CN114771176B - A bionic ray-like amphibious robot - Google Patents

Abstract

The invention belongs to the field of amphibious robots, and discloses a bionic ray amphibious robot, which comprises a chassis assembly, a fin leg linkage telescopic mechanism and a fluctuation fin, wherein the fin leg linkage telescopic mechanism is arranged on the chassis assembly; the chassis assembly consists of a bottom plate and a motor, the motor is arranged on the bottom plate through a support, and a driving gear is arranged on an output shaft of the motor; the fin leg linkage telescopic mechanism is set to be 2n groups, n is a natural number and is symmetrically arranged left and right relative to the bottom plate, and the fin leg linkage telescopic mechanism consists of a driving gear, a base, an electric push rod, a fin swing arm and a fin vertical leg, wherein the fin swing arm is arranged on the base through a mounting block, the base is arranged on the bottom plate, the electric push rod and the fin vertical leg are both arranged on the fin swing arm, and the fin swing arm is connected with the driving gear which is meshed and driven with a driving gear of a motor; the driving gear is driven by the driving gear of the motor to drive the fin swing arm to do up-and-down swing motion, and the electric push rod drives the fin swing arm to stretch and draw the fin vertical leg. The invention has small volume, light weight and flexible action, can adapt to amphibious state and can walk on complex land terrain.

Description

A bionic ray-like amphibious robot

Technical Field

The invention belongs to the field of amphibious robots, and in particular relates to a bionic ray amphibious robot.

Background technique

At present, common underwater thrusters all use propellers as propulsion devices, which have many disadvantages such as high energy consumption, large size, and poor maneuverability. In addition to the ocean, the natural environment on land is complex and changeable, and robots with ground mobility are also playing an increasingly important role. However, most robots can only move in a single environment. For example, land robots cannot move underwater because they do not have underwater thrusters, and most underwater robots do not have land mobility. Bionic amphibious robots can play a huge role in underwater/ground operations in complex environments, underwater archaeology, underwater/ground target observation, surveying and rescue, etc.

Invention patent CN202111108658.0 discloses "a flexible undulating fin bionic submersible". The mechanical structure of the invention adopts a servo-connecting rod-bionic undulating fin connection method. The flexible undulating fin on each side is connected to the output end of each servo on that side through a connecting rod mechanism. The swing of the servo is controlled by a digital wave surface controller, and finally the various movements of the submersible are realized. Its structure is complex and it does not have the function of walking on land.

The existing amphibious bionic manta ray submersibles move in a wave motion process both underwater and on land. In particular, they move forward on land by relying on the friction between the flexible wave fins and the ground. Their motion performance is poor and is greatly affected by the ground conditions. In particular, it is difficult to complete the motion process smoothly on complex land terrain.

Summary of the invention

In view of this, the purpose of the present invention is to provide a bionic manta ray amphibious robot, which is based on the current bionic amphibious robot and overcomes the shortcomings of propeller underwater thrusters such as high noise and high energy consumption, while improving the adaptability of the bionic manta ray amphibious robot to complex ground environments.

To achieve the above object, the present invention provides the following technical solutions:

The invention provides a bionic manta ray amphibious robot, comprising a chassis assembly, a fin-leg linkage telescopic mechanism arranged on the chassis assembly, and an undulating fin covering the fin-leg linkage telescopic mechanism; the chassis assembly consists of a bottom plate and a motor, the motor is arranged on the bottom plate through a support, and the number of the motors is equal to the number of the fin-leg linkage telescopic mechanism, and a driving gear is arranged on the output shaft of a single motor; the fin-leg linkage telescopic mechanism is set as 2n groups, n is a natural number, and is arranged in a left-right symmetric manner relative to the bottom plate, and consists of a driving gear, a base, an electric push rod, a fin swing arm, and a fin standing leg, the fin swing arm is arranged on the base through a mounting block, the base is arranged on the bottom plate, the electric push rod and the fin standing leg are both arranged on the fin swing arm, and the fin swing arm is connected with a driving gear meshing with the driving gear of the motor for transmission; the driving gear of the motor drives the driving gear to drive the fin swing arm to swing up and down, and the electric push rod drives the fin swing arm to extend and retract while driving the fin standing leg to retract and expand.

