A multifunctional bionic robot

Abstract

The invention discloses a multifunctional bionic robot, comprising a base, a plurality of propulsion wing plates are distributed at intervals along the circumferential direction at the rear end of the base, the front end of each propulsion wing plate is rotatably connected to the base, and the rear end is a free end, adjacent propulsion wing plates are connected by elastic membranes, the gaps between adjacent propulsion wing plates are closed by the elastic membranes, the plurality of propulsion wing plates and the plurality of elastic membranes form an umbrella structure, the cavity between the umbrella structure and the base forms a propulsion cavity, a propulsion driving mechanism is provided on the base, the plurality of propulsion wing plates are driven to rotate independently by the propulsion driving mechanism, so that the propulsion wing plates are expanded outward or contracted inward, and then the volume of the propulsion cavity is changed, so as to drive the robot forward; the propulsion wing plates are provided with a water flow regulating component for changing the movement direction of the robot. Compared with the prior art, the invention has the following advantages: the robot can be flexibly advanced and turned underwater with low energy consumption.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multifunctional bionic robot. Background Art

[0002] At present, the work of robots is becoming more and more diverse. As people explore the marine environment, they have higher requirements for flexible and agile underwater robots. Most of the common underwater machines at home and abroad are driven by propellers, which have the defects of high noise, poor concealment, and complex structure, and have certain limitations. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a multifunctional bionic robot to enable the robot to move forward and turn flexibly underwater with low energy consumption.

[0004] The present invention is achieved through the following technical solutions:

[0005] A multifunctional bionic robot comprises a base, wherein a plurality of propulsion wing plates are distributed at intervals along the circumferential direction at the rear end of the base, wherein the front end of each propulsion wing plate is rotatably connected to the base and the rear end is a free end, adjacent propulsion wing plates are connected via elastic membranes, and the gaps between adjacent propulsion wing plates are closed via the elastic membranes, the plurality of propulsion wing plates and the plurality of elastic membranes form an umbrella structure, and the cavity between the umbrella structure and the base forms a propulsion cavity, a propulsion driving mechanism is provided on the base, and the plurality of propulsion wing plates are driven to rotate independently via the propulsion driving mechanism, thereby realizing the propulsion wing plates to expand outward or contract inward, thereby realizing the change of the volume of the propulsion cavity, and thus driving the robot forward; the propulsion wing plates are provided with a water flow regulating component for changing the movement direction of the robot.

[0006] As a preferred solution of the above-mentioned robot, the water flow regulating assembly includes at least one water flow regulating plate, and the propulsion wing plate is provided with at least one avoidance groove for placing the water flow regulating plate. The inner side of the propulsion wing plate is provided with a water flow regulating driving mechanism, and the water flow regulating driving mechanism is used to drive the water flow regulating plate to flip, thereby changing the relative angle between the water flow regulating plate and the propulsion wing plate.

[0007] As a preferred solution for the above-mentioned robot, the propulsion drive mechanism includes multiple groups of independent propulsion drive components, and the multiple groups of propulsion drive components drive multiple propulsion wings to rotate independently one by one. Each group of propulsion drive components includes a propulsion motor, a pull wire, and a tension spring. The tension spring is located on the outside of the propulsion wing, the front end of the tension spring is fixed on the base, and the rear end of the tension spring is fixed on the outside of the propulsion wing. The propulsion motor is installed at the rear end of the base and is located on the inside of the propulsion wing. A winding drum is provided on the output shaft of the propulsion motor, one end of the pull wire is fixed on the winding drum, and the other end of the pull wire is fixed on the inside of the propulsion wing. The winding drum is driven by the propulsion motor to rotate forward and reverse, thereby realizing the retraction and release of the pull wire, and cooperating with the action of the tension spring, the propulsion wing is thereby realized to retract inward or expand outward.

[0008] As a preferred solution for the above-mentioned robot, at least two groups of suction cup assemblies are provided along the circumferential direction on the front side of the base, each group of suction cup assemblies includes a suction cup support rod, a suction cup and a pre-tensioning spring, the rear end of the suction cup support rod is fixed on the base, the front end of the suction cup support rod is connected to the suction cup through a spherical hinge joint, at least two pre-tensioning springs are provided on the outer periphery of the suction cup, the front end of the pre-tensioning spring is fixed on the outer side wall of the suction cup, and the rear end is fixed on the suction cup support rod.

[0009] As a preferred solution of the above robot, a transparent shell is provided at the front end of the base, a closed cavity is formed between the transparent shell and the base, and a visual component is provided in the closed cavity.

[0010] As a preferred solution of the above robot, a pH sensor, a pressure sensor and a temperature sensor are provided on the base along the circumference.

