A novel hasel-driven serial robot

Abstract

The present invention relates to the technical field of robots, and particularly to a novel series robot driven by hasel, which includes a fuselage. On opposite sides of the fuselage, wings are respectively rotatably connected. A hydraulic drive assembly is connected to the wings on both sides and is used to drive the wings on both sides to swing left and right. A steering assembly is connected to the wings on both sides and is used to adjust the angles of the wings on both sides. An identification assembly is located outside the fuselage and is used to detect garbage around the driving path. A clamping assembly is located at the bottom of the fuselage and is used to pick up garbage. A control system is respectively connected to the hydraulic drive assembly, the steering assembly, the identification assembly, and the clamping assembly. The technical solution of the present invention drives the robot to move through the hydraulic drive assembly, which can achieve lightweight while accelerating its moving speed, solves the problem that the existing underwater robot driven by a motor swims slowly, realizes the rapid movement of the robot, improves the salvage efficiency, and ensures that it reaches an ideal working state.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a novel series robot driven by hasel. Background Art

[0002] The ocean covers 70% of the Earth's surface area, and there are countless mysteries and resources hidden in the ocean. With the increasing intensity of human exploitation of ocean resources, a large amount of ocean garbage has inevitably been generated, causing serious pollution to the ocean, and even endangering the survival of marine organisms, greatly destroying the ecological balance. Therefore, it is necessary to clean up ocean garbage in a timely manner.

[0003] With the development of science and technology, people have developed various bionic robots by learning from the biological characteristics of fish from the perspective of bionics. These robots can swim continuously in water and have great application prospects in the fields of ocean observation and underwater operations. The cleaning of ocean garbage has gradually changed from manual salvage to robot salvage, greatly reducing the labor intensity of workers and improving the salvage efficiency.

[0004] However, existing underwater robots usually use electric motors for driving. Due to the large weight and volume of the motors, it is very difficult to coordinate the layout of the robots in terms of weight and structure, which affects the swimming speed of the robots and makes it difficult for them to reach the expected working state. Summary of the Invention

[0005] The purpose of the present invention is to provide a novel series robot driven by hasel. This series robot is easy to operate and highly practical. While achieving lightweight, it can accelerate its swimming speed, solve the problem of slow swimming of existing underwater robots driven by electric motors, realize the rapid swimming of the series robot, improve the salvage efficiency, and ensure that it reaches the ideal working state.

[0006] The present invention provides a novel series robot driven by hasel, including a fuselage, and wings are rotatably connected to both opposite sides of the fuselage;

[0007] A hydraulic drive assembly, connected to the wings on both sides, for driving the wings on both sides to swing left and right;

[0008] A steering assembly, connected to the wings on both sides, for adjusting the angles of the wings on both sides;

[0009] An identification assembly, located outside the fuselage, for detecting garbage around the traveling path of the fuselage;

[0010] A clamping assembly, located at the bottom of the fuselage, for clamping floating garbage;

[0011] A control system, connected to the hydraulic drive assembly, the steering assembly, the identification assembly, and the clamping assembly respectively.

[0012] Further, it further includes a protective shell, the fuselage is located inside the protective shell, and wings are rotatably connected to two opposite sides of the protective shell respectively;

[0013] Hydraulic drive assemblies are provided on the side walls where the wings are located, and the hydraulic drive assemblies on the same side are connected to the wings through transmission members.

[0014] Further, the hydraulic drive assembly includes a flexible bag, and the flexible bag is connected to the wing through a transmission member;

[0015] Positive and negative plates are respectively provided on two opposite sides of the flexible bag, the positive and negative plates are respectively connected to the circuit board, and the inside of the flexible bag is filled with a dielectric liquid.

[0016] Further, the transmission member includes a transmission line, one end of the transmission line is connected to the flexible bag, and the other end of the transmission line extends into the inside of the wing;

[0017] A number of auxiliary lines are connected to the end of the transmission line located inside the wing, and the number of auxiliary lines are all connected to the wing.

[0018] Further, a receiving cavity is provided inside the fuselage, the circuit board is located inside the receiving cavity, a first switch for energizing or de-energizing the positive plate is provided on the circuit board, and the first switch is connected to the control system.

[0019] Further, the steering assembly includes two fixed disks oppositely arranged on two sides of the protective shell, the fixed disks are rotatably connected to the protective shell, and one end of the wing close to the protective shell is connected to the fixed disk;

[0020] Two oppositely arranged steering gears are provided inside the receiving cavity, output shafts of the two steering gears are respectively connected to the two fixed disks, and the two steering gears are both connected to the control system.

