CN117021857A - Composite bionic amphibious robot - Google Patents

Abstract

The invention relates to the technical field of robots, and provides a composite bionic amphibious robot. The robot comprises a body, a steering engine, a plurality of fluctuation fins and universal wheels; the steering engine is characterized in that the body is of an axisymmetric structure, a plurality of steering engines are axisymmetrically connected to two sides of the body respectively, and the universal wheels are arranged at the bottom of the body; the fluctuation fin comprises a plurality of fin bones, fin faces and a snake-shaped mechanism, the head ends of the fin bones are connected with a rudder disc of the steering engine, the edge ends of the fin bones are connected with the snake-shaped mechanism, and the bone bodies of the fin bones are connected with the fin faces at equal intervals. The invention realizes amphibious function and underwater overturning function, has small internal stress, small lateral force, lower propulsion power consumption of the whole robot, strong structural stability of the system and long service life.

Description

Composite bionic amphibious robot

Technical Field

The invention relates to the technical field of robots, in particular to a composite bionic amphibious robot.

Background

The cross-medium amphibious robot is unmanned marine equipment which integrates the characteristics of a land robot and an underwater vehicle, has the capability of executing tasks in complex amphibious environments such as swamps, coasts, islands and the like, and has wide application in the fields of marine resource exploration, submarine pipeline overhaul, marine environment protection, marine island and submerged reef topography observation, sea chart drawing, military reconnaissance and the like. However, most amphibious robots mostly adopt propellers for propulsion, which generally have the defects of low energy utilization rate, large power consumption, large volume and mass, poor maneuverability, large noise and environmental disturbance and large interference to surrounding organisms, and a plurality of sets of propulsion systems are often required to be equipped at the same time, and the propulsion systems are switched during medium-crossing operation, so that the movement performance and reliability of the amphibious robots are also affected.

Amphibious organisms in nature have been endowed with excellent environmental adaptation and extraordinary exercise ability through long natural evolution. The device has the characteristics of high propulsion efficiency, good maneuverability, low noise, environmental friendliness and the like. Therefore, the bionic-based amphibious robot has received a great deal of attention. The bionic technology is based on a concept obtained by simulating the appearance, the movement mode and the behavior of natural living things, and the integrated propulsion means that the amphibious robot can realize the operation tasks under different media only by being provided with one set of propulsion system.

The typical characteristics of the robot based on the bionic fluctuation fin are simple structure, low power consumption, low speed and high maneuverability and the like. The wave fin is a typical fish propulsion structure, and an amphibious robot based on the wave fin does not exist in nature, but through specific configuration design and material selection, the amphibious bionic robot based on the wave fin can be developed, and the amphibious bionic robot not only has the advantages of fishes propelled by the wave fin in nature, but also has super-strong medium-crossing motion capability.

In various robots related to bionic fluctuation fin amphibious, the amphibious function is realized by increasing the hardness and thickness of the fluctuation fin surface so as to enable the fluctuation fin surface to have certain rigidity, but the amphibious function is realized by directly thickening the fin surface or improving the fin surface hardness so as to increase land load, larger internal stress can be caused, and the fin bar and a motor shaft are subjected to large lateral force, so that the stability of the whole system is reduced, the damage is easy, the service life is reduced, the propulsion power consumption of the robot is greatly increased, in addition, the robot adopting the fluctuation fin is difficult to realize road obstacle crossing, the course is changed by underwater overturning, and the whole maneuverability is limited.

Disclosure of Invention

The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides the composite bionic amphibious robot.

The invention provides a composite bionic amphibious robot, comprising: the device comprises a body, a steering engine, a universal wheel and a plurality of fluctuation fins;

the steering engine is characterized in that the body is of an axisymmetric structure, a plurality of steering engines are axisymmetrically connected to two sides of the body respectively, and the universal wheels are arranged at the bottom of the body;

the fluctuation fin comprises a plurality of fin bones, fin faces and a snake-shaped mechanism, the head ends of the fin bones are connected with a rudder disc of the steering engine, the edge ends of the fin bones are connected with the snake-shaped mechanism, and the bone bodies of the fin bones are connected with the fin faces at equal intervals.

According to the composite bionic amphibious robot provided by the invention, the phase angle difference between two adjacent fin bones is 90 degrees.

