CN115303427A - Amphibious intelligent ship capable of crossing barrier - Google Patents
Amphibious intelligent ship capable of crossing barrier Download PDFInfo
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- CN115303427A CN115303427A CN202210842053.2A CN202210842053A CN115303427A CN 115303427 A CN115303427 A CN 115303427A CN 202210842053 A CN202210842053 A CN 202210842053A CN 115303427 A CN115303427 A CN 115303427A
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- 210000004394 hip joint Anatomy 0.000 claims abstract description 27
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- 239000004917 carbon fiber Substances 0.000 claims description 19
- 210000000629 knee joint Anatomy 0.000 claims description 19
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 19
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 210000002683 foot Anatomy 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 20
- 238000010586 diagram Methods 0.000 description 9
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- 238000001514 detection method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
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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
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The application discloses amphibious intelligent ship capable of crossing barrier, relates to the field of robots and aims to solve the problem that an existing unmanned ship is difficult to bypass the barrier through self maneuvering. It includes the main hull, and the main hull distributes along week side and is provided with a plurality of outside arm devices that extend, and every arm device all corresponds and is provided with a side hull, and the arm device includes arm lower floor's base, arm upper base, first rotation motor, hip joint subassembly, thigh link assembly and first push rod motor, and arm lower floor's base is fixed to be set up in week side of main hull, and arm upper base sets up on arm lower floor's base, first rotation motor fixed set up in on the hip joint subassembly, the drive end that runs through of first rotation motor with arm upper base is connected, the hip joint subassembly rotates and sets up on the arm upper base, and with thigh link assembly is articulated.
Description
Technical Field
The application relates to the field of robots, in particular to an amphibious intelligent ship capable of crossing obstacles.
Background
When tasks such as water quality detection, water patrol, water surface facility maintenance and the like are executed in complex water surface environments such as riverways, lakes, ports and the like, equipment such as patrol ships and the like inevitably meet various movable or immovable obstacles including buoys, bridges, dams and the like, the obstacles are cleared up by manpower, or the obstacles are bypassed by carrying equipment, so that time and labor are wasted, and the efficiency is not high. Water surface robots such as unmanned ships and unmanned boats have good prospects in water quality monitoring, water surface facility maintenance, water disaster relief and other scenes, and gradually have wide application. However, when facing immovable water surface obstacles such as buoys, bridges, dams and the like, the unmanned ship is difficult to bypass the obstacles through self maneuvering, which affects the task execution of the unmanned ship and limits the application scene of the unmanned ship.
Thus, there is still a need for improvement and development of the prior art.
Disclosure of Invention
The technical problem that this application will solve lies in, to prior art's not enough, provides the amphibious intelligent ship that can cross the barrier to it is difficult to bypass the barrier through self maneuver to solve current unmanned ship, and this has just influenced unmanned ship's task execution, has restricted unmanned ship's application scene.
In order to solve the technical problem, the application provides an amphibious intelligent ship capable of crossing obstacles, the amphibious intelligent ship comprises a main ship body, a plurality of mechanical arm devices extending outwards are distributed on the periphery of the main ship body, and each mechanical arm device is correspondingly provided with a side ship body;
the mechanical arm device comprises a mechanical arm lower layer base, a mechanical arm upper layer base, a first rotating motor, a hip joint assembly, a thigh connecting rod assembly and a first push rod motor;
the mechanical arm lower layer base is fixedly arranged on the peripheral side of the main ship body;
the mechanical arm upper layer base is arranged on the mechanical arm lower layer base;
the first rotating motor is fixedly arranged on the hip joint assembly, a penetrating driving end of the first rotating motor is connected with the upper layer base of the mechanical arm, the hip joint assembly is rotatably arranged on the upper layer base of the mechanical arm and is hinged with the thigh connecting rod assembly, and the thigh connecting rod assembly is connected with the side ship body;
the first push rod motor is fixedly arranged on the hip joint assembly, the driving end of the first push rod motor is connected with the thigh connecting rod assembly, and the first rotating motor drives the hip joint assembly to rotate left and right;
the first push rod motor drives the thigh connecting rod assembly and the side ship body to lift up or fall down so as to cross the obstacle.
