An underwater working quadruped robot

Abstract

The application discloses a kind of underwater operation four-legged robots, belong to waste gas treatment field, including the fuselage of being equipped with drive module, the drive leg of multiple morphologies being changed, with multidirectional underwater propeller, with the operation mechanical arm of multiple degrees of freedom, operation mechanical arm is installed at the top of fuselage, underwater propeller is installed at the side of fuselage, drive leg is installed at the side of fuselage, drive leg both sides are equipped with underwater impurity removal device, the end of drive leg is uniformly respectively provided with convex rubber strip, the bottom of drive leg is equipped with support long plate, support long plate bottom is equipped with force feedback sensor, force feedback sensor and drive module are electrically connected, it can solve the problem of poor single foot end adaptability of traditional four-legged robot.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and more particularly relates to an underwater operation quadruped robot. BACKGROUND

[0002] Quadruped robots and underwater operation robots are hotspots in the field of robot research at present. At present, underwater operation robots mostly adopt traditional modes and can only move on single terrains. When facing rugged terrains on the water bottom, the activities are limited. Moreover, the water bottom environment is complex, and weeds and sundries are widespread. Quadruped robots have advantages such as flexible movement and strong adaptability to complex environments. However, most of the quadruped robots currently adopt single foot ends, so that the quadruped robots are difficult to adapt to the mud contact surface, and sundries winding will cause great obstacles to the movement of the robots. SUMMARY

[0003] The technical problem to be solved by the application is to provide an underwater operation quadruped robot, which can solve the problem of poor adaptability of the single foot end of the traditional quadruped robot.

[0004] The underwater operation quadruped robot of the application comprises a body provided with a driving module, driving legs capable of being transformed into multiple modes, underwater propellers with multiple directions, and operation mechanical arms with multiple degrees of freedom.

[0005] The operation mechanical arms are installed on the top of the body.

[0006] The underwater propellers are installed on the side of the body.

[0007] The driving legs are installed on the side of the body, and underwater sundry removing devices are installed on the two sides of the driving legs.

[0008] The end of the driving leg is uniformly provided with a protruding rubber strip, the bottom of the driving leg is provided with a supportable long plate, the bottom of the supportable long plate is provided with a force feedback sensor, and the force feedback sensor is electrically connected with the driving module.

[0009] As a further improvement of the application, the driving legs are arranged symmetrically on the two sides of the body and comprise thigh driving motors, driving thighs, driving shanks, leg stretching cylinders and leg stretching rods. The thigh driving motors are fixed on the body, the driving thighs are fixedly connected with the output ends of the thigh driving motors, the driving thighs are connected with the driving shanks, one end of the leg stretching cylinder is hingedly connected with the driving thigh through an upper universal hinge, one end of the leg stretching rod is located inside the leg stretching cylinder and is in sliding fit, the other end of the leg stretching rod is hingedly connected with the driving shank through a lower universal hinge, and the leg stretching cylinder is electrically connected with the driving module installed on the body.

[0010] As a further improvement of the application, the underwater impurity removing device comprises an impurity removing disc, an impurity removing disc connector, an extension rod, an extension cylinder, a blade driving motor and impurity removing blades, the impurity removing disc is rotationally connected with the driving shank through the impurity removing disc connector, the blade driving motor is fixed inside the impurity removing disc, the impurity removing blades are fixed on the output end of the blade driving motor, the extension rod and the extension cylinder are sleeved and slidingly fitted, the extension rod is connected with the impurity removing disc through the extension rod universal hinge, the extension cylinder is connected with the driving shank through the extension cylinder universal hinge, and the extension cylinder and the driving module are electrically connected.