Furthermore, the fin swing arm is composed of a fin front arm and a fin rear arm which are hingedly connected, and the electric push rod is fixed on the fin rear arm and acts on the fin front arm; the fin front arm is a scissor-type telescopic structure; the fin rear arm adopts a multi-link structure, which is composed of a connecting rod shaft, a driven gear, a vertical short rod, a right-angle connecting rod, a grooved connecting rod and a connecting rod, and a connecting rod shaft and a connecting rod arranged in parallel up and down are arranged on the mounting block, and the long side of the right-angle connecting rod and the end away from its corner are rotatably matched with the connecting rod shaft, and the long side of the right-angle connecting rod and the end close to its corner are hinged with a vertical short rod, and the other end of the vertical short rod is hinged with a grooved connecting rod, and the other end of the grooved connecting rod is rotatably matched with the connecting rod; the driving gear is arranged on the connecting rod shaft; the driven gear is arranged on the long side of the right-angle connecting rod and meshes with the driving gear for transmission; the driven gear is provided with a protrusion on the corresponding surface facing the grooved connecting rod, which is slidably matched with the strip groove on the grooved connecting rod.

Furthermore, the scissor-type telescopic structure of the fin front arm is composed of a main long scissor rod, multiple secondary long scissor rods, and three short scissor rods. The middle part of the main long scissor rod is hingedly connected to the corner of the right-angle connecting rod, and a short scissor rod is also hingedly connected to the middle hinge point of the main long scissor rod. The fin front arm is provided with two short scissor rods hinged at their respective ends at the far end away from the fin rear arm. The main long scissor rod and the single short scissor rod hinged thereto are respectively connected to the two short scissor rods through at least one group of secondary long scissor rods in a cross-type.

Furthermore, the fin leg is composed of a leg support rod and a leg locking slider. The leg support rod is hingedly connected to the short side end of the right-angle connecting rod. The leg locking slider is sleeved on the leg support rod and hingedly connected to the free end of the main long scissors rod.

Furthermore, a flexible leg suction cup is provided at the far end of the leg support rod away from its hinge point.

Furthermore, a single set of fin-leg linkage telescopic mechanism includes at least two parallel arranged fin swing arms, and a single fin swing arm is provided with an electric push rod and a fin standing leg, and multiple fin swing arms share the same set of base, mounting block, connecting rod shaft and connecting rod.

Furthermore, the phase angles of the multiple fin swing arms provided in the multiple sets of fin-leg linkage telescopic mechanisms or the single set of fin-leg linkage telescopic mechanisms are the same or different.

Furthermore, the undulating fin as a whole covers a plurality of groups of fin-leg linkage telescopic mechanisms, or the undulating fin is arranged on a single group of fin-leg linkage telescopic mechanisms; the undulating fin is made of silicone material.

Furthermore, a shell and a water tank are arranged on the chassis assembly, and the shell covers the water tank, and the fin swing arm and the fin standing leg of the fin-leg linkage telescopic mechanism extend out of the shell.

Furthermore, the support and the base are both slidably connected to the bottom plate via guide rails.

The beneficial effects of the present invention are:

The bionic manta ray amphibious robot mentioned in the present invention is composed of a shell, a silicone wave fin, a chassis assembly and a fin-leg linkage telescopic mechanism. The chassis assembly outputs power through a driving motor to drive the swinging movement of the fin-leg linkage telescopic mechanism; the fin-leg linkage telescopic mechanism mainly realizes the state of reciprocating up and down swinging, and the fins on the same side are staggered in sequence according to the different initial phases, so as to realize the up and down swinging of the fins to achieve the effect of swimming in the water; and the electric push rod realizes the conversion between the underwater swimming state and the land crawling state, achieving the purpose of amphibious movement.

The bionic manta ray amphibious robot mentioned in the present invention has the characteristics of small size, low noise, light weight, flexible movement, and most importantly, it can adapt to the amphibious state and can walk on complex land terrain, with strong adaptability. The robot can play a huge role in underwater/ground operations in complex environments, underwater archaeology, underwater/ground target observation, survey and rescue, etc.

Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

FIG1 is a schematic diagram of the overall structure of the bionic ray amphibious robot of the present invention (without the housing);

FIG2 is a schematic cross-sectional view of the shell of the bionic manta ray amphibious robot of the present invention;

FIG3 is a schematic diagram of the chassis assembly structure of the bionic manta ray amphibious robot of the present invention;

FIG4 is a schematic diagram of the swimming state of the fin-leg linkage telescopic mechanism of the bionic manta ray amphibious robot of the present invention;

FIG5 is a schematic diagram of a crawling state of the fin-leg linkage telescopic mechanism of the bionic manta ray amphibious robot of the present invention;

Figure numerals: shell 1, chassis assembly 2, fin-leg linkage telescopic mechanism 3, wave fin 4, water tank 5; bottom plate 21, driving gear 22, support 23, motor 24; connecting rod shaft 301, active gear 302, driven gear 303, vertical short rod 304, electric push rod 305, main long scissor rod 306, secondary long scissor rod 307, short scissor rod 308, right-angle connecting rod 309, leg support rod 310, leg locking slider 311, grooved connecting rod 312, base 313, connecting rod 314, mounting block 315, leg flexible suction cup 316, strip groove 317, protrusion 318.

Detailed ways

The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the accompanying drawings may be omitted.

As shown in Fig. 1-5, a bionic ray amphibious robot in this embodiment mainly involves a shell 1, an undulating fin 4, a water tank 5, a chassis assembly 2 and a fin-leg linkage telescopic mechanism 3. Among them, the shell 1 is embedded with a ballast water tank 5 with a total volume of 1.2 liters. The shell 1, the water tank 5 and the fin-leg linkage telescopic mechanism 3 are all installed on the chassis assembly 2, and the undulating fin 4 is covered on the fin-leg linkage telescopic mechanism 3. The chassis assembly consists of a base plate 21 and a motor 24. The motor 24 is arranged on the base plate 21 through a support 23, and the number of the motors 24 is equivalent to the number of the fin-leg linkage telescopic mechanism 3. A driving gear 22 is arranged on the output shaft of a single motor 24; the fin-leg linkage telescopic mechanism 3 is set to 2n groups, n is a natural number, and is arranged symmetrically with respect to the base plate 21. In this example, a four-group structure is adopted, which consists of a driving gear 302, a base 313, an electric push rod 305, a fin swing arm, and a fin standing leg. The fin swing arm is arranged on the base 313 through a mounting block 315, and the base 313 is arranged on the base plate 21. The support 23 and the base 313 are both slidably connected to the base plate 21 through a guide rail (not marked) to facilitate installation and disassembly. The electric push rod 305 and the fin legs are both arranged on the fin swing arm, and the fin swing arm is connected to the driving gear 302 that meshes with the driving gear 22 of the motor 24 for transmission; in this way, the driving gear 22 of the motor 24 can drive the driving gear 302 to drive the fin swing arm to swing up and down, and the electric push rod 305 drives the fin swing arm to retract and extend while driving the fin legs to retract and expand.