In one implementation mode, the mechanical arm device further comprises a knee joint component, a second push rod motor and a lower leg connecting rod assembly, the knee joint component is fixedly arranged on the lower leg connecting rod assembly, the knee joint component is hinged to the lower leg connecting rod assembly, the lower leg connecting rod assembly is connected with the side ship body, the second push rod motor is fixedly arranged on the knee joint component, a driving end of the second push rod motor is connected with the lower leg connecting rod assembly, and the second push rod motor drives the lower leg connecting rod assembly and the side ship body to extend or contract.
In one implementation, the mechanical arm device further comprises an ankle joint assembly, a second rotating motor and a plurality of thrusters corresponding to the side ship body, the ankle joint assembly is connected with the shank connecting rod assembly, the second rotating motor is fixedly arranged on the ankle joint assembly, a penetrating driving end of the second rotating motor is connected with the side ship body, the thrusters are arranged at the bottom of the side ship body, and the second rotating motor drives the side ship body to rotate.
In one implementation, the main hull comprises a waterproof box and a side frame arranged between the lower-layer bases of the mechanical arm, the waterproof box is arranged on the side frame, and the side frame is connected with the lower-layer bases of the mechanical arm.
In one implementation mode, the side hull comprises a first half floating body, a second half floating body, a plurality of carbon fiber tubes and a structural support member, the first half floating body and the second half floating body are connected to form a hollow hull structure, each carbon fiber tube of the plurality of carbon fiber tubes is arranged in the hollow hull structure and connected with the first half floating body and the second half floating body, and the structural support member is arranged on the carbon fiber tubes.
In one implementation mode, two support rods are arranged on the carbon fiber pipe, the support rods penetrate through the first semi-floating body or the second semi-floating body, and each support rod is provided with a support leg.
In one implementation mode, the amphibious intelligent ship further comprises a torque sensor and a push-pull force sensor, the torque sensor is arranged at one end, penetrating through a driving end, of the first rotating motor and connected with the upper base of the mechanical arm, and the push-pull force sensor is arranged on the upper base of the mechanical arm.
In one implementation mode, the amphibious intelligent ship further comprises a controller, an inertial sensor and a control panel, wherein the controller and the inertial sensor are arranged in the waterproof box, the controller is respectively connected with the inertial sensor and the control panel, and the control panel is arranged in the side ship body.
In one implementation, the knee joint component is further provided with a first encoder and a second encoder.
In one implementation mode, a hook is arranged below the waterproof box, and a lifting platform is arranged on the waterproof box.
Has the advantages that: this application rotates motor drive through first rotation hip joint subassembly left and right sides, through first push rod motor drive the upper thigh connecting rod and the lower thigh connecting rod lifts or falls, and then drives the side hull lifts or falls in order to stride across the barrier for this device possess certain surface of water and hinder the ability more.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without any inventive work.
Fig. 1 is a schematic overall structure diagram of an amphibious intelligent ship capable of crossing obstacles provided by the application.
Fig. 2 is a schematic structural diagram of a mechanical arm device in an amphibious intelligent ship capable of crossing obstacles provided by the application.
Fig. 3 is a schematic structural diagram of a middle hull of an amphibious intelligent ship capable of crossing obstacles.
Fig. 4 is a schematic structural diagram of a hip joint assembly in an amphibious intelligent ship capable of crossing obstacles provided by the application.
Fig. 5 is a working principle diagram of electronic equipment involved in the amphibious intelligent ship capable of crossing obstacles provided by the application.
Fig. 6 is a schematic modeling diagram of a mechanical arm device in an amphibious intelligent ship capable of crossing obstacles provided by the application.
Fig. 7 is a schematic diagram of a double-row layout of a propeller in an amphibious intelligent ship capable of crossing obstacles provided by the application.
Fig. 8 is a schematic view of an omnidirectional layout of a propeller in an amphibious intelligent ship capable of crossing obstacles according to the present application.
In the figure: 1. a waterproof box; 2. a robotic arm device; 3. a side hull; 4. a side frame; 5. a lower layer base of the mechanical arm; 7. a first rotating electric machine; 8. a hip joint assembly; 9. a first push rod motor; 10. a thigh lower link; 11. a second push rod motor; 12. a lower shank link; 13. a second rotating electric machine; 14. a first semi-floating body; 15. a second semi-floating body; 16. an ankle joint component; 17. a shank upper connecting rod; 19. a knee joint component; 21. a thigh upper link; 23. a structural support; 24. a carbon fiber tube; 25. a propeller; 26. supporting legs; 29. a torque sensor; 31. a push-pull force sensor; 33. an upper base of the mechanical arm; 32. the horizontal axis.