[0011] As a further improvement of the application, the underwater impurity removing device comprises an impurity removing disc, an impurity removing disc connector, an extension rod, an extension cylinder, a blade driving motor and impurity removing blades, the impurity removing disc is rotationally connected with the driving shank through the impurity removing disc connector, the blade driving motor is fixed inside the impurity removing disc, the impurity removing blades are fixed on the output end of the blade driving motor, the extension rod and the extension cylinder are sleeved and slidingly fitted, the extension rod is connected with the impurity removing disc through the extension rod universal hinge, the extension cylinder is connected with the driving shank through the extension cylinder universal hinge, and the extension cylinder and the driving module are electrically connected.

[0012] As a further improvement of the application, the underwater impurity removing device comprises an impurity removing disc, an impurity removing disc connector, an extension rod, an extension cylinder, a blade driving motor and impurity removing blades, the impurity removing disc is rotationally connected with the driving shank through the impurity removing disc connector, the blade driving motor is fixed inside the impurity removing disc, the impurity removing blades are fixed on the output end of the blade driving motor, the extension rod and the extension cylinder are sleeved and slidingly fitted, the extension rod is connected with the impurity removing disc through the extension rod universal hinge, the extension cylinder is connected with the driving shank through the extension cylinder universal hinge, and the extension cylinder and the driving module are electrically connected.

[0013] As a further improvement of the application, the underwater impurity removing device comprises an impurity removing disc, an impurity removing disc connector, an extension rod, an extension cylinder, a blade driving motor and impurity removing blades, the impurity removing disc is rotationally connected with the driving shank through the impurity removing disc connector, the blade driving motor is fixed inside the impurity removing disc, the impurity removing blades are fixed on the output end of the blade driving motor, the extension rod and the extension cylinder are sleeved and slidingly fitted, the extension rod is connected with the impurity removing disc through the extension rod universal hinge, the extension cylinder is connected with the driving shank through the extension cylinder universal hinge, and the extension cylinder and the driving module are electrically connected.

[0014] As a further improvement of the application, the underwater impurity removing device comprises an impurity removing disc, an impurity removing disc connector, an extension rod, an extension cylinder, a blade driving motor and impurity removing blades, the impurity removing disc is rotationally connected with the driving shank through the impurity removing disc connector, the blade driving motor is fixed inside the impurity removing disc, the impurity removing blades are fixed on the output end of the blade driving motor, the extension rod and the extension cylinder are sleeved and slidingly fitted, the extension rod is connected with the impurity removing disc through the extension rod universal hinge, the extension cylinder is connected with the driving shank through the extension cylinder universal hinge, and the extension cylinder and the driving module are electrically connected.

[0015] As a further improvement of the application, the underwater impurity removing device comprises an impurity removing disc, an impurity removing disc connector, an extension rod, an extension cylinder, a blade driving motor and impurity removing blades, the impurity removing disc is rotationally connected with the driving shank through the impurity removing disc connector, the blade driving motor is fixed inside the impurity removing disc, the impurity removing blades are fixed on the output end of the blade driving motor, the extension rod and the extension cylinder are sleeved and slidingly fitted, the extension rod is connected with the impurity removing disc through the extension rod universal hinge, the extension cylinder is connected with the driving shank through the extension cylinder universal hinge, and the extension cylinder and the driving module are electrically connected.

[0016] Compared with the prior art, the application has the following advantages:

[0017] 1. The ultrasonic radar is used for collecting underwater terrain information, and the force feedback sensor collects the water wave resistance to the machine body when the robot moves underwater, so as to facilitate automatic adjustment of the state;

[0018] 2. By changing the state of the driving leg, the long plate or the end of the driving leg can be supported, the long plate increases the contact area of the robot sole and the silt surface, and the stability of the robot is improved, the end of the driving leg contacts the rugged water bottom, and the flexibility of the robot movement is improved;

[0019] 3. The multi-degree-of-freedom operation mechanical arm can complete different operation requirements, and has strong practicability;

[0020] 4. The movement of the robot is controlled by the underwater propeller, and different angle and direction movements of the robot are realized by changing the direction of the underwater propeller.

