Operation type water-air cross-domain rope-driven bionic robot and using method thereof

Abstract

The invention discloses an operation type water-air cross-domain rope-driven bionic robot and a using method thereof. The robot comprises an aircraft body, a rotor wing arm installed on the aircraft body, an underwater propelling structure and a mechanical arm assembly installed at the bottom of the aircraft body. The rotorcraft arm comprises a rotating device and a rotor assembly, and the rotating device is used for driving the rotor assembly to rotate; the mechanical arm assembly comprises a driving device, a mechanical arm, a driving rope and a mechanical claw installed at the tail end of the mechanical arm, and the driving device is installed at the bottom of the aircraft body and used for driving the tensioning degree of the driving rope; the mechanical arm comprises a plurality of joint sections, and the overall shape of the mechanical arm is changed by adjusting the tensioning degree of the driving rope. According to the mechanical arm, the design of the multiple joint sections is adopted, a flexible bendable structure is formed, the mechanical arm is controlled to be bent and deformed on multiple degrees of freedom through the driving rope, the overall bending flexibility of the mechanical arm is improved, and the mechanical arm can adapt to the complex or narrow working environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cross-medium robots, in particular to a work type water-air cross-domain rope-driven bionic robot and a use method thereof. BACKGROUND

[0002] The water-air cross-domain robot is a special robot with water-air amphibious operation capability. In order to enable the robot to have cross-domain contact operation capability, a work mechanism such as a mechanical hand needs to be installed on the robot. The current mature flying mechanical arm and autonomous underwater carrier-mechanical hand system respectively exhibit effective contact operation capability in the air and underwater, but the operation range is limited in a single medium, and integrated cross-domain operation cannot be realized.

[0003] The patent application with publication number CN115848666A discloses a cross-border quality flying mechanical arm, wherein a flying mechanical arm capable of realizing cross-medium operation is designed, but the traditional four-rotor frame is adopted, resulting in large flow resistance in water. The rope-driven mechanical arm carried is a rigid link structure with low degree of freedom, and is not conducive to contact operation tasks in complex and narrow environments, especially underwater environments. SUMMARY

[0004] The present application provides a work type water-air cross-domain rope-driven bionic robot and a use method thereof, which improves the underwater operation flexibility of the mechanical arm by adopting a flexible structure.

[0005] Technical scheme: To solve the above problems, the present application adopts a work type water-air cross-domain rope-driven bionic robot, which comprises a vehicle body, a rotor arm installed on the vehicle body, an underwater propulsion structure, and a mechanical arm assembly installed at the bottom of the vehicle body.

[0006] The rotor arm comprises a rotating device and a rotor assembly, and the rotating device is used to drive the rotor assembly to rotate.

[0007] The mechanical arm assembly comprises a driving device, a mechanical arm, a driving rope, and a mechanical claw installed at the end of the mechanical arm. The driving device is installed at the bottom of the vehicle body, and the driving device is used to drive the tension degree of the driving rope.

[0008] The mechanical arm comprises a plurality of joint segments, one side of the joint segment is provided with a protruding joint head, the other side of the joint segment is provided with a joint cavity, the joint head is in the shape of a part of a sphere, and the joint cavity is matched with the upper part of the joint head in shape. A rope passing hole is also provided on the joint segment for the driving rope to pass through. One end of the driving rope is connected with the driving device, and the other end of the driving rope passes through the rope passing holes on all the joint segments in sequence, so that the joint head of the upper joint segment is located in the joint cavity of the adjacent lower joint segment. The overall shape of the mechanical arm is changed by adjusting the tension degree of the driving rope.

[0009] Further, the aircraft body is in the shape of a torpedo, comprising a head section, a body section and a tail section connected in sequence, a waterproof sealing washer is arranged between the adjacent two sections, the rotor arm is installed on the body section, a landing frame is further arranged at the bottom of the body section, and the underwater propulsion structure is installed on the tail section.

[0010] Further, the underwater propulsion structure comprises a tail fin and a propeller, the tail fin is circumferentially distributed on the outer wall of the tail section, and the propulsion direction of the propeller is parallel to the axis of the aircraft body.