[0011] As a preferred solution for the above-mentioned robot, the water flow regulating drive mechanism includes a water flow regulating motor, a swing guide rod, and a pressing arm. The water flow regulating motor is installed on the inner side of the propulsion wing plate. A rocker arm perpendicular to the output shaft is fixed on the output shaft of the water flow regulating motor. The end of the rocker arm is fixedly connected to the swing guide rod perpendicular to the rocker arm. A pressing arm is fixed on the inner side of the water flow regulating plate, and the other end of the pressing arm is hinged on the swing guide rod.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] The present invention provides a multifunctional bionic robot, which designs the robot body as an umbrella structure, and uses the base and multiple propulsion wing plates distributed along the circumference of the base as the skeleton of the umbrella structure. The propulsion drive mechanism drives the multiple propulsion wing plates to rotate independently, thereby realizing the contraction or expansion of the umbrella structure, imitating the water absorption or water spraying process of jellyfish. This continuous process provides the robot with the power to move forward; at the same time, the propulsion wing plate is also provided with a water flow regulating component, which is used to change the movement direction of the robot, so as to flexibly adjust the position and posture of the robot. In addition, compared with the traditional propeller-driven structure robot, the multifunctional bionic robot provided by the present invention has the advantages of low noise, high maneuverability, strong concealment, low energy consumption, etc., and has a wide range of application occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a stereogram of the present invention in an unfolded state.

[0015] Figure 2 It is a stereoscopic view of the present invention in a contracted state.

[0016] Figure 3 It is a stereogram from another viewing angle of the present invention.

[0017] Figure 4 It is a stereoscopic view of the water flow regulating assembly of the present invention.

[0018] Figure 5 It is a three-dimensional view of the suction cup assembly of the present invention.

[0019] Numbers in the figure: 1 base; 2 propulsion wing plate; 3 elastic membrane; 4 propulsion chamber; 5 water flow regulating assembly; 6 propulsion motor; 7 pull wire; 8 tension spring; 9 suction cup assembly; 10 suction cup support rod; 11 suction cup; 12 preload spring; 13 spherical hinge joint; 14 water flow regulating plate; 15 avoidance groove; 16 water flow regulating motor; 17 swing guide rod; 18 pressing arm; 19 rocker arm; 20 transparent shell; 21 sensor. DETAILED DESCRIPTION

[0020] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0021] See also Figures 1 to 5The present embodiment discloses a multifunctional bionic robot, comprising a base 1, wherein a plurality of propulsion wing plates 2 are distributed at intervals along the circumferential direction at the rear end of the base 1, wherein the front end of each propulsion wing plate 2 is rotatably connected to the base 1 and the rear end is a free end, the front end of the propulsion wing plate 2 is hinged to the base 1, and adjacent propulsion wing plates 2 are connected by elastic membranes 3, and the gaps between adjacent propulsion wing plates 2 are closed by the elastic membranes 3, and the plurality of propulsion wing plates 2 and the plurality of elastic membranes 3 form an umbrella structure, and the cavity between the umbrella structure and the base 1 forms a propulsion cavity 4, and a propulsion driving mechanism is provided on the base 1, and the plurality of propulsion wing plates 2 are driven to rotate independently by the propulsion driving mechanism, so that the propulsion wing plates 2 are expanded outward or contracted inward, thereby realizing the change of the volume of the propulsion cavity 4, thereby driving the robot forward; the propulsion wing plates 2 are provided with a water flow regulating component 5 for changing the movement direction of the robot.

[0022] The propulsion drive mechanism includes multiple groups of independent propulsion drive components, which drive multiple propulsion wings 2 to rotate independently one by one. Each group of propulsion drive components includes a propulsion motor 6, a pull wire 7, and a tension spring 8. The tension spring 8 is located on the outside of the propulsion wing 2. The front end of the tension spring 8 is fixed on the base 1, and the rear end of the tension spring 8 is fixed on the outside of the propulsion wing 2. The propulsion motor 6 is installed at the rear end of the base 1 and is located on the inside of the propulsion wing 2. A winding drum is provided on the output shaft of the propulsion motor 6. One end of the pull wire 7 is fixed on the winding drum, and the other end of the pull wire 7 is fixed on the inside of the propulsion wing 2. The winding drum is driven by the propulsion motor 6 to rotate forward and reverse, thereby realizing the retraction and release of the pull wire 7, and cooperating with the action of the tension spring 8, the propulsion wing 2 is thereby realized to retract inward or expand outward.

[0023] The specific working process of the propulsion drive assembly is as follows: when the propulsion motor 6 drives the pull wire 7 to retract, the pull wire 7 pulls the corresponding propulsion wing plate 2 inward, causing the propulsion wing plate 2 to retract inward; when the propulsion motor 6 drives the pull wire 7 to release, the pull wire 7 releases the propulsion wing plate 2, and under the elastic tension of the tension spring 8, the tension spring 8 pulls the propulsion wing plate 2 outward, driving the propulsion wing plate 2 to expand outward. The robot can be controlled by different combinations of each group of propulsion drive assemblies to achieve forward motion or a certain range of steering function.