[0021] 5. The underwater impurity removal device can effectively remove impurities in water, and can effectively prevent the foot end and the joint connection of the large leg from being entangled by the underwater impurities, and improve the passability. DETAILED DESCRIPTION

[0022] Figure 1 It is a whole schematic diagram of the four-legged robot of the application;

[0023] Figure 2 It is a schematic diagram of the operation mechanical arm of the application;

[0024] Figure 3 It is a schematic diagram of the whole claw of the application;

[0025] Figure 4 It is a schematic diagram of the whole underwater propeller of the application;

[0026] Figure 5 It is a schematic diagram of the whole driving leg of the application Figure 1 ;

[0027] Figure 6 It is a schematic diagram of the whole driving leg of the application Figure 2 ;

[0028] Figure 7 It is a schematic diagram of the long plate of the application;

[0029] Figure 8 It is a schematic diagram of the underwater impurity removal device of the application;

[0030] Figure 9 It is a schematic diagram of the whole posture of the application;

[0031] Figure 10 It is a schematic diagram of the whole posture of the application;

[0032] Figure 11 It is a schematic diagram of the impurity removal device of the application.

[0033] Explanation of reference numerals in the drawings:

[0034] 1, body; 101, ultrasonic radar; 2, working manipulator; 201, manipulator base; 202, manipulator large arm rotating motor; 203, manipulator telescopic rod; 204, manipulator large arm; 205, manipulator telescopic cylinder; 206, manipulator small arm rotating motor; 207, manipulator small arm; 208, mechanical claw rotating motor; 210, mechanical claw; 211, manipulator base rotating motor; 3, underwater thruster; 301, propeller; 302, thruster protective cover; 303, thruster rotating motor; 304, body thruster rotating motor; 4, driving leg; 401, driving large leg; 402, driving small leg; 403, upper end universal joint; 404, leg telescopic cylinder; 405, leg telescopic rod; 406, lower end universal joint; 407, supportable long plate; 408, rubber strip; 409, large leg driving motor; 411, force feedback sensor; 5, underwater impurity removal device; 501, telescopic cylinder universal joint; 502, telescopic cylinder; 503, impurity removal disc; 504, telescopic rod; 505, impurity removal blade; 506, telescopic rod universal joint; 507, blade driving motor; 508, impurity removal disc connecting piece. DETAILED DESCRIPTION

[0035] Specific embodiment one: please refer to Figures 1-11 An underwater operation four-legged robot, comprising a body 1 provided with a driving module, a driving leg 4 capable of changing multiple forms, an underwater thruster 3 having multiple directions, a working manipulator 2 having multiple degrees of freedom, an ultrasonic radar 101 arranged on the top of the body 1, and the ultrasonic radar 101 and the driving module being electrically connected.

[0036] The driving leg 4 is installed on the side of the body 1, and the driving leg 4 is provided with four and symmetrically arranged on both sides of the body 1, the driving leg 4 includes the thigh driving motor 409, the driving thigh 401, the driving calf 402, the leg telescopic cylinder 404 and the leg telescopic rod 405, the thigh driving motor 409 is fixed on the body 1, the driving thigh 401 and the output end of the thigh driving motor 409 are fixedly connected, the driving thigh 401 and the driving calf 402 are connected through the thigh connecting rod 400, one end of the leg telescopic cylinder 404 and the driving thigh 401 are hinged through the upper end universal hinge 403, one end of the leg telescopic rod 405 is located inside the leg telescopic cylinder 404 and is in sliding fit, the other end of the leg telescopic rod 405 and the driving calf 402 are hinged through the lower end universal hinge 406, the leg telescopic cylinder 404 and the driving module installed on the body 1 are electrically connected, the end of the driving calf 402 is uniformly provided with the protruding rubber strip 408, the bottom of the driving calf 402 is provided with the supportable long plate 407 through the supportable long plate 407 fixing piece 410, the bottom of the supportable long plate 407 is provided with the force feedback sensor 411, and the force feedback sensor 411 and the driving module are electrically connected.

