CN212497760U - Multi-joint bionic robot - Google Patents
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- CN212497760U CN212497760U CN202020888909.6U CN202020888909U CN212497760U CN 212497760 U CN212497760 U CN 212497760U CN 202020888909 U CN202020888909 U CN 202020888909U CN 212497760 U CN212497760 U CN 212497760U
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Abstract
The utility model discloses a multi-joint bionic robot, which comprises a head part, a body part and a tail part which are sequentially connected and electrically connected, wherein the bottom of the body part is provided with a micro universal wheel, the body part is formed by connecting multi-body part joints in series, each body part joint is independently controlled by a micro steering engine, a steering engine power output shaft of the micro steering engine is connected on a steering engine head connecting positioning hole of an adjacent body part joint through a steering engine turntable and a screw, and a bearing placing positive positioning hole is connected with a bearing placing auxiliary positioning hole of the adjacent body part joint through a rolling bearing and a bearing connecting bolt component; the head comprises a head joint internally provided with a plurality of control units, one end of the head joint is connected with a steering engine head connecting positioning hole of the body joint, and the other end of the head joint is movably connected with a head steering engine frame; the tail part comprises a tail joint internally provided with a power supply battery, the end part of the tail joint is provided with a tail rudder rack connected with the body joint, and the tail rudder rack bears a tail steering engine. The multi-joint bionic robot has a compact structure, and is intelligent and convenient to control.
Description
Technical Field
The utility model belongs to the technical field of bionic robot, concretely relates to many joints bionic robot.
Background
At present, the multi-joint bionic robot is an active direction in the robot research field, and research, development and development of the multi-joint bionic robot become research hotspots in the bionic field, such as mechanical insects, robotic fish, mechanical crabs and the like. Snakes are a very specific organism, with a very specific form of movement; the unique motion mode of the caterpillar is unique to a special motion scene, and the caterpillar arouses the research interest of a plurality of scientists. Therefore, how to combine the bionic characteristics of snake motion and insect motion to realize multiple bionic motion gestures of a robot so as to meet the requirement that the bionic robot is suitable for complex terrain motion becomes a technical problem to be solved by technical personnel in the field.
Disclosure of Invention
To the above defect of prior art or improve the demand, the utility model provides a multi-joint bionic robot, multi-joint bionic robot compact structure, the motion is nimble, and low in manufacturing cost controls conveniently, can realize man-machine far away, closely interactive control, and the setting up of angle tilt sensor can realize the switching of worm motion and snake motion mode, realizes the multi-motion gesture, and the practicality is good.
The purpose of the utility model is to realize through the following technical scheme:
the utility model discloses a multi-joint bionic robot, which comprises a head part, a body part and a tail part which are connected in sequence and are electrically connected, the bottom of the body part is provided with a plurality of micro universal wheels, the body part is formed by connecting a plurality of body part joints in series for movement, each body part joint is independently controlled by a micro steering engine to swing, and each body joint is provided with a universal wheel positioning hole, a steering engine head connecting positioning hole, a bearing placing positioning hole and a bearing placing auxiliary positioning hole, the micro steering engine is in threaded connection with the steering engine positioning hole through a fastener and a fastening bolt, a steering engine power output shaft of the micro steering engine is connected to the steering engine head connecting positioning hole of the adjacent body joint through a steering engine turntable and a screw, the bearing placing positioning hole is connected with the bearing placing auxiliary positioning hole of the adjacent body part joint through a rolling bearing and a bearing connecting bolt component; the head comprises a head joint with a plurality of control units arranged inside, one end of the head joint is connected with the rudder handpiece connecting positioning hole of the body joint, the other end of the head joint is movably connected with a head rudder rack for bearing a head steering engine, and the end part of the rudder rack is also oppositely provided with a group of upper plates and lower plates for fixedly mounting the control units; the tail part comprises a tail joint with a power supply battery arranged inside, the end part of the tail joint is provided with a tail rudder frame connected with the body joint, and the tail rudder frame is loaded with a tail steering engine used for controlling the tail joint to swing.
