Multimode bionic amphibious robot

A robot and multi-modal technology, applied in the field of robots, can solve problems such as inability to be guaranteed at the same time, limited amphibious activity capability, and low degree of intelligence

Inactive Publication Date: 2009-06-17
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0018] The purpose of the present invention is to solve the problem that the existing amphibious robot has limited amphibious activity ability and cannot be guaranteed at the same time, and the i

Method used

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  • Multimode bionic amphibious robot
  • Multimode bionic amphibious robot
  • Multimode bionic amphibious robot

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Embodiment Construction

[0056] The specific features of the multimodal bionic amphibious robot of the present invention are as follows:

[0057] Head structure: In order to achieve drag reduction in water and accommodate many mechanical and electrical components, the front part adopts an arc-shaped design, and the rear adopts a regular planar shape. The main driving components of the head are DC motor and swivel steering gear. Two DC motors are respectively installed on the fixed frame along the longitudinal direction of the robot body. After the output of the motor is changed by 90° through the bevel gear, it drives the motor shaft of the head to rotate. When the flipper mechanism is installed on the motor shaft, it rotates continuously for a full circle. It can drive the robot to crawl on the ground, and its reciprocating swing around a certain center can realize the forward, backward, turning and pitching of the robot in the water; the wheel and paddle mechanism adopts a wheel-like four-spoke desi...

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Abstract

The invention provides a multimodal amphibious bio-robot, which comprises a head, a replaceable wheel paddle/flipper mechanism, a propelling unit and a caudal peduncle compound drive mechanism. In water, the propelling unit and the caudal peduncle compound drive mechanism oscillate back and forth to propel by imitating a fish in the plane, and a rotating mechanism rotates the propelling unit and the caudal peduncle compound drive mechanism for 90 degrees, and switches the moving mode of propelling by imitating a fish into that of swimming by imitating a dolphin; and the flipper mechanism assists the tail propelling to accomplish actions of moving forward, moving backward, turning and pitching, and the paddle mechanism assists the robot turning. On land, the flipper mechanism rotates continuously to make the robot creep on the ground, imitates the movement of a wheel mechanism when rotating continuously, thereby the robot improves the speed of the movement, has obstacle-climbing capability, and a driven wheel reduces the resistance of the movement on the land. The robot can induce the own environment in real time by two liquid level sensors arranged at the head and the propelling unit respectively; and when the land and water environments are changed, according to the information of the liquid level sensors, a main control panel uses corresponding movement policies to accomplish the intelligent switching between the modes of moving on the land and in the water.

Description

technical field [0001] The invention relates to the technical field of robots, and is a multimodal bionic amphibious robot. Background technique [0002] As the most primitive terrestrial vertebrates, amphibians have undergone a long period of natural selection. They are the transitional types from aquatic to terrestrial in the evolutionary history of vertebrates. New traits of terrestrial life. On Earth, amphibians are found anywhere except Antarctica and Greenland, so they have a strong ability to adapt to the environment. [0003] In recent years, the development of computer systems has promoted the progress of robot technology, and the types of robots have continued to increase. In addition to industrial robots mainly used in manufacturing, there have also been applications in aerospace (such as the American Mars Spirit and Opportunity rovers), Robots in the fields of navigation (such as deep-sea operation robots), medical care (such as surgical robots), services (such...

Claims

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Application Information

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IPC IPC(8): B60F3/00B62D57/028B63H1/36
Inventor 喻俊志杨清海谭民王卫兵
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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