According to the composite bionic amphibious robot provided by the invention, four universal wheels are arranged, wherein two universal wheels are arranged at the bottom of the front end of the body in parallel, and the other two universal wheels are arranged at the bottom of the rear end of the body.

According to the composite bionic amphibious robot provided by the invention, the fin comprises two fin bars, the fin bars are of semi-cylindrical structures, and the cambered surfaces of the semi-cylindrical structures of the fin bars are connected with the fin surfaces.

According to the composite bionic amphibious robot provided by the invention, the fin surface is made of silica gel, the snake-shaped mechanism is made of silica gel, and the fin bone is made of carbon fiber.

According to the composite bionic amphibious robot provided by the invention, the connection position of the snake-shaped mechanism and the fin surface is provided with the transition fillet, and the edge end of the fin bone is connected with the snake-shaped mechanism through being meshed with the transition fillet.

According to the composite bionic amphibious robot provided by the invention, the steering engine is a waterproof steering engine.

According to the composite bionic amphibious robot, the amphibious function and the underwater overturning function are realized through the composite bionic fins formed by the fin bones, the fin surfaces and the edge serpentine mechanisms, the internal stress is small, the lateral force is small, the propulsion power consumption of the whole robot is low, in addition, the structural stability of the system is strong, and the service life is long.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a composite bionic amphibious robot provided by an embodiment of the invention.

Fig. 2 is a schematic diagram of a wave fin structure in a composite bionic amphibious robot according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a fin bone structure in a wave fin of a composite bionic amphibious robot according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a land walking form of the composite bionic amphibious robot at the time t=0 according to the embodiment of the invention.

Fig. 5 is a schematic diagram of a land walking form of the composite bionic amphibious robot at the time t=1/4T according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of an obstacle surmounting process of the composite bionic amphibious robot provided by the embodiment of the invention.

Fig. 7 is a schematic diagram of an underwater navigation process of the composite bionic amphibious robot provided by the embodiment of the invention.

Fig. 8 is a schematic diagram of an underwater overturning process of the composite bionic amphibious robot provided by the embodiment of the invention.

Reference numerals:

1. a body; 2. steering engine; 3. a fin bone; 4. a fin surface; 5. a serpentine mechanism; 6. and a universal wheel.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.

In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Embodiments of the present invention are described below with reference to fig. 1 to 8.

The invention provides a composite bionic amphibious robot, comprising: the steering engine comprises a body 1, a steering engine 2, a universal wheel 6 and a plurality of fluctuation fins;

the steering engine is characterized in that the body 1 is of an axisymmetric structure, a plurality of steering engines 2 are axisymmetrically connected to two sides of the body 1 respectively, and universal wheels 6 are arranged at the bottom of the body 1;

the fluctuation fin comprises a plurality of fin bones 3, a fin surface 4 and a snake-shaped mechanism 5, wherein the head end of the fin bones 3 is connected with a steering wheel of the steering engine 2, the edge end of the fin bones 3 is connected with the snake-shaped mechanism 5, and the bone bodies of the fin bones 3 are equidistantly connected to the fin surface 4.

In some embodiments, waterproof steering engine is fixed in robot body both sides through bolted connection, every side is 10 for provide the driving force, on the steering wheel of waterproof steering engine is passed through to bolted connection to the one end of fin bone, its other end fin passes through the rivet fastening to the fin on, fin and fin face reason end serpentine mechanism adopt silica gel material, form the bionical fin of integration complex through the shaping mode of 3D printing, small-size universal wheel embeds the bottom of robot body to pass through the bolt fastening on the chassis, it is favorable to the robot to cross the barrier, prevents chassis and step or barrier direct contact and produce wearing and tearing.

The phase angle difference between two adjacent fin bones 3 is 90 °.

In some embodiments, each complete fluctuation fin is driven by 5 waterproof steering engines to drive fin bones, 5 fin bones are respectively arranged on the wave crest, the wave trough and three zero points of the complete waveform, are arranged at equal intervals, the phase angles of two adjacent fin bones are different by 90 degrees, four composite fin structures are formed on two sides of the robot in total and are used for simulating the four-foot configuration of a sea turtle, so that the flexibility of the motion of the bionic amphibious robot is improved, and functions of land obstacle surmounting, underwater overturning and the like are realized.