[0021] Further, the recognition assembly includes a number of ultrasonic devices evenly distributed along the outer periphery of the protective shell, which are used to detect garbage around the driving path of the fuselage and determine its distance and direction;

[0022] A camera is provided on one side of the protective shell away from the wing, which is used to collect image information of the sea surface, and the ultrasonic device and the camera are both connected to the control system.

[0023] Further, the clamping assembly includes two clamping arms oppositely arranged at the bottom of the protective shell, and a driving mechanism for driving the two clamping arms to approach or move away from each other, and the driving mechanism is connected to the control system.

[0024] Further, a GPS locator is provided inside the receiving cavity;

[0025] The interior of the fuselage is also provided with a phase change chamber, which is filled with a phase change liquid. The inner wall of the phase change chamber is provided with a heating sheet, which is connected to the circuit board. The circuit board is provided with a second switch for energizing or de-energizing the heating sheet. The GPS locator and the second switch are both connected to the control system.

[0026] Further, the control system includes a main controller, as well as a memory, an information processing module, and an image processing module connected to the main controller;

[0027] The memory is used to store the established driving path of the fuselage;

[0028] The information processing module is connected to the ultrasonic device and the GPS locator, and is used to obtain the coordinate information of the garbage and the position information of the fuselage, and plan the round-trip path between the fuselage and the garbage according to the coordinate information of the garbage and the position information of the fuselage;

[0029] The image recognition module is connected to the camera, and is used to obtain the image information of the sea surface and identify the floating garbage;

[0030] The main controller is connected to the steering gear, the first switch, the driving mechanism, and the second switch respectively, and is used to control the driving direction of the fuselage, the opening or closing of the clamping assembly, and the floating or diving of the fuselage.

[0031] Advantages of the present invention:

[0032] The technical solution of the present invention drives the wings to swing left and right through the hydraulic drive assembly, thereby driving the fuselage to move. During the driving process of the fuselage, the garbage around the driving path of the fuselage is detected by the recognition assembly. When the garbage is detected, the angle of the wings is adjusted through the steering assembly, thereby controlling the driving direction of the fuselage, making the fuselage move towards the garbage direction, and the garbage is clamped by the clamping assembly. It can achieve lightweight while accelerating its swimming speed, realizing the rapid swimming of the robot, solving the problem of slow swimming of the existing underwater robot driven by a motor, improving the salvage efficiency, and ensuring its ideal working state. Description of the drawings

[0033] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic structural diagram of the novel hasel-driven serial robot in Embodiment 1 of the present invention;

[0035] Figure 2Cross-sectional view of the novel hasel-driven serial robot in Embodiment 1 of the present invention;

[0036] Figure 3 Schematic structural diagram of the flexible bag in Embodiment 1 of the present invention;

[0037] Figure 4 Motion schematic diagram of the novel hasel-driven serial robot in Embodiment 1 of the present invention.

[0038] Explanation of reference numerals:

[0039] 1 - protective shell, 2 - fuselage, 3 - wing, 4 - flexible bag, 5 - guide tube, 6 - fixing plate, 7 - clamping arm, 8 - ultrasonic device, 9 - camera, 10 - transmission line, 11 - auxiliary line, 12 - accommodation cavity, 13 - servo, 14 - mounting bracket, 15 - GPS locator, 16 - circuit board, 17 - storage battery, 18 - phase change cavity, 19 - heating sheet, 20 - positive electrode plate, 21 - negative electrode plate, 22 - dielectric liquid. Detailed implementation manners

[0040] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0042] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined. In addition, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] Embodiment 1

[0044] As shown by Figures 1 to 4 a novel hasel-driven serial robot includes a protective shell 1 and a fuselage 2 located inside the protective shell 1. The protective shell 1 is a flexible screen. Wings 3 are rotatably connected to opposite sides of the protective shell 1 respectively. The wings 3 are made of silicone material. Hydraulic drive assemblies are provided on the side walls where the two wings 3 are located. The hydraulic drive assemblies on the same side are connected to the wings 3 through transmission members for driving the wings 3 to swing left and right. An accommodation cavity 12 is provided inside the fuselage 2. A steering assembly is provided inside the accommodation cavity 12. The steering assembly is respectively connected to the wings 3 on both sides for adjusting the rotation angles of the wings 3 on both sides. An identification assembly is provided outside the protective shell 1 for detecting garbage around the traveling path of the fuselage 2. A clamping assembly is provided at the bottom of the protective shell 1 for clamping floating garbage. The hydraulic drive assembly, the steering assembly, the identification assembly, and the clamping assembly are all connected to a control system.