Furthermore, the power supply battery is electrically connected with the miniature steering engine, the tail steering engine, the head steering engine and the control unit.
Further, the control unit includes STM32 controller, and with STM32 controller serial ports's video transmission module, human infrared sensor, sound sensor, bluetooth module, angle tilt sensor, WIFI module.
Further, the STM32 controller is disposed on the upper side of the lower plate and between the upper plate and the lower plate.
Furthermore, the miniature universal wheel is positioned at the bottom of the body joint and is connected to the universal wheel positioning hole through a bolt.
Further, the tail joint is provided with a hollow structure which is convenient for placing and replacing the power supply battery.
Further, the power supply battery is a lithium polymer battery, a lithium ion battery, a graphene battery or a nickel-chromium battery.
Compared with the prior art, the technical scheme of the utility model has following advantage:
the utility model discloses serpentine motion and the bow-shaped motion of hair caterpillar according to the snake carry out institutional advancement to articulated bionic robot, can realize articulated bionic robot's snake motion, worm motion, turn, crunch actions such as contract, hide. The utility model provides a multi-joint bionic robot compact structure, the motion is nimble, low in manufacturing cost, it is convenient to control, can realize man-machine far away, closely interactive control, and the setting of angle tilt sensor can realize worm motion and the switching of snake motion mode, realizes the multi-motion gesture, and the practicality is good, has extensive industrial application prospect.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the specific embodiments. The drawings are only for purposes of illustrating the particular embodiments and are not to be construed as limiting the invention. In the drawings:
fig. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a schematic structural view of the head joint of the present invention;
FIG. 4 is a schematic view of the body joint structure of the present invention;
FIG. 5 is a schematic view of the installation of the fastener of the present invention;
FIG. 6 is an assembly diagram of the micro steering engine on the body joint of the utility model;
FIG. 7 is an assembly view of the rolling bearing of the body joint of the present invention;
fig. 8 is a first assembly view of two adjacent body joints of the present invention;
fig. 9 is a second assembly view of two adjacent body joints of the present invention;
fig. 10 is a schematic structural view of the caudal joint of the present invention;
FIG. 11 is a control flow chart of the operation process of the present invention;
FIG. 12 is a block diagram of the system design of the present invention;
FIG. 13 is a gait chart of the movement of insects of the present invention;
FIG. 14 is a diagram of the snake movement gait of the present invention;
wherein: 10. a head portion; 11. a cephalic joint; 12. a head rudder mount; 13. an upper plate; 14. a lower plate; 20. a body part; 21. a body joint; 22. positioning holes of the universal wheels; 23. a steering engine positioning hole; 24. the steering engine head is connected with the positioning hole; 25. placing a positioning hole in the bearing; 26. placing an auxiliary positioning hole on the bearing; 30. a tail portion; 31. a caudal joint; 32. a hollow structure; 40. a micro steering engine; 41. a fastener; 42. fastening a bolt; 43. a steering engine power output shaft; 44. through a steering engine turntable; 45. a screw; 50. a rolling bearing; 51. a bearing connecting bolt assembly; a micro-castor 60.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Examples of the embodiments are illustrated in the accompanying drawings, and the specific embodiments described in the following embodiments of the present invention are merely illustrative of the specific embodiments of the present invention, and are intended to be used for explaining the present invention, and not to constitute limitations of the present invention.
The utility model provides a multi-joint bionic robot, as shown in figure 1-2, comprising a head part 10, a body part 20 and a tail part 30 which are sequentially arranged and connected with each other. As shown in fig. 4-9, the body 20 is formed by connecting a plurality of body joints 21 in series (the number of the body joints 21 in fig. 1-2 is 6), and the adjacent body joints 21 are movably or movably connected to each other, and each body joint 21 is controlled by a micro steering engine 40 to swing independently.