The universal wheels 6 are four, two of which are arranged in parallel at the bottom of the front end of the body 1, and the other two of which are arranged at the bottom of the rear end of the body 1.

The fin 3 includes two fins, the fins are in a semi-cylindrical structure, and an arc surface of the semi-cylindrical structure of the fins is connected with the fin surface 4.

The fin surface 4 is made of silica gel, the serpentine mechanism 5 is made of silica gel, and the fin bone 3 is made of carbon fiber.

In some embodiments, the wave fin is a composite bionic fin manufactured by adopting a 3D printing forming technology, and is in an arc structure, the wave fin is formed by applying pretightening force to a fin bone, the expansion process is as shown in fig. 2 (a) to fig. 2 (b), soft rubber materials are adopted instead of hard rubber, the example adopts silica gel, the fin surface simulates the fin film of a fish fin, the thickness is thin and soft, the example adopts 0.8mm, so that the internal stress of the fin surface is extremely small in the wave process, and larger lateral pulling force cannot be generated on the fin bone, so that the fin bone and a transmission mechanism connected with the fin bone are less prone to being damaged, and meanwhile, the driving power consumption of the fin bone is reduced; the pillar structure of the fin face edge end, namely the serpentine mechanism of the fin face edge end imitates a snake-shaped driving mechanism, and because the serpentine mechanism of the fin face edge end has a larger diameter relative to the fin face, the serpentine mechanism has larger rigidity, so that the robot can load forward on land to realize amphibious functions, the fin bone adopts carbon fiber with certain strength and light weight, and the two fin bars adopt semi-cylindrical structures, so that the contact with the fin face is line contact rather than traditional plane contact when the serpentine mechanism is fastened on the fin face, the integrity of waveforms of the fin face is kept as much as possible when the serpentine mechanism fluctuates, and meanwhile, the damage to the fin bone caused by unnecessary torsion force is avoided.

The connection position of the serpentine mechanism 5 and the fin surface 4 is provided with a transition fillet, and the edge end of the fin bone 3 is connected to the serpentine mechanism 5 through meshing with the transition fillet.

Further, as shown in fig. 3, the end rounded ends of the two fins are engaged and locked with the transition rounded corners from the edge-end serpentine mechanism of the fin surface to the fin surface, so that the fin bone can drive the edge-end serpentine mechanism to fluctuate.

Wherein, steering wheel 2 is waterproof steering wheel.

Further, the wave fin of the amphibious robot can generate basic actions such as forward and backward wave and up and down flapping, when 5 steering engines on a single wave fin are controlled to drive 5 fin bones to rhythmically swing, the initial phase difference is kept unchanged, the wave fin can keep harmonic wave to be propagated forwards or backwards, and when the wave is kept to be propagated, the 5 fin bones are additionally biased up and down at the same angular speed, up and down flapping actions can be generated simultaneously.

Further, as shown in fig. 4 to 5, fig. 4 is a schematic view of the movement of the amphibious robot provided by the present invention on land at time t=0, wherein the 5 fin edges of each of the wave fins are sequentially arranged at the first zero point, the trough, the second zero point, the crest and the third zero point of the complete waveform, and fig. 5 is a schematic view of the movement of the amphibious robot provided by the present invention at time t=1/4T, wherein T is a movement period, wherein the 5 heel fin edges of each of the wave fins are sequentially arranged at the crest, the first zero point, the trough, the second zero point and the crest of the complete waveform.

Further, as shown in fig. 6, the amphibious robot adopts a four-fin configuration imitating the feet of a turtle, and simultaneously cooperates with the fluctuation and the swinging motion of the fluctuation fin to realize the obstacle crossing function, and the obstacle crossing flow is illustrated by taking the step crossing as an example.

First, as shown in fig. 6 (a), the robot is normally propelled forward on land by the fluctuation fin fluctuation; when a step obstacle is encountered (as shown in (b) of fig. 6); the robot's both sides fluctuating fins are biased downward so that the robot body is lifted over the step (as shown in fig. 6 (c)); immediately after the robot biases the front pair of fins upwards, the rear pair of fins continue to advance forward (as shown in fig. 6 (d)), and at this time, the universal wheels at the bottom of the robot contact with the steps and advance driven; then, as shown in fig. 6 (e), the robot puts down the front pair of fins, the rear pair of fins is biased upwards, and the robot is driven by the front pair of fins to continue to move forward; the final robot passes over the step as shown in fig. 6 (f).