[0037] The ultrasonic radar 101 is used to collect underwater terrain information, and the force feedback sensor 411 collects the water wave resistance of the robot when the robot runs underwater to the body 1, so that the robot can automatically make appropriate state adjustment, the state of the driving leg 4 is changed, so that the supportable long plate 407 or the end of the driving calf 402 is supported, the supportable long plate 407 increases the contact area of the robot foot bottom and the silt surface, and the stability of the robot is improved, and the end of the driving leg 4 is in contact with the rugged water bottom, so that the flexibility of the robot movement is improved.

[0038] The underwater impurity removing device 5 is installed on both sides of the driving leg 4, the underwater impurity removing device 5 can effectively remove impurities in water, and can effectively prevent the foot end and the joint connection of the thigh from being wound by the water bottom impurities, and the passability is improved, the underwater impurity removing device 5 includes the impurity removing disc 503, the impurity removing disc 503 connecting piece, the telescopic rod 504, the telescopic cylinder 502, the blade driving motor 507 and the impurity removing blade 505, the impurity removing disc 503 is rotatably connected with the driving calf 402 through the impurity removing disc connecting piece 508, the blade driving motor 507 is fixed in the impurity removing disc 503, the impurity removing blade 505 is fixed on the output end of the blade driving motor 507, the telescopic rod 504 and the telescopic cylinder 502 are sleeved and in sliding fit, the telescopic rod 504 is connected with the impurity removing disc 503 through the telescopic rod universal hinge 506, the telescopic cylinder 502 is connected with the driving calf 402 through the telescopic cylinder universal hinge 501, and the telescopic cylinder 502 and the driving module are electrically connected.

[0039] The underwater propeller 3 is provided with two and symmetrically arranged on both sides of the fuselage 1, the movement of the robot is controlled by the underwater propeller 3, the different angle and direction movement of the robot is realized by changing the direction of the underwater propeller 3, the underwater propeller 3 includes propeller protection cover 302, propeller 301, propeller rotating motor 303 and fuselage 1 propeller rotating motor 303, fuselage 1 propeller rotating motor 303 is fixed on the fuselage 1, propeller rotating motor 303 is fixed on the output end of fuselage 1 propeller rotating motor 303, propeller 301 is fixed on the output end of propeller rotating motor 303, propeller protection cover 302 is sleeved on the outside of propeller 301 and is fixedly connected with propeller rotating motor 303, propeller rotating motor 303 and fuselage 1 propeller rotating motor 303 are electrically connected with the driving module.

[0040] The working arm 2 is installed on the top of the fuselage 1, the multi-degree-of-freedom working arm 2 can complete different work requirements, and the practicability is strong, the working arm 2 includes mechanical arm base 201, mechanical arm base rotating motor 211, mechanical arm large arm 204, mechanical arm large arm rotating motor 202, telescopic assembly, mechanical arm small arm 207, mechanical arm small arm rotating motor 206, mechanical claw 210 and mechanical claw 210 rotating motor 208, the mechanical arm base rotating motor 211 is fixedly connected with the fuselage 1, the output end of the mechanical arm base 201 and the mechanical arm base rotating motor 211 is fixedly connected, the mechanical arm large arm 204 is rotatably connected with the mechanical arm base 201 through two mechanical arm large arm rotating motors 202, one end of the mechanical arm telescopic rod 203 passes through the opening end of the mechanical arm telescopic cylinder 205 and is slidingly matched, the mechanical arm telescopic cylinder 205 and the mechanical arm telescopic rod 203 are rotatably matched with the mechanical arm large arm 204 and the mechanical arm base 201 respectively, the mechanical arm large arm 204 is rotatably connected with the mechanical arm small arm 207 through the mechanical arm small arm rotating motor 206, the mechanical claw 210 is rotatably connected with the mechanical arm small arm 207 through the mechanical claw 210 rotating motor 208, the mechanical claw 210 is composed of a pair of four-bar assemblies 212, the mechanical claw 210 is driven to stretch and shrink by the mechanical claw motor 209, the mechanical arm base rotating motor 211, the mechanical arm large arm rotating motor 202, the mechanical arm small arm rotating motor 206, the mechanical claw 210 and the mechanical claw 210 rotating motor 208 are electrically connected with the driving module.