Specifically, the fin swing arm is composed of a fin front arm and a fin rear arm which are hingedly connected. The electric push rod 305 is fixed on the fin rear arm and acts on the fin front arm. The fin rear arm adopts a multi-link structure, which is composed of a connecting rod shaft 301, a driven gear 303, a vertical short rod 304, a right-angle connecting rod 309, a grooved connecting rod 312 and a connecting rod 314. The connecting rod shaft 301 and the connecting rod 314 are arranged in parallel up and down on the mounting block 315. The right-angle connecting rod 309 only has a noun term, and there is no angle limitation on its corner, that is, the right-angle connecting rod is L-shaped, and its corner can be acute, right or obtuse, as long as it conforms to the design structure. Its long side and one end away from its corner rotates with the connecting rod shaft 301 The right-angle connecting rod 309 is dynamically matched, and its rotational match is a rotation with a certain phase angle. The long side of the right-angle connecting rod 309 and one end close to its corner is hinged with a vertical short rod 304, and the other end of the vertical short rod 304 is hinged with a grooved connecting rod 312. The other end of the grooved connecting rod 312 is rotationally matched with the connecting rod 314, and the rotational match is a rotation with a certain phase angle between the two; the driving gear 302 is arranged on the connecting rod shaft 301; the driven gear 303 is arranged on the long side of the right-angle connecting rod 309, and meshes with the driving gear 302 for transmission; the driven gear 303 is provided with a convex block 318 on the corresponding surface facing the grooved connecting rod 312, which is slidably matched with the strip groove 317 provided on the grooved connecting rod 312. The fin front arm adopts a scissor-type telescopic structure, which consists of a main long scissor rod 306, multiple secondary long scissor rods 307, and three short scissor rods 308. The middle part of the main long scissor rod 306 is hingedly connected to the corner of the right-angle connecting rod 309, and a short scissor rod 308 is also hingedly connected to the middle hinge point of the main long scissor rod 306. The fin front arm is provided with two short scissor rods 308 hinged at their respective ends at the far end away from the fin rear arm. The main long scissor rod 306 and the single short scissor rod 308 hinged thereto are respectively connected to the two short scissor rods 308 through at least one group of secondary long scissor rods 307 in a cross-type. The fin leg is composed of a leg support rod 310 and a leg locking slider 311. The leg support rod 310 is hingedly connected to the short side end of the right-angle connecting rod 309. The leg locking slider 311 is mounted on the leg support rod 310 and hingedly connected to the free end of the main long scissor rod 306. A leg flexible suction cup 316 is arranged at the far end of the leg support rod 310 away from its hinge point.

With the above structure, the chassis 21 is connected to two supports 23 for mounting motors 24 by bolts, and the four motors 24 are fitted on the supports 23. The four driving gears 22 are respectively fixedly connected to the output shafts of the corresponding motors 24 to drive the swinging movement of the fin-leg linkage telescopic mechanism 3. There are four groups of fin-leg linkage telescopic mechanisms 3, which are driven to swing by four driving gears 22 respectively. Since the connection relationship and working process of the four groups are the same, one group of the mechanism is taken as an example: two driving gears 302 are fixedly connected to a connecting rod shaft 301 to form a group, which is supported by the base 313. The driving gear 22 is directly meshed with one driving gear 302 in the group, driving the two driving gears 302 to rotate, and the two driven gears 303 are meshed with the two driving gears 302; one end of the grooved connecting rod 312 is matched with the base 313, and the strip groove 317 thereof is matched with the protrusion 318 on the driven gear 303, and the other end is connected to one end of the vertical short rod 304 through the parent and child nails. The other end of the vertical short rod 304 is connected to the middle of the long side of the right-angle connecting rod 309 through a parent-child nail; the head end of the long side of the right-angle connecting rod 309 cooperates with the connecting rod shaft 301 on the base 313, the middle right-angle end is connected to the main long scissor rod 306, a short scissor rod 308 and the electric push rod 305 through a parent-child nail, and the tail end of the short side is connected to the leg support rod 310 through a parent-child nail; the end of the leg support rod 310 is hinged to the leg flexible suction cup 316; the rod body of the leg support rod 310 cooperates with the locking leg slider 311, and the locking leg slider 311 is connected to the special long scissor rod One end of 306 is connected by a parent-child nail. When the special long scissor rod 306 rotates with the middle right-angle end of the right-angle connecting rod 309 as the axis, the locking leg slider 311 will slide relative to the leg support rod 310. At the same time, the leg support rod 310 will rotate with the short end of the right-angle connecting rod 309 as the axis. The other end of the main long scissor rod 306 is connected to a secondary long scissor rod 307 by a parent-child nail. The middle hole of the main long scissor rod 306 is connected to the right-angle connecting rod 309, the electric push rod 305 and a short scissor rod 308 by the parent-child nail and ensure that the hole is opened to this The length of the end is the same as that of the short scissor rod 308; the length of the auxiliary long scissor rod 307 is twice that of the short scissor rod 308, and the long and short scissor rods are combined into a rhombus shape as shown in the figure through the parent-child nail connection, that is, there are three groups of long fins and two groups of short fins, which require six auxiliary long scissor rods 307 and six short scissor rods 308 to be combined; one end of the electric push rod 305 is hinged to the right-angle connecting rod 309, and the other end is hinged to the middle hole of the auxiliary long scissor rod 307 shared by the first and second groups of rhombuses, and the middle part is hinged to the right-angle connecting rod 309, a short scissor rod 308 and the main long scissor rod 306.

