embodiment, the preferred snake trunk 2 comprises 20 trunk sections 4 connected in series, wherein the air pumps 6 are arranged in the 1 st, 6 th, 11 th and 16 th trunk sections 4, so that each 5 trunk sections 4 in the 20 trunk sections 4 are divided into one section, and each trunk section 4 is provided with the air bag 43. The air pump 6 is arranged in the sub-sections, so that the air pump 6 can be shared by the plurality of torso sections 4, and the overall weight of the robot can be effectively reduced. In practice, the air bag 43 may not be provided in the trunk section 4 provided with the air pump 6, that is, in the 20-segment trunk section 4, the 1 st, 6 th, 11 th and 16 th trunk sections 4 include the variable stiffness spine 42, the air pump 6 and the flexible support casing 41, and the remaining 16 segments of the trunk section 4 include the variable stiffness spine 42, the air bag 43 and the flexible support casing 41. In the snake trunk disclosed in the embodiment, except for the 1 st, 6 th, 11 th and 16 th trunk sections 4, the trunk sections 4 have the same structure and can be used interchangeably.
The working principle of the air-driven rigid-flexible coupling water snake robot 100 of the present embodiment is explained below.
As shown in fig. 15, the left side of the air bag 43 located at the upper side in the trunk section 4 is connected with the air pump 6 through the air pipe 8 with the first air valve 91(14A) to realize the inflation function; the right side of the upper side air bag 43 is connected with an air pipe 8 with a second air valve 92(14B), and the second air valve 92(14B) mainly controls deflation, so that the air bag inflation and deflation functions are realized. The upper side air bag 43 is inflated by controlling the first air valve 91 and the second air valve 92, and the lower side air bag 43 is deflated by controlling the third air valve 93 and the fourth air valve 94, so that the torso section 4 is bent downwards; then, the upper air cell 43 is deflated by controlling the first air valve 91 and the second air valve 92, and the lower air cell 43 is inflated by controlling the third air valve 93 and the fourth air valve 94, so as to bend the torso section 4 upward, as shown in fig. 15. Accordingly, the left and right bending of the torso section 4 can be achieved by the coordinated control of inflation and deflation of the left and right airbags. Therefore, the inflation and deflation of the four air bags in the trunk section 4 are controlled, so that the bending direction of the snake trunk is controlled, and the tail swinging swimming of the snake is realized. In order to distinguish the gas valves 9 located at different positions in terms of name, the first gas valve 91, the second gas valve 92, the third gas valve 93 and the fourth gas valve 94 are derived, and the first gas valve 91, the second gas valve 92, the third gas valve 93 and the fourth gas valve 94 all adopt the same gas valve structure.
Therefore, the water snake robot provided by the embodiment is a novel rigidity-variable flexible coupling underwater robot based on a soft robot, and is mainly used for extreme service environments represented by underwater operation. The water snake robot adopts a rigid and flexible coupling structure, and the rigid part is mainly embodied in that a connecting joint is composed of a stud, a flange plate and other parts; the flexible part is mainly embodied in a variable-stiffness spine made of an electric/magnetorheological fluid intelligent material; the soft body part is mainly embodied in rubber materials adopted by the snake body and corrugated pipe materials adopted by the bionic snake skin. The variable-stiffness spine adopts intelligent material electro/magneto-rheological fluid, taking magneto-rheological fluid material as an example, the shear yield stress can be changed by changing the magnetic field intensity around the magneto-rheological fluid, and when the shear yield stress is increased, the magneto-rheological fluid generates a 'curing' reaction, namely the stiffness is improved. Based on the principle, the requirement of controllable spinal rigidity can be easily realized, and the flexibility of the water snake robot is improved. The two ends of the variable stiffness spine are connected with the flange plates in the connecting joints at the two sides of the snake body, the variable stiffness spine shown in figure 11 is rigid, namely in an initial straight state of the snake body, and the variable stiffness spine shown in figure 13 is flexible, namely in a bending state of the movement of the snake body.
The snake head part that this embodiment provided adopts camera and cloud platform device to constitute, and cloud platform device passes through joint fixed connection to snake body truck, connects firm reliable, and the camera is installed on the cloud platform, through the angle of adjustment camera level and every single move to realize keeping away the barrier function under water.
The water snake robot that this embodiment provided adopts gas drive, and the air pump is aerifyd in to each gasbag through the trachea, fills the gassing through controlling each gasbag simultaneously to realize the bending of snake trunk, and then realize that the snake afterbody swings the tail and swims. The driving principle is simple and the driving is reliable.
