CN109649095A - A kind of bionical crocodile amphibious robot - Google Patents
A kind of bionical crocodile amphibious robot Download PDFInfo
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- CN109649095A CN109649095A CN201811543367.2A CN201811543367A CN109649095A CN 109649095 A CN109649095 A CN 109649095A CN 201811543367 A CN201811543367 A CN 201811543367A CN 109649095 A CN109649095 A CN 109649095A
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- spoke
- crocodile
- bionical
- trunk
- curved blade
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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
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Transportation (AREA)
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- Manipulator (AREA)
Abstract
The present invention relates to a kind of bionical crocodile amphibious robots, including trunk, it is set to the head of trunk front end, it is symmetrically disposed on the four limbs of trunk two sides two-by-two and is set to the tail portion of trunk rear end, four limbs, which are four, can be achieved wheel, the wheel structure of leg and paddle change in shape, wherein, wheel structure includes an inside spoke, one outside spoke and six curved blades, the central movable of inside spoke and outside spoke is installed in same root connecting shaft, every two curved blade is one group, two free ends of every group of curved blade are hingedly connected to inside spoke and outside spoke end, inside spoke is located at different planes from outside spoke, six curved blades are located at approximately the same plane, it is connected between every group of curved blade by openable and closable connection structure, after connection structure is opened, handgrip can be formed.Compared with prior art, the power and energy complicated present invention can be implemented in crawl, travelling, the diversification of transformation leg shape in complicated land and water environment.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of bionical crocodile amphibious robot.
Background technique
Amphibious robot can work under the environment of two kinds of land and water, have stronger environmental suitability, while can
Execute the ability of the complex and various tasks such as similar investigation and search.The research emphasis of such humanoid robot is to grind
Shampoo land propulsion device.
Currently both at home and abroad when designing large-scale amphibious device, the design for propulsion device is mainly push structure
Land is advanced and is installed with the simple superposition of two kinds of devices of advancing in water by simple composite." Amphibious snake-like robot is ground
System and its land and underwater gait " (publication is in " mechanical engineering journal " 5 monthly magazines in 2012), this article is described by Chinese section
The bionical Amphibious snake-like robot person of detecting III of institute's invention, by changing two direction of motor rotation and velocity of rotation
The compound of pitching and yawing rotation is realized, to realize three-dimensional gait.Patent CN104773042A discloses a kind of deformable
The amphibious robot of structure possesses six sufficient structures, by changing the angle change of vertically and horizontally swing steering engine and U-shaped frame,
Realize that land and water is advanced.But since volume is excessive, structural detail (such as: motor, route) is excessive, switches the disadvantages of relatively time-consuming,
Its design not can be used directly in small-sized amphibious robot.Therefore, the propulsion of small-sized amphibious robot is filled
The design set still needs to be innovated.
In the document delivered, Wang Tianmiao, Zhong Qiliang, Meng Gang et al. carry out amphibious machine using crocodile as bionical object
The design and optimization of people, the waist flexibility driven joint A of the bionical crocodile amphibious robot model are the main drivings of entire model
Joint, and the movement of leg is then reduced to only lift leg movement.Robot is by back and forth twisting body, and control pair when creeping
Landing for foot is answered to advance with vacantly realization；It drives the fluid of its institute's envelope to spray backward with vertebral curve when travelling, generates thrust.
The compound of propulsive mechanism in the environment of two kinds of land and water may be implemented in the robot, however its traveling mode is single, cannot flexibly cope with
The complexity and variability of environment.
In addition, patent CN 102303492A takes turns with interior outside two sides for the propulsion device of amphibious robot
Spoke, under four groups of switching devices and the structure of four variable wheel paddles, the different included angles by spoke inside and outside changing are real
The now variation of wheel, leg, paddle different motion form.By a series of angle change so that propulsion device can adapt to it is a variety of multiple
Miscellaneous land and water environment, the energy free switching traveling mode when facing varying environment, however the patent still has propulsion device list
One, the deficiencies of can not be grabbed.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems and provides a kind of bionical crocodile amphibious robot, can be flat
Switch traveling mode and crawl target in the environment of the Various Complexes land and water such as smooth or rugged ground, beach, bottom.
The purpose of the present invention is achieved through the following technical solutions:
A kind of bionical crocodile amphibious robot including trunk, the head that is set to the trunk front end, is symmetrical arranged two-by-two
In trunk two sides four limbs and be set to the tail portion of trunk rear end, the four limbs, which are four, can be achieved wheel, leg and paddle shape and becomes
The wheel structure of change, wherein the wheel structure includes an inside spoke, an outside spoke and six curved blades, institute
The central movable for stating inside spoke and outside spoke is installed in same root connecting shaft, and every two curved blade is one group, every group
Two free ends of curved blade are hingedly connected to inside spoke and outside spoke end, the inside spoke and outside spoke point
Plane that Wei Yu be not different, six curved blades are located at approximately the same plane, pass through openable and closable connection between every group of curved blade
Structure connection can form handgrip after connection structure is opened.