Further, as shown in fig. 7, when the amphibious robot moves under water, when the wave fin generates forward or backward propagation wave, the wave trough of the fin surface wave peak can be pushed forward or backward, so as to form a drainage action, and the robot can be pushed forward or backward due to the reaction force of water. When the wave propagation directions and wave speeds of the wave fin waveforms at the two sides of the robot are the same, the robot can move forwards or backwards; when the wave propagation directions of the wave fin waveforms at the two sides of the robot are the same, but the wave velocities are different, left-turning or right-turning movement can be generated; when the wave propagation directions of the wave fin waveforms on the two sides of the robot are opposite, but the wave velocities are the same, in-situ rotation motion can be generated.

Further, as shown in fig. 8, the robot is moving forward under the wave, and when the robot biases the front pair of fins upward, the rear pair of fins downward, and the front and rear wave fins are caused to waveWhen the direction of propagation is opposite, the front pair of fins generates a forward propulsion force with an action point on the robot mass centerThen the acting point of the fin is placed under the robot mass center, the backward propulsion force is generated +.>Thereby completing the overturning movement of the robot under water.

According to the composite bionic amphibious robot provided by the invention, the amphibious movement of the robot is realized by adopting the composite bionic fluctuation fin structure, the problems of heavy structure, complicated amphibious mode switching, large environmental disturbance, low propulsion efficiency and the like of the amphibious robot with a traditional propeller combined wheel structure are solved, and in addition, unlike the scheme that the traditional bionic fluctuation fin amphibious robot directly improves the fin surface hardness and increases the fin surface thickness, the composite bionic amphibious robot adopts the soft and thin silica gel fin surface to be combined with the fin surface edge end snake-shaped mechanism with a certain diameter, meanwhile, the fin surface edge end snake-shaped mechanism which is directly contacted with the ground maintains certain rigidity, so that the load on land can be advanced, in addition, the composite four-fin structure is adopted instead of the traditional double-fin structure, the four-foot structure of a sea turtle is simulated, the flexibility of the amphibious movement of the robot is greatly improved, the manoeuvres such as land obstacle surmounting, in-place overturning and the like can be realized, and the overall, by forming the integral composite bionic fin surface internal stress is reduced, so that the lateral force of the fin surface facing the power consumption bone is further reduced, the probability of the fluctuation propulsion of the robot is reduced, the probability of the structure damage of the whole bionic fin is reduced, and the service life of the whole robot is prolonged.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (7)

1. A composite bionic amphibious robot, comprising: the device comprises a body, a steering engine, a universal wheel and a plurality of fluctuation fins;

the steering engine is characterized in that the body is of an axisymmetric structure, a plurality of steering engines are axisymmetrically connected to two sides of the body respectively, and the universal wheels are arranged at the bottom of the body;

the fluctuation fin comprises a fin surface, a snake-shaped mechanism and a plurality of fin bones, wherein the head end of the fin bones is connected with a rudder disc of the steering engine, the edge end of the fin bones is connected with the snake-shaped mechanism, and the bones of the fin bones are equidistantly connected to the fin surface.

2. The hybrid biomimetic amphibious robot of claim 1, wherein the phase angle difference between two adjacent fin bones is 90 °.

3. The composite bionic amphibious robot according to claim 1, wherein four universal wheels are arranged, two of the universal wheels are arranged at the bottom of the front end of the body in parallel, and the other two universal wheels are arranged at the bottom of the rear end of the body.

4. The composite bionic amphibious robot according to claim 1, wherein the fin comprises two fin bars, the fin bars are of a semi-cylindrical structure, and the cambered surface of the semi-cylindrical structure of the fin bars is connected with the fin surface.

5. The composite bionic amphibious robot according to claim 1, wherein the fin surface is made of silica gel, the serpentine mechanism is made of silica gel, and the fin bone is made of carbon fiber.

6. The composite bionic amphibious robot according to claim 1, wherein a transition fillet is arranged at a connection position of the serpentine mechanism and the fin surface, and the edge end of the fin bone is connected with the serpentine mechanism through the transition fillet in a meshed manner.

7. The composite bionic amphibious robot of claim 1, wherein the steering engine is a waterproof steering engine.