As shown in fig. 4, each body joint 21 is provided with a universal wheel positioning hole 22 for mounting a micro universal wheel 60, a steering engine positioning hole 23 for fixedly mounting a micro steering engine 40, a steering engine head connecting positioning hole 24 and a bearing placing positioning hole 25 for connecting two adjacent body joints 21, and a bearing placing auxiliary positioning hole 26.
As shown in fig. 5 to 6, the micro steering engine 40 is screwed on the steering engine positioning hole 23 through a fastening piece 41 and a fastening bolt 42, so that the micro steering engine 40 can be detachably fixed on the body joint 21, and the micro steering engine is convenient to install and detach.
As shown in fig. 7, a steering engine power output shaft 43 of the micro steering engine 40 is detachably connected to adjacent steering engine head connecting positioning holes 24 of the body joints 21 through a steering engine turntable 44, screws 45 and screws, that is, the steering engine head connecting positioning holes 24 of the adjacent body joints 21 are connected to the steering engine turntable 44 through the screws 45, the steering engine turntable 44 is fixed on the steering engine power output shaft 43 of the micro steering engine 40 through screws, the steering engine power output shaft 43 drives the steering engine turntable 44 to rotate through gear transmission, and the steering engine turntable 44 rotates to drive the adjacent body joints to swing, so that power transmission of the micro steering engine 40 is realized.
Fig. 7 shows that the bearing placement positioning hole 25 of the body joint 21 is detachably connected with the bearing placement auxiliary positioning hole 26 of the adjacent body joint through a rolling bearing 50 and a bearing connecting bolt assembly 51, so that the power swing output of the micro steering engine can be realized, and the next adjacent body joint is driven to move.
The structure of the assembled adjacent two body joints 21 is shown in figures 8-9.
As shown in fig. 3, the head 10 includes a head joint 11 having a plurality of control units therein, one end of the head joint 11 is connected to the steering engine head connecting positioning hole 24 of the body joint 21, the other end of the head joint 11 is movably connected to a head rudder frame 12 for fixing and supporting a head steering engine, and a group of upper and lower plates 13 and 14 for fixedly mounting the control units are disposed at the end of the head rudder frame 12.
Further, the control unit includes STM32 controller, and with STM32 controller serial ports's video transmission module, human infrared sensor, sound sensor, bluetooth module, angle tilt sensor, WIFI module. Further, the STM32 controller is disposed on the upper side of the lower plate 14 between the upper plate 13 and the lower plate 14.
As shown in fig. 10, the tail portion 30 includes a tail joint 31, and a power supply battery for supplying power to the multi-joint bionic robot is disposed inside the tail joint 31, and further, the power supply battery is a lithium polymer battery, a lithium ion battery, a graphene battery, or a nickel-chromium battery (including but not limited thereto). The end part of the tail joint 31 is provided with a tail rudder frame connected with the body joint 21, and the tail rudder frame is loaded with a tail steering engine for controlling the left and right swinging of the tail joint.
Further, the caudal joint 31 has a hollow structure 32 for conveniently placing and replacing the power supply battery.
The structure of the multi-joint bionic robot assembled by the head part 10, the body part 20 and the tail part 30 which are connected in sequence is shown in fig. 1-2, and besides the mechanical structure movable connection in sequence, the head part 10, the body part 20 and the tail part 30 are also electrically connected and transmit motion control signals through a serial bus. Further, the power supply battery 32 is electrically connected with the micro steering engine 40, the tail steering engine, the head steering engine and the control unit.
The bottom of the body part 20 is provided with a plurality of miniature universal wheels 60, so that the friction between joints of each body part and the ground is reduced, and snake-like meandering motion can be easily and flexibly realized in a bionic manner. In addition, the multi-joint bionic robot can also realize the movement of insects when turning for 90 degrees. As shown in fig. 9, the micro universal wheel 60 is further located at the bottom of the body joint 21, and the micro universal wheel 60 is connected to the universal wheel positioning hole 22 through a bolt. So that the control effect of the meandering motion is more achieved.
The utility model also discloses a control method of above-mentioned many joints bionic robot, including following step:
and step S1, embedding the insect and snake motion formula program into an STM32 controller, and calculating the rotation angles of the cephalic joint, each body joint and the caudal joint in the bow and snake motion mode.