Further, the connection structure is made of two semi-cylindrical electromagnet, the semi-cylindrical electromagnet difference
It is connected to the end of curved blade, using electromagnetic property, is realized in the case where power on/off and is connected to opening.
Further, the semi-cylindrical electromagnet is connect by stretchable connecting band with curved blade end, described
Connecting band one end and curved blade end are affixed, and the other end is pasted with semi-cylindrical electromagnet.
Further, conducting wire is equipped with inside the curved blade, the semi-cylindrical electromagnet passes through conducting wire and external electrical
Source connection.
Further, the wheel structure passes through the connecting rod that can be rotated and is installed on the trunk of the robot,
To realize the comprehensive rotation of wheel structure, rather than this form of formula that only only couches.
Further, the connecting rod is the bulb connecting rod of Electronic control.Installation external environment perception outside robot
System (identification level land, mountainous region, beach, several landform of water body), by the sensory perceptual system to being mounted on robot body interior
Supervisory control desk transmits signal, passes through the comprehensive of the electric wire manipulation connecting rod inside the spherical arrangement after console conversion signal
It turns to.
Further, the trunk carries out main driving by being set to the waist flexibility driven joint of torso interior, described
Tail portion is driven by being set to the caudal articular process of tail inner side.
Further, the head is equipped with the handgrip opened and closed up and down, realizes crawl object and carrying function.
Further, two free ends of the curved blade are by pin-hinges in inside spoke and outside spoke end
Portion.
Further, the robot is equipped with laser radar, infrared distance measuring sensor and visual sensor.
The present invention makes full use of crocodile amphibious robot each section space, and crocodile head and wheel blades can be transformed into
Handgrip realizes preferable crawl effect；Shape by converting machine leg and the connecting rod by can be rotated change leg
Angle adapts to a variety of landform such as Plain, hillside fields, beach, especially in climbing and in terms of traveling on rugged ground
More advantage.
Compared with existing amphibious robot model, the invention has the following advantages that
(1) it may be implemented in complicated land and water environment while being advanced and being grabbed the function of capture.
(2) working environment multiplicity, hidden effect is good, and at work once being detected, foot can be become to the wheel to lie low
Son, that simulates crocodile walks about mode to screen itself.
(3) compound amphibious push structure is used, the environment robot can not only be fluctuated using tail portion under water
The method of propulsion is moved about, and foot can also be transformed into paddle, and travelling mode is flexible.
(4) multi-functional to be adapted with biggish space, the ratio in function and space is suitable.Robot of the invention itself is empty
Between it is just sufficiently large, the complicated function of crawl, travelling, the diversification of transformation leg shape can be carried.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the bionical amphibious machine of crocodile of the present invention；
Fig. 2 is the wheel structure schematic diagram of the bionical crocodile amphibious robot of the present invention；
Fig. 3 is the partial enlargement structural representation of Fig. 2；
Fig. 4 is the structural schematic diagram of connecting rod of the present invention；
Fig. 5,6 be connecting rod different conditions of the present invention structural schematic diagram；
Fig. 7,8,9 be respectively wheel structure as wheel, leg, paddle structural schematic diagram；
In figure: trunk 1, head 2, tail portion 3, wheel structure 4, connecting rod 5, semi-cylindrical electromagnet 6, connecting band 7, outside
Spoke 41, inside spoke 42, curved blade 43.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
A kind of bionical crocodile amphibious robot, such as Fig. 1, including trunk 1, the head 2 that is set to 1 front end of trunk, right two-by-two
Title is set to the four limbs of 1 two sides of trunk and is set to the tail portion 3 of 1 rear end of trunk, and trunk 1 is by being set to inside trunk 1
Waist flexibility driven joint carries out main driving, and tail portion 3 is driven by being set to 3 joint of tail portion of 3 inside of tail portion, head 2
Equipped with the handgrip opened and closed up and down.Four limbs are four wheel structures 4 that wheel, leg and paddle change in shape can be achieved.