Detailed Description
The application provides an amphibious intelligent ship capable of crossing obstacles, and in order to enable purposes, technical schemes and effects of the amphibious intelligent ship to be clearer and clearer, the amphibious intelligent ship is further described in detail below by referring to the attached drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The following description of the embodiments is provided to further explain the present disclosure by way of example in connection with the appended drawings.
As shown in fig. 1, 2 and 4, the embodiment provides an amphibious intelligent ship capable of crossing over an obstacle, the amphibious intelligent ship includes a main hull, the main hull includes a waterproof box 1 and a plurality of side frames 4, the waterproof box 1 is disposed on the side frames 4, mechanical arm devices 2 extending outward are disposed between the side frames 4, each mechanical arm device 2 is correspondingly provided with a side hull 3, the structures of the mechanical arm devices 2 and the side hulls 3 in each group are identical, for example, the side frames 4, the mechanical arm devices 2 and the side hulls 3 are four, each group of side hulls 3 is provided with waterproof boxes 1 arranged in central symmetry, the mechanical arm devices 2 include a mechanical arm lower layer base 5, a mechanical arm upper layer base 33, a first rotating motor 7, a hip joint assembly 8, a thigh link assembly and a first push rod motor 9, the mechanical arm lower layer base 5 is fixedly disposed on the main hull, the mechanical arm lower layer base 5 is provided with two bearing seats and a cross shaft 32, the two bearing seats are fixedly disposed on the mechanical arm lower layer base 5, the two mechanical arm upper layer base 33 is provided with two driving ends matched with the mechanical arm upper layer base 32, the driving end of the mechanical arm 32, the servo motor is disposed on the cross shaft, the servo motor 7 or the servo motor 7, the servo motor is disposed on the servo motor 7, and the servo motor reducer is disposed on the servo motor 7, the servo motor is disposed on the servo motor 7; the first rotating electric machine 7 having a through drive end can be understood as: the first driving motor is provided with two driving ends, wherein the two driving ends are connected and penetrate through the first rotating motor 7; the upper end and the lower end of the mechanical arm upper base 33 are respectively connected with two driving ends of the first rotating motor 7, the hip joint assembly 8 is rotatably arranged on the mechanical arm upper base 33, the thigh connecting rod assembly comprises a thigh upper connecting rod 21 and a thigh lower connecting rod 10, the hip joint assembly 8 is hinged with the thigh upper connecting rod 21 and the thigh lower connecting rod 10, the thigh upper connecting rod 21 is connected with the thigh lower connecting rod 10, the side ship body 3 is connected onto the thigh upper connecting rod 21 and the thigh lower connecting rod 10, the first push rod motor 9 is fixedly arranged on the hip joint assembly 8, the driving end of the first push rod motor 9 is connected with the thigh upper connecting rod 21, the first rotating motor 7 drives the hip joint assembly 8 to rotate left and right, the first push rod motor 9 drives the thigh upper connecting rod 21 and the thigh lower connecting rod 10 to lift up or fall down, and further drives the side ship body 3 to lift up or fall down to cross an obstacle, so that the device has certain water surface obstacle crossing capability.
In one embodiment, a hook (not shown) is arranged below the waterproof box 1 and used for lifting on the water surface; the waterproof box 1 is provided with a take-off and landing platform (not shown in the figure) for the applications of unmanned aerial vehicle take-off and landing and the like.
As shown in fig. 2, in an embodiment, the robot apparatus 2 further includes a knee joint assembly 19, a second push rod motor 11, and a lower leg link assembly, the upper thigh link 21 is connected to the lower thigh link 10 through the knee joint assembly 19, one end of the knee joint assembly 19 is hinged to the upper thigh link 21, one end of the knee joint assembly 19 is fixedly connected to the lower thigh link 10 through a first link (not shown), the lower leg link assembly includes an upper lower leg link 17 and a lower leg link 12, the knee joint assembly 19 is hinged to the upper lower leg link 17 and the lower leg link 12, respectively, the second push rod motor 11 is fixedly disposed on the first link, the upper lower leg link 17 is connected to the lower leg link 12, the side hull 3 is connected to the upper lower leg link 17 and the lower leg link 12, a driving end of the second push rod motor 11 drives the upper lower leg link 17 and the lower leg link 12 to extend or retract, thereby driving the side hull 3 to extend or retract, thereby overcoming the limitation of the size of the ship, and enabling the ship to be capable of extending or retracting through a narrow water area of the ship 3.