Step S2, the video transmission module, the human body infrared sensor and the sound sensor transmit the acquired data to the STM32 controller through a serial bus, and the data are transmitted to the mobile terminal in a near-distance and long-distance mode through the Bluetooth module and the WIFI module; when the intensity of a sound signal acquired by a sound sensor exceeds a set threshold value, an STM32 controller regulates and controls the sound sensor to enter a latent mode, a head steering engine, each miniature steering engine and a tail steering engine swing 34 degrees along the same direction, a head joint, each body joint and a tail joint are coiled into a whole, and the head steering engine and the ground are in a 0-degree attachment state; after the intensity of human body sensing signals collected by the human body infrared sensor exceeds a set threshold value, the STM32 controller is regulated and controlled to enter a visual reconnaissance mode, the head steering engine drives the head joint to rotate upwards, each miniature steering engine synchronously drives each body joint to swing left and right, the video transmission module scans in a 180-degree range along with the head joint to reconnaissance the surrounding environment, and the collected video image signals are transmitted to the mobile terminal and the STM32 controller.
Step S3, after data analysis, the mobile terminal and the STM32 controller transmit the control command of the rotation angle of each joint to a head steering engine, each micro steering engine and a tail steering engine through serial ports, and correspondingly drive the head joint, each body joint and the tail joint to change the relative motion angle among the joints, so as to realize the bionic motion of insects or snakes; wherein, the insect bow-shaped motion mode is as follows: the head joint, each body joint and the tail joint move at intervals under the driving control of the head steering engine, each micro steering engine and the tail steering engine, and are sequentially transmitted to the head from the tail part to move forwards, and the circular reciprocating motion is realized; serpentine motion pattern: two body joints in the head direction are driven by the micro steering engine to conduct serpentine motion guiding, the tail joint and other body joints are driven by the tail steering engine and the micro steering engine to change relative motion angles and push forward, and the serpentine motion is achieved in a circulating reciprocating mode.
And step S4, the angle inclination sensor calculates the inclination angle by detecting the angle change in the direction vertical to the ground, and judges the current required movement gait according to the inclination angle data, thereby realizing the switching between the worm bow-shaped movement mode and the snake winding movement mode. The angle inclination sensor is used as a motion attitude sensor of the multi-joint bionic robot, the change of the inclination angle is calculated by detecting the angle change of an object in the direction vertical to the ground according to the change of the gravity direction of Newton's law, then the current attitude of the multi-joint bionic robot is judged according to the change degree, and the motion mode corresponding to the current attitude is switched. For example, when the multi-joint bionic robot is horizontal, snake-like winding motion is simulated, and a snake-like motion gait is judged and executed; when the multi-joint bionic robot turns on the side, the bow-shaped motion of the caterpillars is simulated, and the gait of the executed insects is judged, so that the multi-motion postures are adaptively realized.
The multi-joint bionic robot adopts the head steering engines, the miniature steering engines and the tail steering engines which are connected in series and are positioned on the joints of all the body parts to correspondingly serve as the actuating elements of the head joints, the joints of all the body parts and the tail joints of the bionic robot, the STM32 controller serves as a driving controller of the multi-joint bionic robot, and the multi-joint bionic robot is connected with various sensors through serial ports to realize bionic control and diversified environment monitoring.
The multi-joint bionic robot adopts a video transmission module to simulate the eyes of a person and realize the environment reconnaissance function; a human body infrared sensor is adopted to simulate the sense of a human body, so that the biological monitoring function is realized; the sound sensor is adopted to simulate the ears of a person, so that the sound monitoring function is realized; and through bluetooth module, wireless communication connection is established with mobile terminal (for example cell-phone) APP to the WIFI module, wherein, adopt bluetooth module to realize near field communication control through the cell-phone bluetooth signal, adopt the WIFI module to realize remote communication control through the cell-phone WIFI signal, thereby realize articulated bionic robot and user's interpersonal interaction function, accessible cell-phone APP carries out the processing of all kinds of environment feedback information and remote control articulated bionic robot makes the reply action, and grasp articulated bionic robot's surrounding environment in real time through mobile terminal, reach the operation requirements such as environmental investigation, rescue.