As shown in Figure 2,3, wheel structure 4 includes inside 42, outside spokes 41 of spoke and six curved blades
43, inside spoke 42 and the central movable of outside spoke 41 are installed in same root connecting shaft, and every two curved blade 43 is one
Group, two free ends of every group of curved blade 43 pass through pin-hinges in 41 end of inside spoke 42 and outside spoke respectively, interior
Side wheel spoke 42 is located at different planes from outside spoke 41, and six curved blades 43 are located at approximately the same plane, every group of circular arc
It is connected between blade 43 by openable and closable connection structure.Connection structure is made of two semi-cylindrical electromagnet 6, semi-cylindrical
Electromagnet 6 is connected to the end of curved blade 43.Semi-cylindrical electromagnet 6 passes through stretchable connecting band 7 and circular arc leaf
The connection of 43 end of piece, 7 one end of connecting band and 43 end of curved blade are affixed, and the other end is pasted with semi-cylindrical electromagnet 6.Circular arc
Conducting wire is equipped with inside blade 43, semi-cylindrical electromagnet 6 is connect by conducting wire with external power supply.Such as Fig. 4-6, wheel structure 4 leads to
The connecting rod 5 that crossing can be rotated is installed on the trunk 1 of robot.Connecting rod 5 is the bulb connecting rod of Electronic control, such as may be used
Using the ball head universal of Nanjing Nai Site mechanical & electronic equipment corporation, Ltd.
Such as Fig. 7,8,9, on a flat ground, inside spoke and outside spoke are to be overlapped posture in side, make variable wheel paddle
In colyliform；When rugged ground, coastal waters beach or the bottom are moved under water, inside spoke and outside spoke make in 60 ° of angles of side formation
Variable wheel paddle leg triangular in shape；In floating on water, in 95 ° of angles of side formation, making can for inside spoke and outside spoke
Becoming wheel paddle is in paddle.
The present invention passes through the connection structure of two semi-cylindrical magnet, so that four limbs is can be converted handgrip, the curved blade
On be mounted with electromagnet, i.e., semi-cylindrical electromagnet and curved blade are connected by conducting wire, two after carrying out demagnetization
A semi-cylindrical magnet separates, and two connected curved blades (along radial direction) open and close up and down, can form handgrip.Two semicircles
Cylindrical magnetic iron by up and down totally eight with retractility, it is stretchable or shrink belt be mounted among two curved blades.Even
Binding structure contacts with each other with curved blade, but is not fixed relatively, and two semi-cylindrical magnet are respectively with four straps (far from circular arc
Blade) end stick to each other fix.When the foot of robot is transformed into leg, paddle from colyliform, close to four bands of core wheel
Son is shunk, and four straps far from core wheel extend, to ensure the transformation of feet shape.
By increasing a rotary spherical device on the straight-bar of connection foot's wheel and robot body, so that
Wheel almost can be with all-direction rotation.After the environmental monitor in connecting rod sends signal to control centre, robot, control
Center carries out the output of controlling electric current to the circuit inside electronic connecting rod, connecting rod rotation is driven, consequently facilitating robot exists
It climbs, advance in the terrain environments such as rugged mountainous region, crawl object also will be more accurate.
Machine of the invention is artificially amphibious, and the fortune in a variety of environment terrains may be implemented under the transformation of wheel
Row, with certain miscellaneous function.Underwater laser radar ranging and independent navigation function may be implemented when moving in water, together
When underwater camera can carry out Image Acquisition identification, realize autonomous crawl, provide for rescue in water with exploration bigger
Possibility；When land works, robot can also realize infrared acquisition, component collection analysis.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be of the invention
Within protection scope.
Claims (10)
1. a kind of bionical crocodile amphibious robot, including trunk (1), the head (2) that is set to the trunk (1) front end, two-by-two
It is symmetrically disposed on the four limbs of trunk (1) two sides and is set to the tail portion (3) of trunk (1) rear end, the four limbs can be real for four
The now wheel structure (4) of wheel, leg and paddle change in shape, wherein the wheel structure (4) includes inside spoke (42), one
A outside spoke (41) and six curved blades (43), the central movable installation of the inside spoke (42) and outside spoke (41)
In in same root connecting shaft, every two curved blade (43) is one group, and two free ends of every group of curved blade (43) are cut with scissors respectively
It is connected to inside spoke (42) and outside spoke (41) end, the inside spoke (42) and outside spoke (41) are located at difference
Plane, six curved blades (43) are located at approximately the same plane, which is characterized in that by that can open between every group of curved blade (43)
The connection structure of conjunction connects.
2. a kind of bionical crocodile amphibious robot according to claim 1, which is characterized in that the connection structure is by two
Semi-cylindrical electromagnet (6) composition, the semi-cylindrical electromagnet (6) are connected to the end of curved blade (43).
3. a kind of bionical crocodile amphibious robot according to claim 2, which is characterized in that the semi-cylindrical electromagnet
(6) it is connect by stretchable connecting band (7) with curved blade (43) end, described connecting band (7) one end and curved blade
(43) end is affixed, and the other end is pasted with semi-cylindrical electromagnet (6).
