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Lizard-imitated overwater robot

A technology of robots and lizards, which is applied in the field of robots, can solve the problems of limited range of use of water sports robots, difficulties for robots to work on water, and low availability, and achieve the effects of saving production costs, improving balance, and reducing total mass

Inactive Publication Date: 2013-01-16
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] There are many moving robots in water at present, but some of them are very light in weight. The surface tension of water fluid can fully support its gravity. It is difficult to engage in water operations, and it is difficult to use them; the other part is basically legged robots. These legged robots have a large mass, so most of them can only crawl on the bottom of the water
From the above analysis, it can be seen that these deficiencies have greatly restricted the scope of use of existing water sports robots, and their practicability is not strong, and their availability is not high.

Method used

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  • Lizard-imitated overwater robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] Reference figure 1 with figure 2 , The lizard-like water robot includes a main body 1 and four identical leg mechanisms 3, characterized in that: the front part and the rear part of the main body 1 are each installed with two motors 15 through a motor mounting box 3. A motor 15 drives the four leg mechanisms 3 respectively; the front ends of the four leg mechanisms 3 are respectively connected to a sole through a wrist block 5; a tail 17 is installed at the rear of the main body 1.

Embodiment 2

[0038] This embodiment is basically the same as the first embodiment, and the special features are as follows:

[0039] The main body 1 adopts a frame structure, leaving only some necessary connections: the connection between the body and the legs of the robot, and the installation position of the motor box 13 where the motor 15 is installed.

[0040] The leg mechanism 3 is a four-bar linkage mechanism, and its simulated motion track is similar to that of a basilisk lizard.

[0041] The four-bar linkage mechanism is: the middle and rear end of a leg extension link 18 are hinged with one end of a short rocker 19 and a long rocker 20, and the other end of the short rocker 19 is hinged with The output shaft of the motor 15 is connected, the other end of the long rocker 20 is hinged with the main body 1, and the front end of the leg extension link 18 is connected with the wrist block 5.

[0042] The sole of the foot is composed of three identical toe-like structures 6, 7, and 8 and a palm...

Embodiment 3

[0046] Such as figure 1 As shown, this embodiment mainly includes a main body 1 and four leg mechanisms 3. All rotating pairs in the robot are connected by pins. In order to reduce the total weight of the present invention, save materials, and reduce the required driving power, the main body 1 has a frame structure as a whole. The leg mechanism 3 is an ordinary four-bar linkage mechanism. Such as image 3 As shown, the four-bar linkage used in the present invention can produce an elliptical trajectory similar to that of a basilisk lizard. The pin in the hole at one end of the crank on the leg drive mechanism 3 and the motor spindle of the coreless motor 11 are connected together by a coupling. The rocker and the robot body-leg connecting rod 2 are fixed by screws, and the end of the connecting rod is passed through the leg —The wrist connector 4 and the robot wrist block 5 are fixed with screws. The fuselage motor box 13 is fixed on the main robot body 1 by screws, and the t...

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Abstract

The invention discloses a lizard-imitated overwater robot. The lizard-imitated overwater robot comprises a main body and four same leg mechanisms. The lizard-imitated overwater robot is characterized in that two motors are installed at the front part and the rear part of the main body by a motor installation box respectively; the four motors respectively drive the four leg mechanisms; the front ends of the four leg mechanisms are connected with a sole by a wrist block respectively; and a tail is arranged on the rear part of the main body. The lizard-imitated overwater robot has a simple structure, is low in cost, good in environment adaption capacity, is stable and reliable, and flexible in movement, and therefore can be used for various overwater detections and rescues in the future.

Description

Technical field [0001] The invention relates to a robot, in particular to a lizard-like water robot. Background technique [0002] In recent years, with the continuous progress and development of science and technology, the combination of bionics and robotics has become increasingly close. Aquatic robot is a kind of robot designed to be bionic by taking full advantage of the sports advantages of aquatic animals by studying the sports characteristics of water animals. Compared with traditional ships and submersibles, the bionic water robot not only has strong flexibility, but also can operate in special environments such as extremely shallow seas, broken waves and beaches. In view of its many advantages, the bionic water robot has attracted much attention as a branch of the bionic robot. [0003] There are many robots that move in the water, but some of them are very light in weight. The surface tension of the water fluid can fully support its gravity. The robot can achieve floati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H19/00B63B38/00
Inventor 饶进军蔡舒文肖辅龙冯俊兴
Owner SHANGHAI UNIV
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