The multi-joint bionic robot shown in figures 1-2 comprises a head joint and 6 body joints (theta)1、θ2、θ3、θ4、θ5、θ6) And the caudal joint (theta)7) The system design block diagram is shown in fig. 12, and the control flow of the working process (shown in fig. 11) is as follows:
firstly, an STM32 controller of the multi-joint bionic robot judges according to detection data of an angle inclination sensor, selects a movement gait (insect movement or snake movement) corresponding to the detection data, and controls the movement angles of 6 micro steering engines and a tail steering engine to prepare for the corresponding movement gait.
Secondly, the video transmission module, the human body infrared sensor and the sound sensor transmit acquired data to the STM32 controller through a serial bus, and the data are transmitted to the mobile terminal in a near-distance and long-distance mode through the Bluetooth module and the WIFI module; after data analysis, the mobile terminal and the STM32 controller transmit the rotation angle control instructions of the joints to the head steering engine, the micro steering engines and the tail steering engine through serial ports, and correspondingly drive the head joints, the body joints and the tail joints to change the relative motion angles among the joints, so that insect or snake bionic motion is realized. Wherein:
the gait pattern of the insect is shown in fig. 13, assuming that the initial state of the gait pattern of the insect is a straight line, the whole process realizes the forward movement from the tail to the head, the tail joint keeps still after finishing the bow movement, and the 6 body joints move at intervals (theta)6、θ4）、（θ5、θ3）、（θ4、θ2）、（θ3、θ1) And 6 body joints are sequentially transferred under the control of 6 miniature steering engines and move forward in a circulating reciprocating mode.
The snake-like motion gait diagram is shown in fig. 14, the STM32 controller calculates the rotation angles of the head steering engine, each micro steering engine and the micro steering engine in the snake-like motion mode according to the embedded snake-like motion formula program and establishes the steering engine rotation angle table at each motion moment, and the tail joint (theta) is connected with the tail joint (theta) in the snake-like motion process7) And 4 body joints (theta)6、θ5、θ4、θ3) Mainly acting as a thrust, the body joint (theta)2、θ1) The body joints are guided to complete lateral movement by means of the friction force between the bottom micro universal wheel and the ground.
When the intensity of a sound signal collected by a sound sensor exceeds a set threshold value, an STM32 controller regulates and controls the bionic robot to enter a latent mode, a head steering engine, each miniature steering engine and a tail steering engine swing 34 degrees along the same direction, head joints, body joints and tail joints are curled and contracted into a whole, the head steering engines and the ground are in a 0-degree attached state, the overall structure volume of the bionic robot is reduced, and the bionic robot is difficult to find; after the intensity of human body sensing signals collected by the human body infrared sensor exceeds a set threshold value, the STM32 controller is regulated and controlled to enter a visual reconnaissance mode, the head steering engine drives the head joint to rotate upwards, each miniature steering engine synchronously drives each body joint to swing left and right, the video transmission module scans in a 180-degree range along with the head joint to reconnaissance the surrounding environment, and the collected video image signals are transmitted to the mobile terminal and the STM32 controller.
Furthermore, the multi-joint bionic robot judges and selects a movement gait corresponding to the current terrain according to the detection data of the angle inclination sensor, and the two movement gaits of snake movement and insect movement pass through a tail joint (theta)7) And 6 body joints (theta)6、θ5、θ4、θ3、θ2、θ1) The switching of the movement gait is realized, the movement is flexible, and the control is convenient.
The utility model also discloses the usage of above-mentioned many joints bionic robot, can be applied to survey rescue, pipeline maintenance and adverse circumstances survey in battlefield mine sweeping, blasting, mine and ruins with this many joints bionic robot, have extensive industrial application prospect.