4. a kind of bionical crocodile amphibious robot according to claim 2, which is characterized in that in the curved blade (43)
Portion is equipped with conducting wire, and the semi-cylindrical electromagnet (6) is connect by conducting wire with external power supply.
5. a kind of bionical crocodile amphibious robot according to claim 1, which is characterized in that the wheel structure (4) is logical
The connecting rod (5) that crossing can be rotated is installed on the trunk (1) of the robot.
6. a kind of bionical crocodile amphibious robot according to claim 5, which is characterized in that the connecting rod (5) is electricity
The bulb connecting rod (5) of dynamic control.
7. a kind of bionical crocodile amphibious robot according to claim 1, which is characterized in that the trunk (1) is by setting
It is placed in the internal waist flexibility driven joint of trunk (1) and carries out main driving, the tail portion (3) is by being set on the inside of tail portion (3)
Tail portion (3) joint driven.
8. a kind of bionical crocodile amphibious robot according to claim 1, which is characterized in that the head (2) is equipped with upper
The handgrip of lower folding.
9. a kind of bionical crocodile amphibious robot according to claim 1, which is characterized in that the curved blade (43)
Two free ends are by pin-hinges in inside spoke (42) and outside spoke (41) end.
10. a kind of bionical crocodile amphibious robot according to claim 1, which is characterized in that the robot, which is equipped with, to swash
Optical radar, infrared distance measuring sensor and visual sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543367.2A CN109649095B (en) | 2018-12-17 | 2018-12-17 | Bionic crocodile amphibious robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811543367.2A CN109649095B (en) | 2018-12-17 | 2018-12-17 | Bionic crocodile amphibious robot |
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| Publication Number | Publication Date |
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| CN109649095A true CN109649095A (en) | 2019-04-19 |
| CN109649095B CN109649095B (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811543367.2A Active CN109649095B (en) | 2018-12-17 | 2018-12-17 | Bionic crocodile amphibious robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561997A (en) * | 2019-09-23 | 2019-12-13 | 邵阳学院 | Bionic crocodile robot for detection |
| CN113650026A (en) * | 2021-08-16 | 2021-11-16 | 中山大学 | Crocodile-like robot |
| CN114800582A (en) * | 2022-04-06 | 2022-07-29 | 中山大学 | Adaptability foot end mechanism of crocodile claw imitation |
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| CN101088835A (en) * | 2007-06-15 | 2007-12-19 | 哈尔滨工程大学 | Modular mechanical crab |
| CN102303492A (en) * | 2011-09-07 | 2012-01-04 | 北京航空航天大学 | Small-sized variable-structure propulsion device with amphibious function |
| CN103287233A (en) * | 2013-05-10 | 2013-09-11 | 广州博斯特智能科技有限公司 | Intelligent biomimetic multifunctional robot crocodile |
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| CN106827988A (en) * | 2017-02-08 | 2017-06-13 | 哈尔滨工程大学 | A kind of new and effective amphibious ROV |
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2018
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|---|---|---|---|---|
| JPS61217603A (en) * | 1985-03-22 | 1986-09-27 | 株式会社日立製作所 | Moving and holding device for working robot in water chamber for heat exchanger |
| CN101088835A (en) * | 2007-06-15 | 2007-12-19 | 哈尔滨工程大学 | Modular mechanical crab |
| CN102303492A (en) * | 2011-09-07 | 2012-01-04 | 北京航空航天大学 | Small-sized variable-structure propulsion device with amphibious function |
| CN103287233A (en) * | 2013-05-10 | 2013-09-11 | 广州博斯特智能科技有限公司 | Intelligent biomimetic multifunctional robot crocodile |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561997A (en) * | 2019-09-23 | 2019-12-13 | 邵阳学院 | Bionic crocodile robot for detection |
| CN110561997B (en) * | 2019-09-23 | 2021-04-06 | 邵阳学院 | Bionic crocodile robot for detection |
| CN113650026A (en) * | 2021-08-16 | 2021-11-16 | 中山大学 | Crocodile-like robot |
| CN113650026B (en) * | 2021-08-16 | 2023-05-23 | 中山大学 | Crocodile-like robot |
| CN114800582A (en) * | 2022-04-06 | 2022-07-29 | 中山大学 | Adaptability foot end mechanism of crocodile claw imitation |
| CN114800582B (en) * | 2022-04-06 | 2023-04-14 | 中山大学 | Adaptability foot end mechanism of imitation crocodile claw |
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| CN109649095B (en) | 2021-10-01 |
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