[0011] Further, an installation pipe for installing the rotor arm is arranged on the aircraft body, the rotor arm comprises a main rod, a steering gear and a rotor assembly, the main rod is installed in the installation pipe through a needle bearing; the steering gear is connected with the main rod to drive the main rod to rotate, and the rotor assembly is fixedly installed on the main rod.

[0012] Further, the installation pipe is four in total, and the installation pipes are arranged on the aircraft body in pairs and perpendicular to each other.

[0013] Further, a fixed clamp is installed at the end of the main rod away from the aircraft body, and the rotor assembly comprises three rotors and rotor motors connected with the three rotors, and the rotor motors are fixedly installed on the fixed clamp.

[0014] Further, the driving device comprises an upper base, a lower base, a driving motor, a tensioning wheel and a motor driver, the upper base is connected with the aircraft body, and the upper base and the lower base are connected through a connecting rod; the driving motor, the tensioning wheel and the motor driver are installed between the upper base and the lower base, one end of the driving rope is connected with the output shaft of the driving motor and wound on the tensioning wheel.

[0015] Further, the rope passing hole comprises a plurality of openings located on the same radial line and different circumferential radii, and the driving rope is installed in one of the openings; a central through hole is opened in the middle of the joint section, an elastic rubber tube is installed in the central through hole, and the elastic rubber tube is connected with each joint section.

[0016] Further, the mechanical claw comprises a cylinder and a clamping claw, the cylinder is installed at the end of the mechanical arm through a flange, one side of the clamping claw is hinged to the cylinder barrel through a first linkage assembly, the first linkage assembly comprises two hingedly connected sub-linkages, the other side of the clamping claw is connected with the piston rod of the cylinder through a second linkage, and the opening and closing of the clamping claw are driven by the movement of the piston rod.

[0017] The application also provides a use method of the work type water-air cross-domain rope-driven bionic robot, which comprises the following work modes:

[0018] Flight mode: the underwater propulsion structure is closed, and the rotor assembly is opened to make the aircraft body fly and work in the air;

[0019] Water entry mode: turn on the rotating device to rotate the rotor assembly to face the water surface to generate downward pressure, and start the rotor assembly to make the vehicle body enter the water;

[0020] Underwater mode: turn on the underwater propulsion structure to make the vehicle body sail in the water, and adjust the inclination angle of the rotor assembly through the rotating device to adjust the sailing direction of the vehicle body;

[0021] Water exit mode: turn on the rotating device to tilt the rotor assembly to a preset angle to generate lifting force, and start the rotor assembly to make the vehicle body exit the water.

[0022] Beneficial effects: compared with the prior art, the mechanical arm adopts the design of multiple joint segments to form a flexible and bendable structure, and the mechanical arm is controlled to bend and deform in multiple degrees of freedom through the driving rope, the flexibility of the overall bending of the mechanical arm is improved, and the mechanical arm can adapt to complex or narrow working environments; the vehicle body adopts a torpedo shape, which effectively reduces the flow resistance when working in water. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is the overall structure schematic diagram of the work type water-air cross-domain rope-driven bionic robot of the application;

[0024] Figure 2 It is the vehicle body structure schematic diagram of the application;

[0025] Figure 3 It is the rotor arm structure schematic diagram of the application;

[0026] Figure 4 It is the mechanical arm assembly structure schematic diagram of the application;

[0027] Figure 5 It is the driving device structure schematic diagram of the application;

[0028] Figure 6 It is the joint segment structure schematic diagram of the application;

[0029] Figure 7 It is the mechanical arm structure schematic diagram of the application;

[0030] Figure 8 It is the mechanical claw structure schematic diagram of the application;

[0031] Figure 9 It is the flight mode schematic diagram of the application;

[0032] Figure 10 It is the water entry mode schematic diagram of the application;

[0033] Figure 11 It is the underwater mode schematic diagram of the application;

[0034] Figure 12The water outlet mode schematic diagram of the present application. DETAILED DESCRIPTION

[0035] As Figures 1 to 8 shown, the job type water space spanning rope driving bionic robot in the embodiment includes a vehicle body 1, a rotor arm 2 installed on the vehicle body 1, an underwater propulsion structure, and a mechanical arm assembly 3 installed at the bottom of the vehicle body 1.