The existing amphibious robot is mainly designed based on a land mobile robot and is modified by adding paddles on two sides of a ship body. In order to have amphibious capability, the performance of certain water surface navigation is often sacrificed by the robot. In order to solve the problem that the existing amphibious robot often does not have omnidirectional movement capability on the water surface, in one embodiment, as shown in fig. 2, the robot arm device 2 further includes an ankle joint component 16, a second rotating motor 13 and a propeller 25 corresponding to the side hulls 3, the ankle joint component 16 is respectively connected with the upper shank connecting rod 17 and the lower shank connecting rod 12, the second rotating motor 13 is fixedly arranged on the ankle joint component 16, the penetrating driving end of the second rotating motor 13 is connected with the side hulls 3, the propeller 25 is arranged at the bottom of the side hulls 3, the second rotating motor 13 drives the side hulls 3 to rotate, and the hip joint component 8, the upper thigh connecting rod 21, the lower thigh connecting rod 10, the knee joint component 19, the upper shank connecting rod 17, the lower shank connecting rod 12 and the ankle joint component 16 of the robot arm device 2 respectively form two parallelogram four-bar linkages, so that the side hulls 3 connected with the robot arm component 16 can be kept horizontal with the main hull at any position; the second rotating motor 13 can be a steering engine or a servo motor or a worm and gear reduction box motor to increase torque and improve structural stability, as shown in fig. 7 and 8, wherein fig. 7 is a schematic diagram of a double-row layout of the propeller 25, and fig. 8 is a schematic diagram of an omnidirectional layout of the propeller 25, and the orientation of the side hull 3 and the propeller 25 are rotated by the second rotating motor 13, so that the layout of the propeller 25 of the device can be switched between the traditional double-row layout and the omnidirectional layout, and the device has good steering flexibility and linear navigation performance.
As shown in fig. 2 and 3, in an embodiment, the side hull 3 includes a first half-floating body 14, a second half-floating body 15, a plurality of carbon fiber pipes 24 and a structural support 23, the first half-floating body 14 and the second half-floating body 15 each have a detachable top cover (not shown), the first half-floating body 14 and the second half-floating body 15 are connected to form a hollow hull structure, in this embodiment, the first half-floating body 14 and the second half-floating body 15 are provided with a plurality of floating body mounting holes (not shown) for easy installation, the first half-floating body 14 and the second half-floating body 15 are provided with a plurality of floating body mounting holes, each carbon fiber pipe 24 of the plurality of carbon fiber pipes 24 is provided on the floating body mounting hole in the hollow hull structure, for example, the carbon fiber pipes 24 may be provided in two, the two carbon fiber pipes 24 are provided in the floating body mounting holes and connected to the first floating body and the second half-floating body 15, the carbon fiber pipes 24 serve to connect the first half-floating body 14 and the second half-floating body 15 and disperse loads, the structural support 23 is provided on the carbon fiber pipes 24, and the propeller 25 is fixedly provided at a position close to the bottom of the boat.
As shown in fig. 2 and fig. 3, in an embodiment, two support rods (not shown in the figure) are arranged on the carbon fiber pipe 24, the support rods penetrate through the first semi-floating body 14 or the second semi-floating body 15, each support rod is provided with a support foot 26, the two support feet 26 are located at two sides of the propeller 25, and the bottom height of the support foot 26 is lower than the bottom height of the propeller 25, so that the device can play a role in protecting the propeller 25 and stabilizing the side hull 3 when walking on the land.
In one embodiment, as shown in fig. 4, in order to obtain the force applied to the arm devices 2 during operation, the force applied to each arm device 2 is divided into a torque with a vertical direction as an axis and a torque with a horizontal direction as an axis, a torque sensor 29 is respectively disposed at one end of the first rotating motor 7 penetrating through the driving end, the torque sensor 29 is connected to the arm upper base 33, and a push-pull force sensor 31 is disposed on the arm upper base 33 and is respectively measured by the push-pull force sensor 31 and the torque sensor 29. As shown in the fourth drawing, the torque about the axis in the vertical direction is directly measured by the torque sensor 29, and the torque about the axis in the horizontal direction is converted into a push-pull force in the vertical direction by a lever formed by the lower base 5 of the robot arm, the upper base 33 of the robot arm, and the horizontal axis 32, and is measured by the push-pull force sensor 31.