[0024] At least two groups of suction cup assemblies 9 are provided along the circumferential direction on the front side of the base 1, and each group of suction cup assemblies 9 includes a suction cup support rod 10, a suction cup 11 and a preload spring 12. The rear end of the suction cup support rod 10 is fixed on the base 1, and the front end of the suction cup support rod 10 is connected to the suction cup 11 through a spherical hinge 13. At least two preload springs 12 are provided on the periphery of the suction cup 11, and the front end of the preload spring 12 is fixed on the outer wall of the suction cup 11, and the rear end is fixed on the suction cup support rod 10. The setting of the spherical hinge 13 can realize the flexible rotation of the suction cup 11. The preload spring 12 provides a certain preload force, and for different adsorption surfaces, the suction cup 11 can be adaptively adjusted to the fitting angle, so that it can be stably adsorbed on different surfaces.

[0025] The water flow regulating assembly 5 includes at least one water flow regulating plate 14, and at least one avoidance groove 15 for placing the water flow regulating plate 14 is opened on the propulsion wing plate 2. A water flow regulating driving mechanism is provided on the inner side of the propulsion wing plate 2. The water flow regulating driving mechanism drives the water flow regulating plate 14 to flip, thereby changing the relative angle between the water flow regulating plate 14 and the propulsion wing plate 2.

[0026] The water flow regulating driving mechanism includes a water flow regulating motor 16, a swinging guide rod 17, and a pressing arm 18. The water flow regulating motor 16 is installed on the inner side of the propulsion wing plate 2. A rocker arm 19 perpendicular to the output shaft is fixed on the output shaft of the water flow regulating motor 16. The end of the rocker arm 19 is fixedly connected to the swinging guide rod 17 perpendicular to the rocker arm 19. A pressing arm 18 is fixed on the inner side of the water flow regulating plate 14, and the other end of the pressing arm 18 is hinged on the swinging guide rod 17. In this embodiment, two water flow regulating plates 14 are arranged on each propulsion wing plate 2, and the pressing arms 18 of the two water flow regulating plates 14 are hinged at both ends of the swinging guide rod 17. The two water flow regulating plates 14 are simultaneously driven to flip at the same time by one water flow regulating motor 16.

[0027] The specific working process of the water flow regulating driving mechanism is as follows: the water flow regulating motor 16 drives the rocker arm 19 to rotate, and the rocker arm 19 drives the swing guide rod 17 to move together. The swing guide rod 17 drives the corresponding water flow regulating plate 14 to flip through the pressing arm 18, and the flip angle of the water flow regulating plate 14 can be adjusted by the rotation angle of the motor output shaft, thereby adjusting the movement direction of the robot.

[0028] A transparent shell 20 is provided at the front end of the base 1. To reduce resistance, the transparent shell 20 can be designed to be hemispherical. A closed cavity is formed between the transparent shell 20 and the base 1, and a visual component is provided in the closed cavity. The visual component includes a visual perception camera, which is connected to a single-chip microcomputer installed in the closed cavity. The visual perception camera is used to shoot the surrounding environment and transmit visual information to the single-chip microcomputer.

[0029] A plurality of sensors 21 are provided on the base 1 along the circumference, and the plurality of sensors 21 include a pH sensor, a pressure sensor, and a temperature sensor. The pH value, water pressure value, and water temperature value of the surrounding water environment are collected by the pH sensor, the pressure sensor, and the temperature sensor, respectively, and the collected sensing information such as the pH value, water pressure value, and water temperature value are transmitted to the single-chip microcomputer. The single-chip microcomputer controls the actions of each group of propulsion motors 6 and each group of water flow regulating motors 16 according to the received visual information and sensing information to meet various motion requirements.

[0030] When the bionic robot moves underwater, each propulsion motor 6 releases the pull wire 7, and under the elastic tension of each tension spring 8, each propulsion wing plate 2 is pulled outward, each elastic membrane 3 is also opened, and the volume of the propulsion chamber 4 inside the umbrella structure increases. At this time, the bionic robot is in an open state, and the external water flows into the propulsion chamber 4, realizing the water absorption process of the bionic robot similar to that of jellyfish. Then, each propulsion motor 6 tightens the pull wire 7, and each pull wire 7 pulls back each propulsion wing plate 2 inward, so that each propulsion wing plate 2 shrinks inward, so that the water flow in the propulsion chamber 4 is ejected backward from the rear end of the umbrella body, realizing the water spraying process of the bionic robot similar to that of jellyfish, and the reverse thrust is generated by the rapidly ejected water to realize forward propulsion. This continuous process provides the bionic robot with continuous power to move forward.