[0036] The vehicle body 1 is in the shape of a torpedo to reduce the resistance in water operation. The vehicle body includes a head section 11, a body section 12, and a tail section 13 connected in sequence, and a waterproof sealing washer is arranged between the adjacent two sections. The bottom of the body section 12 is further provided with a landing frame 121, and the upper part of the body section 12 is provided with four installation pipes 122 for installing the rotor arm 2, and the installation pipes 122 are arranged vertically two by two. The rotor arm 2 includes a main rod 21, a rudder 22, and a rotor assembly 23. The main rod 21 is installed in the installation pipe 122 through a needle bearing 24, and the rudder 22 is connected with the main rod 21 to drive the main rod 21 to rotate. A fixed clamp 213 is installed at the end of the main rod 21 away from the vehicle body 1, and the rotor assembly 23 includes three rotors 231 and rotor motors 232 connected with the three rotors 231. The rotor motors 232 are fixedly installed on the fixed clamp 213.

[0037] The underwater propulsion structure is installed on the tail section 13 and includes a tail fin 131 and a propeller 132. The tail fin 131 is circumferentially distributed on the outer wall of the tail section 13, and the propulsion direction of the propeller 132 is parallel to the axis of the vehicle body 1.

[0038] The mechanical arm assembly 3 includes a driving device 31, a mechanical arm 32, a driving rope 33, and a mechanical claw 34. The driving device 31 includes an upper base 311, a lower base 312, a driving motor 313, a tensioning wheel 314, and a motor driver 315. The upper base 311 is installed at the bottom of the body section 12, and the upper base 311 is connected with the lower base 312 through a connecting rod. The driving motor 313, the tensioning wheel 314, and the motor driver 315 are installed between the upper base 311 and the lower base 312. Specifically, the driving motor 313 is installed at the lower end face of the upper base 311, and the tensioning wheel 314 and the motor driver 315 are installed on the upper end face of the lower base 312. One end of the driving rope 33 is connected with the output shaft of the driving motor 313 and wound on the tensioning wheel 314, and the other end of the driving rope 33 is connected with the mechanical arm.

[0039] The robotic arm 32 includes multiple joint segments 321. Each joint segment 321 has a protruding joint head 3211 on one side and a joint cavity on the other side. The joint head 3211 is part of a sphere, and the shape of the joint cavity matches the upper part of the joint head 3211. Each joint segment 321 also has four sets of cable-passing holes 3212 for the drive cable 33 to pass through. Each set of cable-passing holes 3212 includes three openings located on the same radial direction but with different circumferential radii. The drive cable 33 is installed in one of these openings. When the drive cable is installed in the outer opening, the robotic arm has a greater range of motion and bending angle. Different cable-passing holes can be selected for installation according to operational requirements. A central through-hole 3213 is formed in the middle of each joint segment 321. An elastic tube 322 is installed within the central through-hole 3213. The elastic tube 322 is bonded to each joint segment 321 using adhesive, making the joint segments a unified whole. The elastic tube 322 is flexible and can adapt to the bending operation of the robotic arm.

[0040] The number of drive ropes can be set from 1 to 4, depending on different operational requirements. A single drive rope allows the robotic arm to bend and deform in only one direction, while multiple drive ropes enable multi-degree-of-freedom bending and deformation in multiple directions. Changing the number of drive ropes correspondingly changes the number of drive motors, tension pulleys, and motor drivers involved in the operation. The motor driver controls the input current of the drive motor to control forward and reverse rotation and speed. The tension pulley tensions the drive ropes, and adjusting the tension of the drive ropes 33 alters the overall shape of the robotic arm 32. This invention's robotic arm employs a multi-joint design, forming a flexible and bendable structure. This effectively reduces flow resistance during underwater operations, and the drive ropes control the robotic arm's bending and deformation in multiple degrees of freedom, improving the overall bending flexibility of the robotic arm and allowing it to adapt to complex or confined working environments.