[0041] Working principle:

[0042] The ultrasonic radar 101 is used to collect underwater terrain information, and the force feedback sensor 411 collects the water wave resistance when the robot travels underwater. The driving module in the body 1 is driven by the force feedback sensor 411. When it is in the silt ground, the driving module will control the thruster rotating motor 303 to start, so as to control the thruster rotating motor 303 to rotate to the appropriate angle, and the thruster rotating motor 303 is started to drive the propeller 301 to rotate, so as to generate an upward supporting force on the body 1, facilitate the state conversion of the body 1, and drive the leg 4 part telescopic rod 504 and the leg telescopic cylinder 404 to contract, so as to pull the driving calf 402 to rotate around the thigh connecting rod, drive the supportable long plate 407 to rotate, until the supportable long plate 407 is in parallel with the body 11, increase the contact area of the robot foot and the silt surface, improve the stability, and be suitable for the silt road surface; when it is in the hard stone and rugged underwater operation, the leg 4 part telescopic rod 504 and the leg telescopic cylinder 404 are driven to stretch, so as to pull the driving calf 402 to rotate around the thigh connecting rod 400, make the end of the driving calf 402 act on the ground, improve the flexibility; at the same time, the extension and shortening of the telescopic cylinder 502 and the telescopic rod 504 control the rotation of the impurity removal disc 503 around the impurity removal disc 503 connector, so as to adjust the angle of the impurity removal disc 503, make it in the working state or the retracted state, drive the impurity removal blade 505 to rotate through the rotating blade drive motor 507, so as to crush the weeds and other impurities; the mechanical arm base rotating motor 211 controls the angle of the mechanical arm base 201, the mechanical arm large arm rotating motor 202, and the mechanical arm telescopic rod 203 and the mechanical arm telescopic cylinder 205 control the angle of the mechanical arm large arm 204, the mechanical arm small arm rotating motor 206 controls the angle of the mechanical arm small arm 207, and the mechanical claw 210 rotating motor 208 controls the angle of the mechanical claw 210, so as to control the mechanical claw 210 to clamp the objects at different angles and different positions.