[0045] First, conduct a survey of the sea surface, formulate the traveling path of the robot, drive the wings 3 on both sides to swing left and right through the hydraulic drive assembly, so that the robot moves along the established traveling path, and detect the garbage around the traveling path through the identification assembly. When garbage is detected, the identification assembly sends a signal to the control system. The control system adjusts the angles of the wings 3 through the steering assembly, thereby controlling the traveling direction of the robot and making the robot travel towards the garbage. When the robot travels to the position where the garbage is located, the control system clamps the garbage through the clamping assembly. After the garbage cleaning is completed, the control system adjusts the traveling direction of the robot again through the steering assembly to make it return to the established traveling path and continue to detect marine garbage. By driving the wings 3 on both sides to swing left and right through the hydraulic drive assembly, the present invention can achieve lightweight while accelerating the swimming speed of the robot, realizing the rapid swimming of the robot, solving the problem that the existing underwater robot driven by a motor swims slowly, improving the salvage efficiency, and ensuring its ideal working state.

[0046] The hydraulic drive assembly includes a flexible bag 4, the interior of the flexible bag 4 is filled with a dielectric liquid 22, a positive electrode plate 20 and a negative electrode plate 21 are respectively arranged on two opposite sides of the flexible bag 4, a circuit board 16 is arranged inside the accommodation cavity 12, the circuit board 16 is respectively connected to the positive electrode plate 20 and the negative electrode plate 21, a first switch (not shown in the figure) for energizing or de-energizing the positive electrode plate 20 is arranged on the circuit board 16, a horizontally arranged guide tube 5 is arranged between the flexible bag 4 and the wing 3 on the same side, the transmission member includes a transmission line 10, one end of the transmission line 10 is connected to the flexible bag 4, the other end of the transmission line 10 passes through the guide tube 5 and extends into the interior of the wing 3, and several auxiliary lines 11 are connected to the end of the transmission line 10 located inside the wing 3, and several auxiliary lines 11 are all connected to the wing 3.

[0047] A voltage is applied to the positive electrode plate 20 through the circuit board 16, and the positive electrode plate 20 and the negative electrode plate 21 on both sides of the flexible bag 4 attract each other under the action of the electric field force, resulting in the gradual closing of the positive electrode plate 20 and the negative electrode plate 21, thereby squeezing the dielectric liquid 22 in the flexible bag 4, causing the dielectric liquid 22 to flow to the area not covered by the positive electrode plate 20 and the negative electrode plate 21, making the cross-section of this area transition from a flat cross-section to a more circular cross-section, causing the flexible bag 4 to deform, and driving the wing 3 to swing through the transmission line 10, thereby pushing the robot forward. By repeating this cycle, the rapid movement of the robot can be achieved.

[0048] The steering assembly includes two fixed disks 6 oppositely arranged on both sides of the protective shell 1, the fixed disks 6 are rotatably connected to the protective shell 1, one end of the wing 3 close to the protective shell 1 is connected to the fixed disk 6, two oppositely arranged steering gears 13 are arranged inside the accommodation cavity 12, the output shafts of the two steering gears 13 are respectively connected to the two fixed disks 6, and the two steering gears 13 are both connected to the control system. By driving the steering gears 13 to rotate through the control system, the fixed disks 6 are driven to rotate during the rotation of the steering gears 13, so that the angle of the wing 3 changes, thereby adjusting the driving direction of the robot.

[0049] The clamping assembly includes two clamping arms 7 oppositely arranged at the bottom of the protective shell 1 and a driving mechanism (not shown in the figure) for driving the two clamping arms 7 to approach or separate from each other, and the driving mechanism is connected to the control system. By controlling the driving mechanism through the control system, the two clamping arms 7 are driven to approach or separate from each other, so as to realize the clamping of the garbage. The driving mechanism only needs to be able to drive the two clamping arms 7 to approach or separate from each other, and the specific structure is not strictly limited here.