[0041] The mechanical gripper 34 includes a cylinder and a gripper 344. The cylinder is mounted on the end of the robotic arm 32 via a flange. One side of the gripper 344 is hinged to the cylinder barrel 341 of the cylinder via a first connecting rod assembly 342. The first connecting rod assembly 342 includes two hinged sub-connecting rods. The other side of the gripper 344 is connected to the piston rod 345 of the cylinder via a second connecting rod 343. The movement of the piston rod drives the opening and closing of the gripper 344.

[0042] The operational water-air cross-domain rope-driven bionic robot of the present invention has the following operational modes:

[0043] Flight mode: such as Figure 9 As shown, the underwater propulsion structure is turned off, the three rotors 231 are facing upwards, and the rotor motors 232 are turned on to enable the aircraft body 1 to fly and operate in the air.

[0044] Water entry mode: such as Figure 10As shown, the servo motor 22 is activated to rotate the rotor assembly 23 so that the three rotors 231 face downwards and towards the water surface to generate downforce, and the rotor motor 232 is started to make the vehicle body 1 enter the water.

[0045] Underwater mode: such as Figure 11 As shown, the propeller 132 is activated to make the aircraft body 1 navigate in the water. At the same time, the tilt angle of the rotor assembly 23 is adjusted by the servo 22 to adjust the navigation direction of the aircraft body 1. Specifically, firstly, the servo 22 is activated to rotate the three rotors 231 to be perpendicular to the flight mode and facing the direction of the aircraft body 1. When only straight-line travel is required and no turning is needed, all four rotors 231 are deactivated. When turning is required, the left front rotor is activated, causing the fuselage to turn to the right; at the same time, the two left rotors are activated, causing the fuselage to move slowly to the right. Conversely, the right front rotor is activated, causing the fuselage to turn to the left; at the same time, the two right rotors are activated, causing the fuselage to move slowly to the left.

[0046] Water output mode: such as Figure 12 As shown, servo motor 22 is activated to tilt the tri-rotor 231 at a preset angle to generate lift. The tilt angle of the tri-rotor 231 is between underwater mode and flight mode. Rotor assembly 23 is activated to bring the vehicle body 1 out of the water. After emerging from the water, the tri-rotor 231 gradually rotates to the flight mode.

Claims

1. A job type water-air cross-domain rope-driven bionic robot, characterized in that, The aircraft body (1), the rotor arm (2) installed on the aircraft body (1), the underwater propulsion structure, and the mechanical arm assembly (3) installed on the bottom of the aircraft body (1); The rotor arm (2) includes a rotating device and a rotor assembly (23), and the rotating device is used to drive the rotor assembly (23) to rotate; The mechanical arm assembly (3) includes a driving device (31), a mechanical arm (32), a driving rope (33), and a mechanical claw (34) installed at the end of the mechanical arm (32), the driving device (31) is installed on the bottom of the aircraft body (1), and the driving device (31) is used to drive the tension of the driving rope (33); The mechanical arm (32) includes a plurality of joint segments (321), one side of the joint segment (321) is provided with a protruding joint head (3211), the other side of the joint segment (321) is provided with a joint cavity, the joint head (3211) is in the shape of a part of a sphere, and the joint cavity is matched with the upper part of the joint head (3211); the joint segment (321) is further provided with a rope passing hole (3212) for the driving rope (33) to pass through; one end of the driving rope (33) is connected with the driving device (31), and the other end of the driving rope (33) passes through the rope passing holes (3212) of all the joint segments (321) in sequence, so that the joint head (3211) of the upper joint segment (321) is located in the joint cavity of the adjacent lower joint segment (321); and the overall shape of the mechanical arm (32) is changed by adjusting the tension of the driving rope (33).

2. The job-type water-air cross-domain rope-driven bionic robot according to claim 1, characterized in that, The aircraft body (1) is in the shape of a torpedo, includes a head section (11), a body section (12), and a tail section (13) connected in sequence, waterproof sealing washers are arranged between the adjacent two sections, the rotor arm (2) is installed on the body section (12), the bottom of the body section (12) is further provided with a landing frame (121), and the underwater propulsion structure is installed on the tail section (13).