The connection joint that this embodiment provided adopts stud to carry out fixed connection, and the snake head all carries out fixed connection through connection joint with snake trunk, snake trunk and snake tail, can guarantee water snake overall structure's reliability.
The water snake robot provided by the embodiment has the advantages of simple structure, small size, light weight, high moving speed, high flexibility and strong maneuverability, and meets the operation requirement of the underwater extreme environment.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes 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, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a gas drive hard and soft coupling water snake robot which characterized in that includes:
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 one of the trunk sections comprises a flexible supporting outer sleeve, a variable-rigidity spine and a plurality of air bags, the variable-rigidity spine is positioned in the flexible supporting outer sleeve, the plurality of air bags are distributed on the periphery of the variable-rigidity spine, and any one of the air bags is connected to the inner wall of the flexible supporting outer sleeve;
the air driving mechanism comprises an air pump and a plurality of air pipes connected with the air pump, and any air bag is connected with the air pipes so as to inflate the air bags; any one of the air bags is provided with an air valve to deflate the air bag;
the bionic snakeskin is coated on the periphery of the snake body framework;
the control mechanism is in communication connection with the air pump and the air valve and can control the bending direction of the trunk section by controlling the inflation and deflation of each air bag so as to realize the movement of the snake body framework in water.
2. The air-driven rigid-flexible coupling water snake robot as claimed in claim 1, wherein any two adjacent torso sections are connected by 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-rigidity spine of one of any two adjacent torso sections;
the second flange plate is arranged at the other end of the connecting rod and is connected with the variable-rigidity spine of the other of any two adjacent torso sections;
the trunk section of the snake body head 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 flange plate is connected with the variable-rigidity spine of the trunk section of the snake body head;
the trunk section positioned at the tail 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 flange plate is connected with the variable-rigidity spine of the trunk section positioned at the tail of the snake body.
3. The air-driven rigid-flexible coupling water snake robot as claimed in claim 2, wherein the first flange plate comprises a flange disk and a cylindrical sleeve, the diameter of the cylindrical sleeve is smaller than that of the flange disk, and the cylindrical sleeve is connected to one side of the flange disk and is arranged coaxially with the flange disk;
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 respectively face the two ends of the connecting rod so as to be connected with the variable-rigidity spine, the snake head or the snake tail.
4. The air-driven rigid-flexible coupling water snake robot as claimed in claim 3, wherein the flexible support outer sleeve is a rubber sleeve with openings at two ends, and after the cylindrical sleeve is connected with the variable stiffness spine in the rubber sleeve, the flange disc connected with the cylindrical sleeve extends into the rubber sleeve.
5. The air-driven rigid-flexible coupling water snake robot as claimed in claim 4, wherein four air bags are uniformly distributed in any one of the flexible supporting outer sleeves.
6. An air-driven rigid-flexible coupled water snake robot as claimed in claim 5 wherein said snake body is sequentially divided along its length extension into a plurality of segments, each said segment containing at least one said torso segment; each section is internally provided with the air pump; the air pump is arranged in any one of the flexible supporting jackets in the same section, and any one of the air bags in the same section is connected with the air pump in the same section through the air pipe.
7. The air-driven rigid-flexible coupled water snake robot of claim 6 wherein each of said segments comprises more than two of said torso segments and said air pump is disposed within said flexible support jacket within each of said segments proximate to said snake head; the air bags in any two adjacent flexible supporting outer sleeves in each section correspond to each other one by one and are connected through the air pipes; any one air bag in the flexible supporting outer sleeve close to the snake head is connected with the air pump through the air pipe; the air pump is arranged on any air pipe in each section.
8. The air-driven rigid-flexible coupling water snake robot as claimed in claim 7, wherein the outer ring of the flange disc extending into the rubber sleeve is in sealing connection with the inner wall of the rubber sleeve; any one of the flange discs is provided with a through hole for the air pipe to pass through.
9. The air-driven rigid-flexible coupling water snake robot as claimed in any one of claims 1-8, wherein the variable stiffness spine is a plastic pipe body filled with electrorheological fluid, and any one of the variable stiffness spines is electrically connected with the control mechanism, so that the electrorheological fluid in the plastic pipe body can be converted to a solid state under the action of an electric field, and the stiffness of the variable stiffness spine is controllable.
10. The air-driven rigid-flexible coupling water snake robot as claimed in any one of claims 1-8, wherein the snake head is a pan-tilt head, and a camera is mounted on the pan-tilt head for underwater image acquisition.
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