When working, a ballast water tank 5 of a certain volume is added to the inside of the shell 1. Referring to the floating and sinking principle of submarines, by discharging and filling a certain volume of water, the amphibious manta ray robot can freely float or sink in the water; the undulating fin 4 is made of silica gel, connected with the fin-leg linkage telescopic mechanism 3, and moves forward in the same way as the waving propulsion mode of the manta ray flexible fin; the chassis assembly 2 outputs power through the motor 24 to drive the rotation of the driving gear 302 in the fin-leg linkage telescopic mechanism 3; and when the fin-leg linkage telescopic mechanism 3 is in the underwater swimming state, the driving gear 302 rotates and drives the driven gear 303 to rotate together, and at the same time, the protrusion 318 fixed on the driven gear 3 slides in the strip groove 317 of the grooved connecting rod 312, thereby driving the rear arm of the fin of the multi-link structure to realize the reciprocating swinging state up and down. This invention has a total of four mechanisms, two on the left and two on the right. The swinging directions of the symmetrical fins on the left and right sides are the same, and the swinging directions of the fins on the same side are staggered in sequence according to the different initial phases, so as to realize the up and down swinging of the fins to achieve the effect of swimming in the water. The direction of the fin swing is determined by the initial installation position of the fin, i.e., the initial phase. When the fin-leg linkage telescopic mechanism 3 is converted from the underwater swimming state to the land crawling state, the electric push rod 305 is the active part. When it is retracted, the leg support rod is extended, which is the land crawling state, and when it is extended, the leg support rod is retracted, which is the underwater swimming state; when the fin-leg linkage telescopic mechanism 3 is in the land crawling state, its swinging motion is consistent with the underwater swimming state, and the difference is that the extension of the leg support rod 310 makes the swinging motion drive the lifting and landing of the legs, so that the robot can move laterally on land.

In this embodiment, the single-group fin-leg linkage telescopic mechanism includes at least two parallel fin swing arms, and a single fin swing arm is provided with an electric push rod and a fin standing leg, and multiple fin swing arms share the same group of base 313, mounting block 315, connecting rod shaft 301 and connecting rod 314. In this way, multiple rows of parallel fin swing arms can be driven by one motor to extend their length. At the same time, the phase angles of multiple fin swing arms provided in multiple groups of fin-leg linkage telescopic mechanisms 3 or a single group of fin-leg linkage telescopic mechanisms 3 are the same or different. To adapt to different floating needs.

The waving fins 4 in this embodiment can integrally cover multiple groups of fin-leg linkage telescopic mechanisms 3 on one side or both sides of the bottom plate, or can be provided on a single group of fin-leg linkage telescopic mechanisms 3; both can achieve a swinging floating effect, and the waving fins 4 are made of silicone material and are used for floating.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims (9)

1. The bionic ray amphibious robot is characterized by comprising a chassis assembly (2), a fin leg linkage telescopic mechanism (3) arranged on the chassis assembly and a fluctuation fin (4) covered on the fin leg linkage telescopic mechanism;

the chassis assembly consists of a bottom plate (21) and motors (24), wherein the motors are arranged on the bottom plate through supports (23), the number of the motors is equal to that of fin leg linkage telescopic mechanisms, and a driving gear (22) is arranged on an output shaft of a single motor;