As shown in fig. 5, in an embodiment, the amphibious intelligent boat further includes a controller (not shown), an inertial sensor (not shown) and a control board (not shown), wherein the number of the controller is 1, the controller and the inertial sensor are disposed in the waterproof box 1, the controller is connected to the inertial sensor and the control board respectively, the number of the control board is the same as the number of the side hull 3, the control board is disposed in the side hull 3, the controller can be raspberry, the control board can be Ardui no Mega control board, the controller is connected to a host on shore or a remote controller, wherein the controller is connected to the remote controller through a receiver, the host on shore is connected to the wireless router, the first rotation motor 7, the second rotation motor 13, the first push rod motor 9, the second push rod motor 11 and the push rod 25 are powered through lithium batteries, the controller and the control board are powered by direct current output from a transformer, the control board can be 12V, the transformer can be 5V-12V, the torque sensor 29 and the second push rod motor 31 are connected to the push rod encoder 19, the controller and the push rod encoder 13 are connected to the second push rod motor encoder 19, the propeller control board is connected to the first push rod motor and the second push rod encoder 19, the push rod encoder 19 and the push rod encoder 13 are connected to the propeller control board (not shown in this embodiment), the control board reads the data of the first encoder and the second encoder on the knee joint component 19, the device can be manually controlled by a remote controller on the shore or automatically controlled by a signal sent by a host, the controller sends the processed signal to the control board after receiving the signal of the remote controller or the host, and the control board controls the knee joint component to rotateThe controller also receives digital signals sent by the inertial sensor and the transmitter, each mechanical arm device 2 and the first rotating motor 7, the first push rod motor 9, the second push rod motor 11, the second rotating motor 13 and the underwater propeller 25 on the corresponding side ship body 3 are controlled by a control board in a centralized mode, each mechanical arm device 2 has four degrees of freedom, the first rotating motor 7 and the second rotating motor 13 are driven by servo motors, and the rotating angles of the first rotating motor 7 and the second rotating motor 13 can be directly read by signals output by the servo motors; the joint rotation angles corresponding to the first push rod motor 9 and the second push rod motor 11 are obtained by a first encoder and a second encoder. The working process of the control panel is as follows: the control board is used for collecting sensor analog signals including joint angles and joint stress of the mechanical arm device 2, arranging and converting the signals into digital signals, and sending the digital signals to the controller through serial port communication, the controller receives the current posture state of each mechanical arm, calculates the target angle of each joint of the mechanical arm device 2 and the target thrust of the propeller 25 according to a remote control signal sent by the upper computer, sends a corresponding control command to the control board through serial port communication, and the control board generates PWM (pulse width modulation) signals to control each motor to execute actions. In addition, the embodiment can be added with a camera, a GPS antenna, a wind speed sensor and the like according to the task requirement. For the control of the movement of the robot arm unit 2, given a target position of the end of the robot arm unit 2, the control board may give a series of control instructions to the respective motors to control the movement of the robot arm unit 2 to the target position. In a cylindrical coordinate system, the symbolic representation of the individual joints and, correspondingly, the angles of the arm arrangement 2 is shown in fig. 6, from which it can be seen that the end position (ρ) of the arm arrangement 2 is shown LEP ，z LEP ) Comprises the following steps:
ρ LEP ＝l 1 cosα+l 3 cosβ+C ρ ，z LEP ＝l 1 sinα+l 3 sinβ+C z ，
wherein, two constants determined by the structural design parameters are:
C ρ ＝l 0 cos∠(l 0 )+l 2 cos(∠(l 2 )-π)+l 4 cos∠(l 4 )，
C z ＝l 0 sin∠(l 0 )+l 2 sin(∠(l 2 )-π)+l 4 sin∠(l 4 ).
as can be seen from the above formula, the controller can control the position of the tail end of the mechanical arm by controlling the joint angle of the mechanical arm. Conversely, when we input the target position (ρ) LEP ，z LEP ) Then, the joint angle can be obtained by solving inverse kinematics, i.e.:
wherein A = ρ LEP -C ρ ，B＝z LEP -C z ，
In the control feedback link, the following can be obtained through the measurement of an angle encoder at the joint:
α＝∠(l 5 )-α 3 ，β＝∠(q 1 )+β 1 -π，
wherein alpha is 3 ，β 1 Respectively, corresponding encoder feedback values.
