Bionic robot water-jet foot end mechanism

Abstract

The embodiment of the present application discloses a kind of bionic robot water-jet foot end mechanism, the water-jet foot end mechanism includes conduit part and motor part, the motor part is fixedly connected in the conduit part along the axis of the conduit part;The conduit part is sequentially fixedly connected and is constituted by water-jet port, water inlet flow guide grid, motor fixed shell;The motor part is composed of propeller, motor, the propeller is fixedly connected on the motor, is rotated by the motor drive;The water inlet flow guide grid is the sleeve with side hollow installed in the periphery of the propeller, the hollow part of the water inlet flow guide grid is as the water inlet of water-jet foot end mechanism, and the water-jet port is as the water outlet of water-jet foot end mechanism.The water inlet flow guide grid is used as water inlet in the present application, can not excessively suppress thrust while water is entered, can also play the role of flow guide to the internal flow of motor part, to improve the propulsion efficiency.

Description

Technical Field

[0001] This invention relates to the field of bionic robots, and more specifically to a water-jetting foot mechanism for a bionic robot. Background Technology

[0002] With increasing emphasis on marine resources, there is a greater demand for marine exploration technologies and equipment. For tasks such as monitoring and tracking amphibious targets in shallow water transition environments, monitoring organisms within coral reefs, and collecting minerals from seabed crevices, patent application CN108859637A discloses a small amphibious spherical robot with high mobility, high stealth, high positioning accuracy, and support for multi-mode flexible movement. The robot has two movement modes: underwater, it uses a waterjet propulsion system for three-dimensional movement, and on land, it uses a leg-driven mechanism for crawling in different modes. Furthermore, patent application CN108820169A discloses an electric ducted waterjet propulsion system, which offers good protection, low noise, and meets the requirements for rapid movement and buoyancy in water. However, it also has its shortcomings. Specifically, the thrust of the water jet propulsion system currently used by the robot is insufficient, which cannot enable the robot to complete the rising and falling movements more quickly. When the robot crawls on land, the robot's leg drive structure acts directly on the ground, causing the water jet propulsion system to be under heavy load and easily damaged. Moreover, when the robot crawls on land and propels itself in water, it cannot judge and adjust its own posture. Summary of the Invention

[0003] Based on at least one of the above problems, on the one hand, the present invention proposes a biomimetic robot water-jetting foot mechanism, the water-jetting foot mechanism including a guide tube and a motor, the motor being fixedly connected inside the guide tube along the axis of the guide tube;

[0004] The duct section is composed of a water spray nozzle, a water inlet guide grille, and a motor mounting housing, which are sequentially and fixedly connected.

[0005] The motor unit consists of a propeller and a motor. The propeller is fixedly connected to the motor and is driven to rotate by the motor.

[0006] The water inlet guide grille is a sleeve with side cutouts installed around the propeller. The cutouts of the water inlet guide grille serve as the water inlet of the water-jetting foot mechanism, and the water jet serves as the water outlet of the water-jetting foot mechanism.

[0007] Furthermore, the hollowed-out portion extends along one end of the propeller away from the water nozzle along its axial direction.

[0008] Furthermore, the water nozzle adopts a frustum-shaped mesh structure, and the area of ​​the nozzle cross-section is smaller than the area of ​​the water flow cross-section of the water inlet guide grille.

[0009] Furthermore, the water-spraying foot mechanism also includes a buffer spring, which abuts against the water spray nozzle and the water inlet guide grille.

[0010] Furthermore, the water inlet guide grille is provided with an extension section at one end near the water nozzle, and a fixing member is provided on the side of the extension section. The fixing member is slidably connected to the sliding groove provided on the side of the water nozzle.

[0011] Furthermore, the extended section extends into the water nozzle, and a spring buffer ring is provided at one end near the hollowed-out part to abut against the buffer spring.

[0012] Furthermore, the water-spraying foot mechanism also includes a pressure sensor and a sensor mounting bracket;

[0013] The water-jetting foot mechanism is connected to the robot's leg structure via the sensor mounting bracket;

[0014] One end of the pressure sensor is fixedly connected to the motor housing, and the other end is fixedly connected to the sensor mounting bracket.

[0015] Furthermore, the blade rotation diameter of the water-jetting foot mechanism is 30-40mm;

[0016] The length of the catheter portion is 140-160mm, and the maximum diameter is 45-60mm.