To sum up, the utility model discloses according to snake's wriggling motion and the bow-shaped motion of carpenterworm carry out institutional advancement to articulated bionic robot, can realize articulated bionic robot's snake motion, worm motion, turn, crunch actions such as contract, hide. The utility model provides a multi-joint bionic robot compact structure, the motion is nimble, controls conveniently, can realize man-machine far away, closely interactive control, and the setting up of angle tilt sensor can realize the switching of worm motion and snake motion mode, realizes the multi-motion gesture, and the practicality is good, has extensive industrial application prospect.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. The present embodiments are therefore to be considered 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. In the claims, the word "comprising" does not exclude the presence of data or steps not listed in a claim.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a multi-joint bionic robot, includes head (10), body (20) and afterbody (30) that connect in proper order and electric connection, its characterized in that: the bottom of the body part (20) is provided with a plurality of miniature universal wheels (60), the body part (20) is formed by connecting a plurality of body part joints (21) in a serial connection type movement mode, each body part joint (21) is independently controlled to swing by a miniature steering engine (40), each body part joint (21) is provided with a universal wheel positioning hole (22), a steering engine positioning hole (23), a steering engine head connecting positioning hole (24), a bearing placing front positioning hole (25) and a bearing placing auxiliary positioning hole (26), the miniature steering engine (40) is in threaded connection with the steering engine positioning hole (23) through a fastening piece (41) and a fastening bolt (42), a power output shaft (43) of the miniature steering engine (40) is connected to the adjacent steering engine head connecting positioning hole (24) of the body part joint through a turntable (44) and a screw (45), the bearing placing front positioning hole (25) is connected to the steering engine head connecting positioning hole (24) of the adjacent body part joint through a rolling bearing, The bearing connecting bolt assembly (51) is connected with the bearing placing auxiliary positioning hole (26) of the adjacent body joint;
the head (10) comprises a head joint (11) with a plurality of control units arranged inside, one end of the head joint (11) is connected with the rudder handpiece connecting positioning hole (24) of the body joint (21), the other end of the head joint is movably connected with a head rudder rack (12) used for bearing a head steering engine, and a group of upper plate (13) and lower plate (14) used for fixedly mounting the control units are oppositely arranged at the end part of the rudder rack (12);
the tail part (30) comprises a tail joint (31) with a power supply battery arranged inside, the end part of the tail joint (31) is provided with a tail rudder rack connected with the body joint (21), and the tail rudder rack is loaded with a tail steering engine used for controlling the tail joint to swing.
2. The multi-joint biomimetic robot of claim 1, wherein: the power supply battery is electrically connected with the miniature steering engine (40), the tail steering engine, the head steering engine and the control unit.
3. The multi-joint biomimetic robot according to claim 2, wherein: the control unit includes STM32 controller, and with STM32 controller serial ports's video transmission module, human infrared sensor, sound sensor, bluetooth module, angle tilt sensor, WIFI module.
4. The multi-joint biomimetic robot according to claim 3, wherein: the STM32 controller is disposed on the upper side of the lower plate (14) and between the upper plate (13) and the lower plate (14).
5. The multi-joint biomimetic robot of claim 1, wherein: the miniature universal wheel (60) is positioned at the bottom of the body joint (21), and the miniature universal wheel (60) is connected to the universal wheel positioning hole (22) through a bolt.
6. The multi-joint biomimetic robot of claim 1, wherein: the tail joint (31) is provided with a hollow structure (32) which is convenient for placing and replacing the power supply battery.
7. The multi-joint biomimetic robot of claim 1, wherein: the power supply battery is a lithium polymer battery, a lithium ion battery, a graphene battery or a nickel-chromium battery.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114906301A (en) * | 2022-06-17 | 2022-08-16 | 天津大学 | Bionic underwater robot movable head device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906301A (en) * | 2022-06-17 | 2022-08-16 | 天津大学 | Bionic underwater robot movable head device |
| CN114906301B (en) * | 2022-06-17 | 2024-03-26 | 天津大学 | Movable head device of bionic underwater robot |
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