[0031] During the water spraying process of the bionic robot, the water flow regulating plate 14 on the propulsion wing plate 2 is driven by the water flow regulating motor 16 to achieve flipping at different angles, thereby changing the movement direction of the bionic robot, thereby achieving bionic jellyfish-like movement.

[0032] When the bionic robot is stationary, it can be adsorbed on a nearby wall surface through the suction cup components 9 at its front end. For example, when the camera needs to be stationary for shooting, it can be adsorbed on the surface of the hull for shooting, which greatly reduces energy consumption.

[0033] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional bionic robot, comprising a base (1), Features: A plurality of propulsion wing plates (2) are distributed at intervals along the circumferential direction at the rear end of the base (1); the front end of each propulsion wing plate (2) is rotatably connected to the base (1) and the rear end is a free end; adjacent propulsion wing plates (2) are connected via an elastic membrane (3); the gap between adjacent propulsion wing plates (2) is closed via the elastic membrane (3); the plurality of propulsion wing plates (2) and the plurality of elastic membranes (3) form an umbrella structure; the cavity between the umbrella structure and the base (1) forms a propulsion cavity (4); a propulsion drive mechanism is provided on the base (1); the plurality of propulsion wing plates (2) are driven to rotate independently via the propulsion drive mechanism, thereby realizing the propulsion wing plates (2) to expand outward or contract inward, thereby realizing the change in the volume of the propulsion cavity (4), thereby driving the robot forward; the propulsion wing plates (2) are provided with a water flow regulating component (5) for changing the movement direction of the robot; The water flow regulating assembly (5) comprises at least one water flow regulating plate (14); at least one avoidance groove (15) for placing the water flow regulating plate (14) is formed on the propulsion wing plate (2); a water flow regulating driving mechanism is provided on the inner side of the propulsion wing plate (2); the water flow regulating driving mechanism drives the water flow regulating plate (14) to flip, thereby changing the relative angle between the water flow regulating plate (14) and the propulsion wing plate (2); The water flow regulating driving mechanism comprises a water flow regulating motor (16), a swing guide rod (17), and a pressing arm (18); the water flow regulating motor (16) is mounted on the inner side of the propulsion wing plate (2); a rocker arm (19) perpendicular to the output shaft is fixed to the output shaft of the water flow regulating motor (16); the end of the rocker arm (19) is fixedly connected to the swing guide rod (17) perpendicular to the rocker arm (19); a pressing arm (18) is fixed to the inner side of the water flow regulating plate (14); the other end of the pressing arm (18) is hinged to the swing guide rod (17); The propulsion drive mechanism comprises a plurality of independent propulsion drive components, and the plurality of propulsion drive components drive a plurality of propulsion wing plates (2) to rotate independently in a one-to-one manner. Each propulsion drive component comprises a propulsion motor (6), a pull wire (7), and a tension spring (8). The tension spring (8) is located on the outside of the propulsion wing plate (2). The front end of the tension spring (8) is fixed on the base (1), and the rear end of the tension spring (8) is fixed on the outside of the propulsion wing plate (2). The propulsion motor (6) is mounted on the rear end of the base (1) and is located on the inside of the propulsion wing plate (2). A winding drum is provided on the output shaft of the propulsion motor (6). One end of the pull wire (7) is fixed on the winding drum, and the other end of the pull wire (7) is fixed on the inside of the propulsion wing plate (2). The propulsion motor (6) drives the winding drum to rotate forward and reverse, thereby realizing the retraction and extension of the pull wire (7). In cooperation with the action of the tension spring (8), the propulsion wing plate (2) is thereby realized to retract inward or expand outward.

2. A multifunctional bionic robot as claimed in claim 1, Features: At least two groups of suction cup assemblies (9) are provided along the circumferential direction on the front side of the base (1), each group of suction cup assemblies (9) comprises a suction cup support rod (10), a suction cup (11) and a preload spring (12), the rear end of the suction cup support rod (10) is fixed on the base (1), the front end of the suction cup support rod (10) is connected to the suction cup (11) via a spherical hinge joint (13), at least two preload springs (12) are provided on the outer circumference of the suction cup (11), the front end of the preload spring (12) is fixed on the outer side wall of the suction cup (11), and the rear end is fixed on the suction cup support rod (10).

3. A multifunctional bionic robot as claimed in claim 1, Features: A transparent shell (20) is provided at the front end of the base (1); a sealed cavity is formed between the transparent shell (20) and the base (1); and a visual component is provided in the sealed cavity.

4. A multifunctional bionic robot as claimed in claim 3, Features: A pH sensor, a pressure sensor and a temperature sensor are provided on the base (1) along the circumference.

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