The fin leg linkage telescopic mechanism is set to be 2n groups, n is a natural number and is symmetrically arranged left and right relative to the bottom plate, the fin leg linkage telescopic mechanism consists of a driving gear (302), a base (313), an electric push rod (305), a fin swing arm and a fin vertical leg, the fin swing arm is arranged on the base through a mounting block (315), the base is arranged on the bottom plate, the electric push rod and the fin vertical leg are both arranged on the fin swing arm, and the fin swing arm is connected with the driving gear which is meshed and driven with a driving gear of a motor; the driving gear is driven by the driving gear of the motor to drive the fin swing arm to do up-and-down swing motion, and the electric push rod drives the fin swing arm to stretch and draw the fin vertical leg at the same time;

The fin swing arm consists of a fin front arm and a fin rear arm which are connected in a hinged manner, and the electric push rod is fixed on the fin rear arm and acts on the fin front arm; the fin forearm is of a scissor type telescopic structure; the fin rear arm adopts a multi-link structure and consists of a link shaft (301), a driven gear (303), a vertical short rod (304), a right-angle link (309), a grooved link (312) and a connecting rod (314), wherein the link shaft and the connecting rod which are arranged in parallel up and down are arranged on the mounting block, one end of the long side of the right-angle link, which is far away from the corner of the long side, is in rotary fit with the link shaft, one end of the long side of the right-angle link, which is close to the corner of the long side, is hinged with the vertical short rod, the other end of the vertical short rod is hinged with the grooved link, and the other end of the grooved link is in rotary fit with the connecting rod; the driving gear is arranged on the connecting rod shaft; the driven gear is arranged on the long side of the right-angle connecting rod and meshed with the driving gear for transmission; the driven gear is provided with a lug (318) which is in sliding fit with a strip-shaped groove (317) arranged on the grooved connecting rod on the corresponding surface facing the grooved connecting rod.

2. The bionic ray amphibious robot according to claim 1, wherein the scissor fork type telescopic structure of the fin front arm is composed of a main long scissor bar (306), a plurality of auxiliary long scissor bars (307) and three short scissor bars (308), the middle of the main long scissor bar is hinged with the corner of the right-angle connecting rod, a short scissor bar is hinged at the middle hinge point of the main long scissor bar, the fin front arm is arranged at the far end far from the fin rear arm and is hinged with two short scissor bars at the end parts of the fin front arm, and the main long scissor bar and a single short scissor bar hinged with the main long scissor bar are respectively connected with the two short scissor bars through at least one group of auxiliary long scissor bars which are in an intersecting fork type.

3. The bionic ray amphibious robot according to claim 2, wherein the fin vertical leg consists of a leg supporting rod (310) and a leg locking sliding block (311), the leg supporting rod is hinged with the short side end of the right-angle connecting rod, and the leg locking sliding block is sleeved on the leg supporting rod and is hinged with the free end of the main long shear cutter rod.

4. A bionic ray amphibious robot according to claim 3, wherein the leg support bar is provided with a leg flexible suction cup (316) at a distal end facing away from its hinge point.

5. The bionic ray amphibious robot according to any one of claims 1 to 4, wherein the single-group fin leg linkage telescopic mechanism comprises at least two fin swing arms which are arranged in parallel, an electric push rod and a fin vertical leg are arranged on the single fin swing arm, and a plurality of fin swing arms share the same group of base, mounting block, connecting rod shaft and connecting rod.

6. The bionic ray amphibious robot according to claim 5, wherein the phase angles of a plurality of fin swing arms arranged in the plurality of fin leg linkage telescopic mechanisms or the single fin leg linkage telescopic mechanism are the same or different.

7. The bionic ray amphibious robot according to claim 6, wherein the wave fin integrally covers a plurality of groups of fin leg linkage telescopic mechanisms or a single group of fin leg linkage telescopic mechanisms is provided with wave fins; the fluctuation fin is made of silica gel.

8. The bionic ray amphibious robot according to claim 7, wherein the chassis assembly is provided with a shell (1) and a water tank (5), the shell covers the water tank, and the fin swing arm and the fin vertical leg of the fin leg linkage telescopic mechanism extend out of the shell.

9. The bionic ray amphibious robot according to claim 1, wherein the support and the base are both in sliding connection with the base plate through guide rails.