[0017] On the other hand, the present invention also provides a bionic robot, which includes a shell, a partition, and legs, wherein the shell and the partition form a sealed chamber, and the legs include any of the water-jetting foot mechanisms described above.

[0018] The water-jet foot mechanism designed in this invention is smaller, lighter, simpler in structure, and easier to install than conventional mechanisms. Through the water inlet guide grille and the mesh-like outer shell of the water nozzle, the water-jet foot mechanism effectively prevents underwater plants and sediment from entering the propeller, ensuring efficient and safe underwater operation for the robot. Moreover, with a maximum blade rotation diameter of only 36.5mm, this water-jet foot mechanism can achieve a maximum forward thrust of at least 11.2N and a maximum reverse thrust of at least 4.7N, demonstrating high propulsion efficiency. This meets the propulsion requirements of small robot platforms, enabling rapid movement of the robot in water and allowing it to float and sink by changing the direction of the water jet. The duct-type water-jet foot mechanism is easy to control, has good directionality, and is less affected by fluctuations in water flow or rapids.

[0019] Moreover, the water-jetting foot mechanism, by setting up pressure sensors, can measure the pressure on the robot's feet when crawling or spraying water, so as to meet the estimation of its own posture.

[0020] Moreover, the water-jet foot mechanism has a buffer structure, which can prevent the main body of the leg drive structure from directly impacting the ground when the robot crawls, thereby reducing the possibility of damage to the water-jet foot mechanism. Attached Figure Description

[0021] Figure 1 This is a front view of the robot;

[0022] Figure 2 This is a bottom view of the robot.

[0023] Figure 3 An exploded view of the robot from the front;

[0024] Figure 4 This is a schematic diagram of a water-spraying foot mechanism;

[0025] Figure 5 Exploded view of the water-jetting foot mechanism;

[0026] Figure 6 Exploded view of the conduit section of the water-jet foot mechanism;

[0027] Figure 7 Exploded view of the buffer structure of the water-jet foot mechanism;

[0028] Figure 8 This is an exploded view of the pressure sensing structure of the water-jet foot mechanism. Detailed Implementation

[0029] Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are for teaching those skilled in the art how to implement the present invention, and are not intended to exhaustively describe all possible ways of the invention, nor to limit the scope of the invention.

[0030] This embodiment provides a biomimetic robot designed for transitional amphibious environments, suitable for operation in confined spaces, and possessing high mobility, high stealth, multiple movement modes, long endurance, strong load-bearing capacity, and retrievability. For example... Figures 1-3As shown, the biomimetic robot includes a hemispherical shell 100, a partition 200, and legs 300. The hemispherical shell 100 and partition 200 form a hemispherical sealed chamber for the biomimetic robot, where waterproof control and power components, such as control boards and power supplies, can be housed. At least three sets of legs 300 are provided along the circumference of the robot's main body, connected to the lower part of the main body. Furthermore, a water-jetting foot mechanism 400 is provided at the end of each leg 300. Each leg 300 has at least one vertical rotation joint 310 and at least one horizontal swing joint 320. On the one hand, in an underwater environment, the robot can adjust the vector water jet output direction of the water-jetting foot mechanism 400 through the vertical rotation joint 310 and the horizontal swing joint 320, thereby adjusting the propulsion direction. On the other hand, in terrestrial and near-shore environments, the robot can lift its legs (the water-jetting foot mechanism 400 can be considered as the end leg) through the vertical rotation joint 310, and cooperate with the horizontal swing joint 320 to complete crawling movements. In this embodiment, four sets of legs 300 are provided and are evenly distributed in the four directions of the bionic robot body. Each set of legs 300 includes at least two vertical rotation joints 310, thereby providing a larger adjustment angle for the water-jetting foot mechanism 400.

[0031] To improve the underwater mobility of the bionic robot, a novel water-jetting foot mechanism 400 is employed. This water-jetting foot mechanism 400 will be further described in detail below. Figures 4-5 As shown, the water-jet foot mechanism 400 includes a guide tube section and a motor section, with the motor section fixedly connected inside the guide tube section along its axis. The guide tube section is approximately cylindrical and consists of a water nozzle 1, a water inlet guide grille 3, and a motor mounting housing 7, all sequentially and fixedly connected. The motor section comprises a propeller 5 and a motor 6, with the propeller 5 fixedly connected to the motor 6 and driven to rotate by the motor 6. The overall appearance of the water-jet foot mechanism 400 is approximately cylindrical, satisfying both the requirement for underwater propulsion via water jets and the need for legged crawling in transitional terrestrial and amphibious environments.