[0050] The recognition assembly includes several ultrasonic devices 8 evenly distributed along the circumference of the protective shell 1. The ultrasonic device includes an ultrasonic transmitting device and an ultrasonic receiving device. A camera 9 is arranged on the side of the protective shell 1 away from the wing 3, and a GPS locator 15 is arranged inside the accommodation cavity 12. The ultrasonic devices 8, the camera 9 and the GPS locator 15 are all connected to the control system;

[0051] The control system includes a main controller, as well as a memory, an information processing module, and an image processing module connected to the main controller;

[0052] The memory is used to store the established travel path of the fuselage;

[0053] The information processing module is connected to an ultrasonic device and a GPS locator;

[0054] The image recognition module is connected to a camera;

[0055] The main controller is respectively connected to a servo 13, a first switch, and a drive mechanism.

[0056] The main controller controls the robot to move along the established travel path. During the movement of the robot, the ultrasonic transmitter emits ultrasonic waves with a specific frequency in all directions. After the ultrasonic waves touch a large object, they form reflected waves. The ultrasonic receiver receives the reflected waves that are reflected back. The distance and direction between the garbage and the robot are determined based on the time and direction of the received reflected waves, so as to calculate the coordinate information of the garbage, and the coordinate information of the garbage is sent to the information processing module. At the same time, the current position information of the robot is obtained through the GPS locator 15 and sent to the information processing module. The information processing module plans the round-trip path between the robot and the garbage based on the coordinate information of the garbage and the current position information of the robot, and sends the return path information to the main controller. The main controller adjusts the angle of the wing 3 through the servo 13 according to the round-trip path information, thereby changing the travel direction of the robot and making the robot move towards the garbage direction;

[0057] When the robot moves to the position where the garbage is located, the sea surface is photographed through the camera 9, and the photographed image information is sent to the image recognition module. The image recognition module obtains the image information of the sea surface, recognizes the floating garbage, and sends a signal to the main controller. The main controller controls the two clamping arms 7 to approach each other through the drive mechanism to clamp the garbage. After the garbage is cleared, the main controller adjusts the travel direction of the robot through the servo 13 to return it to the established travel path;

[0058] In addition, the main controller controls the energization or de-energization of the positive electrode plate 20 through the first switch, causing the flexible bag 4 to deform, so that the flexible bag 4 drives the left and right swing of the wing 3 through the transmission line 10, pushing the robot forward.

[0059] Inside the fuselage 2, there is also a phase change chamber 18 filled with a phase change liquid, preferably pure water. The inner wall of the phase change chamber 18 is provided with a heating sheet 19, which is connected to the circuit board 16. There is a second switch (not shown in the figure) on the circuit board 16 for energizing or de-energizing the heating sheet 19, and the second switch is connected to the main controller.

[0060] Power is supplied to the heating sheet 20 through the circuit board 16, so that the heating sheet 19 heats the pure water in the phase change chamber 18. Since the density of water vapor < air < water, the heat generated by the heating sheet 19 can control the ratio of gas and liquid in the phase change chamber 18, thereby controlling the density of the robot to achieve the floating or diving of the robot.

[0061] Working principle: First, survey the sea surface, plan the traveling path of the robot, and store it in the memory.

[0062] The main controller controls the circuit board 16 to energize or de-energize the positive electrode sheet 20 through the first switch, causing the flexible bag 4 to deform. Thus, the flexible bag 4 drives the wing 3 to swing through the transmission line 10, pushing the robot to move along the established traveling path.

[0063] During the movement of the robot, ultrasonic waves are emitted in all directions through the ultrasonic emission device. The distance and direction between the garbage and the robot are determined based on the time and direction of the reflected waves received by the ultrasonic receiving device, so as to calculate the coordinate information of the garbage and send the coordinate information of the garbage to the information processing module. At the same time, the current position information of the robot is obtained through the GPS locator 15 and sent to the information processing module.

[0064] The information processing module plans the round-trip path between the robot and the garbage based on the coordinate information of the garbage and the position information of the robot, and sends the round-trip path information to the main controller. The main controller adjusts the angle of the wing 3 through the steering gear 13 according to the round-trip path information, thereby changing the traveling direction of the robot and making the robot move towards the garbage.

[0065] When the robot moves to the position where the garbage is located, the sea surface is photographed through the camera 9, and the photographed image information is sent to the image recognition module. The image recognition module obtains the image information of the sea surface, recognizes the floating garbage, and sends a signal to the main controller. The main controller controls the two clamping arms 7 to approach each other through the driving mechanism to clamp the garbage.

[0066] When the garbage is cleared, the main controller changes the traveling direction of the robot through the steering gear 13 to make it return to the established traveling path.