Claims

1. An underwater working quadruped robot, characterized in that: The utility model provides a kind of multi-functional underwater robot, including the fuselage (1) installed with drive module, changeable multiple forms of drive leg (4), with multi-direction underwater propeller (3), with multi-degree of freedom operation mechanical arm (2); The operation mechanical arm (2) is installed on the top of the fuselage (1); The underwater propeller (3) is installed on the side of the fuselage (1); The drive leg (4) is installed on the side of the fuselage (1), and the underwater impurity removal device (5) is installed on both sides of the drive leg (4); The end of the drive leg (4) is uniformly provided with a protruding rubber strip (408), and the bottom of the drive leg (4) is provided with a supportable long plate (407), and the bottom of the supportable long plate (407) is provided with a force feedback sensor (411), and the force feedback sensor (411) is electrically connected with the drive module; The drive leg (4) includes a thigh drive motor (409), a drive thigh (401), a drive calf (402), a leg telescopic cylinder (404) and a leg telescopic rod (405), the thigh drive motor (409) is fixed on the fuselage (1), the output end of the drive thigh (401) is fixedly connected with the thigh drive motor (409), the drive thigh (401) is connected with the drive calf (402), one end of the leg telescopic cylinder (404) is hingedly connected with the drive thigh (401) through an upper universal hinge (403), one end of the leg telescopic rod (405) is located inside the leg telescopic cylinder (404) and is slidingly fitted, the other end of the leg telescopic rod (405) is hingedly connected with the drive calf (402) through a lower universal hinge (406), and the leg telescopic cylinder (404) is electrically connected with the drive module installed on the fuselage (1); The underwater impurity removal device (5) includes an impurity removal disc (503), an impurity removal disc connecting piece (508), a telescopic rod (504), a telescopic cylinder (502), a blade drive motor (507) and an impurity removal blade (505), the impurity removal disc (503) is rotatably connected with the drive calf (402) through the impurity removal disc connecting piece (508), the blade drive motor (507) is fixed inside the impurity removal disc (503), the impurity removal blade (505) is fixed on the output end of the blade drive motor (507), the telescopic rod (504) and the telescopic cylinder (502) are sleeved and slidingly fitted, the telescopic rod (504) is connected with the impurity removal disc (503) through a telescopic rod universal hinge (506), the telescopic cylinder (502) is connected with the drive calf (402) through a telescopic cylinder universal hinge (501), and the telescopic cylinder (502) is electrically connected with the drive module; The underwater propeller (3) comprises a propeller (301), a propeller rotating motor (303) and a body propeller rotating motor (304), the body propeller rotating motor (304) is fixed on the body (1), the propeller rotating motor (303) is fixed on the output end of the body propeller rotating motor (304), the propeller (301) is fixed on the output end of the propeller rotating motor (303), and the propeller rotating motor (303) and the body propeller rotating motor (304) are electrically connected with the driving module.

2. The underwater operation quadruped robot according to claim 1, characterized in that: The driving leg (4) is provided with four and symmetrically arranged on both sides of the body (1).

3. The underwater working quadruped robot according to claim 1, characterized in that: The underwater propeller (3) is provided with two and symmetrically arranged on both sides of the body (1).

4. The underwater operation quadruped robot according to claim 1, characterized in that: The working mechanical arm (2) comprises a mechanical arm base (201), a mechanical arm base rotating motor (211), a mechanical arm large arm (204), a mechanical arm large arm rotating motor (202), a mechanical arm small arm (207), a mechanical arm small arm rotating motor (206), a mechanical claw (210) and a mechanical claw rotating motor (208), the mechanical arm base (201) and the body (1) are rotatably connected through the mechanical arm base rotating motor (211), the mechanical arm large arm (204) and the mechanical arm base (201) are rotatably connected through two mechanical arm large arm rotating motors (202), the mechanical arm large arm (204) and the mechanical arm small arm (207) are rotatably connected through the mechanical arm small arm rotating motor (206), the mechanical claw (210) is rotatably connected through the mechanical claw rotating motor (208) and the mechanical arm small arm (207), and the mechanical arm base rotating motor (211), the mechanical arm large arm rotating motor (202), the mechanical arm small arm rotating motor (206), the mechanical claw (210) and the mechanical claw rotating motor (208) are electrically connected with the driving module.

5. The underwater working quadruped robot according to claim 1, characterized in that: The body (1) is provided with an ultrasonic radar (101) on the top, and the ultrasonic radar (101) is electrically connected with the driving module.

6. The underwater working quadruped robot according to claim 1, characterized in that: The underwater propeller further comprises a propeller protection cover (302), the propeller protection cover (302) is sleeved outside the propeller (301) and is fixedly connected with the propeller rotating motor (303).

7. The underwater working quadruped robot according to claim 4, characterized in that: The working mechanical arm (2) further comprises a mechanical arm telescopic rod (203) and a mechanical arm telescopic cylinder (205), one end of the mechanical arm telescopic rod (203) penetrates through the open end of the mechanical arm telescopic cylinder (205) and is slidably matched, and the mechanical arm telescopic cylinder (205) and the mechanical arm telescopic rod (203) are rotatably matched with the mechanical arm large arm (204) and the mechanical arm base (201) respectively.

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