The extension speed of the first pusher motor 9 and the second pusher motor 11 can be controlled by PWM signals, and thus the joint rotation speed can also be controlled by PWM. The target angle can be controlled with a feedback controller.
α t+1 ＝α t -t·K α (α t -α d )，β t+1 ＝β t -t·K β (β t -β d )
Wherein, K α ，K β As a controller parameter, α t ，β t Angle of articulation at time t, α t+1 ，β t+1 Angle of articulation at time t +1, α d ，β d Is the target joint angle.
In one embodiment, the device can be applied to, but not limited to, the following scenes, and the device can be applied to tasks such as water quality detection, patrol monitoring and the like of urban rivers by carrying the sensor; the device can change the shape and the height, so the device can also be applied to searching and exploring complex water surface environments (such as water holes and the like); this device still can be applied to the shoal of fish growth condition control of marine ranch, throw in bait etc. and can not obstruct the navigation by the box with a net of pasture, and in addition, this device passes through second push rod motor 11 with the cooperation of shank link assembly is extended side hull 3 to keeping away from main hull direction to increase size and body buoyancy, thereby be applied to and build interim pontoon bridge and do not influence other ships navigation of surface of water etc..
In summary, the embodiment provides an amphibious intelligent ship capable of crossing an obstacle, the amphibious intelligent ship comprises a main ship body, the main ship body comprises a waterproof box 1 and a plurality of side frames 4, the waterproof box 1 is arranged on the side frames 4, mechanical arm devices 2 extending outwards are arranged between the side frames 4, each mechanical arm device 2 is correspondingly provided with one side ship body 3, the structures of the mechanical arm devices 2 and the side ship bodies 3 in each group are consistent, for example, the side frames 4, the mechanical arm devices 2 and the side ship bodies 3 are four, each group of side ship bodies 3 is provided with the waterproof box 1 in central symmetry arrangement, the mechanical arm devices 2 comprise a mechanical arm lower layer base 5, a mechanical arm upper layer base 33, a first rotating motor 7, a hip joint assembly 8, a thigh link assembly and a first push rod motor 9, the mechanical arm lower layer base 5 is fixedly arranged on the peripheral side of the main ship body, the mechanical arm lower layer base 5 is provided with two bearing seats and a mechanical arm 32, the two bearing seats are fixedly arranged on the mechanical arm lower layer base 5, the mechanical arm upper layer base 33 is provided with two transverse shafts matched with the driving end of the transverse shaft (the transverse shaft 32), the transverse shaft is provided with a motor 7 or a transverse shaft motor 7, the servo motor 7 is arranged on the transverse shaft hole, and the servo motor 7 is arranged on the transverse shaft hole or a transverse shaft hole, the servo motor 7 is arranged on the servo motor 7; the first rotating electric machine 7 having a through drive end can be understood as: the first driving motor is provided with two driving ends, wherein the two driving ends are connected and penetrate through the first rotating motor 7; the upper end and the lower end of the upper base 33 of the mechanical arm are respectively connected with two driving ends of the first rotating motor 7, the hip joint assembly 8 is rotatably arranged on the upper base 33 of the mechanical arm, the thigh link assembly comprises an upper thigh link 21 and a lower thigh link 10, the hip joint assembly 8 is hinged with the upper thigh link 21 and the lower thigh link 10, the upper thigh link 21 is connected with the lower thigh link 10, the side hull 3 is connected with the upper thigh link 21 and the lower thigh link 10, the first push rod motor 9 is fixedly arranged on the hip joint assembly 8, the driving end of the first push rod motor 9 is connected with the upper thigh link 21, the first rotating motor 7 drives the hip joint assembly 8 to rotate left and right, and the first push rod motor 9 drives the upper thigh link 21 and the lower thigh link 10 to lift up or fall down, so as to drive the side hull 3 to lift up or fall down to cross obstacles, so that the device has a certain water surface obstacle crossing capability.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. The amphibious intelligent ship capable of crossing obstacles is characterized by comprising a main ship body, wherein a plurality of mechanical arm devices extending outwards are distributed on the periphery of the main ship body, and each mechanical arm device is correspondingly provided with a side ship body;
the mechanical arm device comprises a mechanical arm lower layer base, a mechanical arm upper layer base, a first rotating motor, a hip joint assembly, a thigh connecting rod assembly and a first push rod motor;
the mechanical arm lower layer base is fixedly arranged on the peripheral side of the main ship body;
the mechanical arm upper layer base is arranged on the mechanical arm lower layer base;
the first rotating motor is fixedly arranged on the hip joint assembly, a penetrating driving end of the first rotating motor is connected with the upper layer base of the mechanical arm, the hip joint assembly is rotatably arranged on the upper layer base of the mechanical arm and is hinged with the thigh connecting rod assembly, and the thigh connecting rod assembly is connected with the side ship body;
the first push rod motor is fixedly arranged on the hip joint assembly, the driving end of the first push rod motor is connected with the thigh connecting rod assembly, and the first rotating motor drives the hip joint assembly to rotate left and right;
the first push rod motor drives the thigh connecting rod assembly and the side ship body to lift up or fall down so as to cross the barrier.