3. The job-type water-air cross-domain rope-driven bionic robot according to claim 2, characterized in that, The underwater propulsion structure includes a tail fin (131) and a propeller (132), the tail fin (131) is circumferentially distributed on the outer wall of the tail section (13), and the propelling direction of the propeller (132) is parallel to the axis of the aircraft body (1).

4. The job-type water-air cross-domain rope-driven bionic robot according to claim 1, characterized in that, The aircraft body (1) is provided with mounting pipes (122) for mounting the rotor arm (2), the rotor arm (2) includes a main rod (21), a rudder (22), and a rotor assembly (23), the main rod (21) is installed in the mounting pipe (122) through a needle bearing (24); the rudder (22) is connected with the main rod (21) to drive the main rod (21) to rotate, and the rotor assembly (23) is fixedly installed on the main rod (21).

5. The job-type water-air cross-domain rope-driven bionic robot according to claim 4, characterized in that, There are four mounting pipes (122), and the mounting pipes (122) are arranged perpendicularly on the aircraft body.

6. The job-type water-air cross-domain rope-driven bionic robot according to claim 1, characterized in that, The end of the main rod (21) away from the aircraft body (1) is provided with a fixed clamp (213), the rotor assembly (23) includes three rotors (231) and rotor motors (232) connected with the three rotors (231), and the rotor motors (232) are fixedly installed on the fixed clamp (213).

7. The job-type water-air cross-domain rope-driven bionic robot according to claim 1, characterized in that, The driving device (31) comprises an upper base (311), a lower base (312), a driving motor (313), a tensioning wheel (314) and a motor driver (315), the upper base (311) is connected with the aircraft body (1), and the upper base (311) is connected with the lower base (312) through a connecting rod; the driving motor (313), the tensioning wheel (314) and the motor driver (315) are installed between the upper base (311) and the lower base (312), one end of the driving rope (33) is connected with an output shaft of the driving motor (313), and the driving rope (33) is wound on the tensioning wheel (314).

8. The job-type water-air cross-domain rope-driven bionic robot according to claim 1, characterized in that, The rope penetrating hole (3212) comprises a plurality of openings located at the same radial direction and different circumferential radii, and the driving rope (33) is installed in one of the openings; a central through hole (3213) is formed in the middle of the joint segment (321), and an elastic rubber tube (322) is installed in the central through hole (3213); and the elastic rubber tube (322) is connected with each joint segment (321).

9. The job-type water-air cross-domain rope-driven bionic robot according to claim 1, characterized in that, The mechanical claw (34) comprises a cylinder and a clamping claw (344), the cylinder is installed at the end of the mechanical arm (32) through a flange, one side of the clamping claw (344) is hinged with a cylinder barrel (341) of the cylinder through a first connecting rod assembly (342), the first connecting rod assembly (342) comprises two hingedly connected sub-connecting rods, the other side of the clamping claw (344) is connected with a piston rod (345) of the cylinder through a second connecting rod (343), and the opening and closing of the clamping claw (344) are driven by the movement of the piston rod.

10. A method of using the job-type water-air cross-domain rope-driven bionic robot according to any one of claims 1-9, characterized in that, The operation modes comprise: flight mode: the underwater propulsion structure is closed, the rotor assembly (23) is started to make the aircraft body (1) fly and work in the air; water entry mode: the rotating device is started to make the rotor assembly (23) rotate to face the water surface to generate a downward pressure, and the rotor assembly (23) is started to make the aircraft body (1) enter the water; underwater mode: the underwater propulsion structure is started to make the aircraft body (1) sail in the water, and the rotating device is adjusted to adjust the inclination angle of the rotor assembly (23) to adjust the sailing direction of the aircraft body (1); water exit mode: the rotating device is started to make the rotor assembly (23) tilt at a preset angle to generate an upward force, and the rotor assembly (23) is started to make the aircraft body (1) exit the water.

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