[0067] In addition, the main controller controls the circuit board 16 to supply power to or cut off power from the heating sheet 20 through the second switch, and controls the ratio of gas and liquid in the phase change chamber 18 by the heat generated by the heating sheet 19, so as to control the density of the robot and realize the floating or diving of the robot.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A novel hasel-driven serial robot, characterized in that, It includes a fuselage, and wings are rotatably connected to opposite sides of the fuselage respectively; A hydraulic drive assembly, which is connected to the wings on both sides and is used to drive the wings on both sides to swing left and right; A steering assembly, which is connected to the wings on both sides and is used to adjust the angles of the wings on both sides; An identification assembly, which is located outside the fuselage and is used to detect the garbage around the driving path of the fuselage; A clamping assembly, which is located at the bottom of the fuselage and is used to pick up floating garbage; A control system, which is respectively connected to the hydraulic drive assembly, the steering assembly, the identification assembly and the clamping assembly; The serial robot further includes a protective shell, the fuselage is located inside the protective shell, and wings are rotatably connected to opposite sides of the protective shell respectively; Hydraulic drive assemblies are provided on the side walls where the wings are located, and the hydraulic drive assemblies on the same side are connected to the wings through transmission parts; The hydraulic drive assembly includes a flexible bag, and the flexible bag is connected to the wing through a transmission part; Positive and negative plates are respectively provided on opposite sides of the flexible bag, the positive and negative plates are respectively connected to a circuit board, and the inside of the flexible bag is filled with a dielectric liquid.

2. The novel hasel-driven serial robot according to claim 1, characterized in that, The transmission part includes a transmission line, one end of the transmission line is connected to the flexible bag, and the other end of the transmission line extends into the inside of the wing; A plurality of auxiliary lines are connected to the end of the transmission line located inside the wing, and the plurality of auxiliary lines are all connected to the wing.

3. The novel hasel-driven serial robot according to claim 1, characterized in that, An accommodation cavity is provided inside the fuselage, the circuit board is located inside the accommodation cavity, a first switch for energizing or de-energizing the positive plate is provided on the circuit board, and the first switch is connected to the control system.

4. The novel hasel-driven serial robot according to claim 3, characterized in that, The steering assembly includes two fixed disks oppositely arranged on both sides of the protective shell, the fixed disks are rotatably connected to the protective shell, and one end of the wing close to the protective shell is connected to the fixed disk; Two servo motors oppositely arranged are provided inside the accommodation cavity, the output shafts of the two servo motors are respectively connected to the two fixed disks, and the two servo motors are both connected to the control system.

5. The novel hasel-driven serial robot according to claim 4, characterized in that, The identification assembly includes a plurality of ultrasonic devices evenly distributed along the outer periphery of the protective shell, which are used to detect the garbage around the driving path of the fuselage and determine its distance and direction; A camera is provided on the side of the protective shell away from the wing, which is used to collect image information of the sea surface, and the ultrasonic device and the camera are both connected to the control system.

6. The novel hasel-driven serial robot according to claim 5, characterized in that, The clamping assembly includes two clamping arms oppositely arranged at the bottom of the protective shell, and a driving mechanism for driving the two clamping arms to approach or move away from each other, and the driving mechanism is connected to the control system.

7. The novel hasel-driven serial robot according to claim 6, wherein, A GPS locator is provided inside the accommodation cavity; A phase change cavity is further provided inside the fuselage, the inside of the phase change cavity is filled with a phase change liquid, a heating sheet is provided on the inner wall of the phase change cavity, the heating sheet is connected to the circuit board, a second switch for energizing or de-energizing the heating sheet is provided on the circuit board, and the GPS locator and the second switch are both connected to the control system.

8. The novel hasel-driven serial robot according to claim 7, characterized in that, The control system includes a main controller, and a memory, an information processing module and an image processing module connected to the main controller; The memory is used to store the established driving path of the fuselage; The information processing module is connected to the ultrasonic device and the GPS locator, and is used to obtain the coordinate information of the garbage and the position information of the fuselage, and plan the round-trip path between the fuselage and the garbage according to the coordinate information of the garbage and the position information of the fuselage; The image recognition module is connected to the camera, and is used to obtain the image information of the sea surface and recognize the floating garbage; The main controller is connected to the steering gear, the first switch, the driving mechanism and the second switch respectively, and is used to control the traveling direction of the fuselage, the opening or closing of the clamping assembly, and the floating or diving of the fuselage.

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