2. The amphibious intelligent ship capable of crossing the obstacle according to claim 1, wherein the robot arm device further comprises a knee joint component, a second push rod motor and a shank link assembly, the knee joint component is fixedly arranged on the thigh link assembly, the knee joint component is hinged to the shank link assembly, the shank link assembly is connected with the side ship body, the second push rod motor is fixedly arranged on the knee joint component, a driving end of the second push rod motor is connected with the shank link assembly, and the second push rod motor drives the shank link assembly and the side ship body to extend or retract.
3. The amphibious intelligent boat capable of climbing over obstacles according to claim 2, wherein the mechanical arm device further comprises an ankle joint component, a second rotating motor and a propeller corresponding to the side boat bodies, the ankle joint component is connected with the shank link assembly, the second rotating motor is fixedly arranged on the ankle joint component, a penetrating driving end of the second rotating motor is connected with the side boat bodies, the propeller is arranged at the bottoms of the side boat bodies, and the second rotating motor drives the side boat bodies to rotate.
4. The amphibious smart boat of claim 1, wherein the main hull comprises a watertight box and a side frame disposed between the lower mechanical arm bases, the watertight box being disposed on the side frame, and the side frame being connected to the lower mechanical arm bases.
5. The amphibious intelligent boat capable of climbing over obstacles according to claim 1, wherein the side boat body comprises a first semi-floating body, a second semi-floating body, a plurality of carbon fiber pipes and a structural support, the first semi-floating body and the second semi-floating body are connected to form a hollow boat hull structure, each carbon fiber pipe in the plurality of carbon fiber pipes is arranged in the hollow boat hull structure and connected with the first semi-floating body and the second semi-floating body, and the structural support is arranged on the carbon fiber pipes.
6. The amphibious intelligent vessel capable of crossing over obstacles of claim 5, wherein two support rods are arranged on the carbon fiber pipe, the support rods penetrate through the first semi-floating body or the second semi-floating body, and each support rod is provided with a support foot.
7. The amphibious intelligent boat capable of climbing over an obstacle according to claim 1, further comprising a torque sensor and a push-pull force sensor, wherein the torque sensor is disposed at one end of the first rotating motor, which penetrates through the driving end, and is connected to the upper base of the mechanical arm, and the push-pull force sensor is disposed on the upper base of the mechanical arm.
8. The amphibious intelligent boat capable of climbing over obstacles of claim 4, further comprising a controller, an inertial sensor and a control board, wherein the controller and the inertial sensor are arranged in the waterproof box, the controller is respectively connected with the inertial sensor and the control board, and the control board is arranged in the side boat body.
9. The amphibious intelligent vessel capable of crossing obstacles of claim 2, wherein the knee joint assembly is further provided with a first encoder and a second encoder.
10. The amphibious intelligent boat capable of climbing over obstacles according to claim 4, wherein a hook is arranged below the waterproof box, and a lifting platform is arranged on the waterproof box.
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| CN202210842053.2A CN115303427A (en) | 2022-07-18 | 2022-07-18 | Amphibious intelligent ship capable of crossing barrier |
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