[0032] like Figure 8 As shown, the motor mounting housing 7 mainly serves to mount and fix the motor 6 in the motor unit. In this embodiment, the motor 6 and the motor mounting housing 7 are fixed together by screws through a first fixing hole 61 on the side of the motor 6 and a second fixing hole 72 on the side of the motor mounting housing 7, wherein the first fixing hole 61 is a threaded hole. Figure 6 As shown, the motor mounting housing 7 and one end of the water inlet guide grille 3 are fixed by screws through a third fixing hole 71 on the axial direction of the motor mounting housing 7 and a fourth fixing hole 31 on the axial direction of the water inlet guide grille 3. The third fixing hole 71 is a threaded hole.

[0033] The other end of the water inlet guide grille 3 is connected to the nozzle 1, specifically by snap-fit ​​or threaded connection. The water inlet guide grille 3 is a cylindrical sleeve with side perforations mounted around the propeller 5. Multiple perforations are arranged circumferentially around the cylindrical side of the water inlet guide grille 3, and the perforations extend along the axial end of the propeller 5 away from the nozzle 1. This side perforation increases the water inlet surface area and water intake. In this embodiment, the water inlet guide grille 3 serves as a water inlet, both allowing water to enter without excessively suppressing thrust and guiding the internal water flow of the motor section, thereby improving propulsion efficiency. Furthermore, the cylindrical mesh-like outer surface also protects the propeller 5.

[0034] The nozzle 1 adopts an approximately frustum-shaped mesh structure, and the area of ​​its nozzle cross-section is smaller than the area of ​​the water flow cross-section of the inlet guide grille 3, which can increase the speed of water flow and thus increase thrust. In addition, the frustum-shaped mesh structure of the nozzle 1 can also effectively reduce the impact of underwater plants, silt and other debris being entrained.

[0035] In a preferred embodiment, the water-spraying foot mechanism 400 further includes a buffer spring 2, which abuts against the water spray nozzle 1 and the water inlet guide grille 3. Figure 7 As shown, the water-jet foot mechanism 400 is buffered by a water nozzle 1, a buffer spring 2, and a water inlet guide grille 3. The end of the water inlet guide grille 3 near the water nozzle 1 has an extension section 32. A fixing member 33 is provided on the side of the extension section 32, and the fixing member 33 is slidably connected to a sliding groove 11 on the side of the water nozzle 1. The fixing member 33 can be a protrusion on the side or a screw threaded through a threaded hole on the side of the extension section 32. This allows the water nozzle 1 to slide along the extension direction of the sliding groove 11 at the end of the water inlet guide grille 3; simultaneously, the buffer spring 2 acts as a buffer against external forces. This structure prevents the main body of the robot's leg drive structure from directly impacting the ground, thus protecting the water-jet foot mechanism 400 during robot crawling. In this embodiment, the extension section 32 extends into the nozzle 1, thereby providing a stable connection between the nozzle 1 and the water inlet guide grille 3. The remaining part is fitted with a buffer spring 2 on the outside, and the end of the extension section 32 near the hollow part is also provided with a spring buffer retaining ring 4 for abutting the buffer spring 2.

[0036] In this embodiment, the water-jet foot mechanism 400 can be directly connected to the robot's leg structure via the motor mounting housing 7. A structure in which the motor mounting housing 7 is indirectly connected to the robot's leg structure is described below.

[0037] To enable robots to sense their own posture when surfacing, diving, and crawling on land, and to help them make adjustments to achieve a stable state, such as... Figure 8As shown, the water-jetting foot mechanism 400 also includes a pressure sensor 8 and a sensor mounting bracket 9. Thus, the motor mounting housing 7, pressure sensor 8, and sensor mounting bracket 9 constitute the pressure sensing structure of the water-jetting foot mechanism 400. The motor mounting housing 7 has a radial protrusion with an axial first sensor mounting hole 73. The first sensor mounting hole 73 is screwed into a second sensor mounting hole 81 on one side of the pressure sensor 8. The pressure sensor 8 can be axially positioned via a groove on the motor mounting housing 7. The other side of the pressure sensor 8 is screwed into a third sensor mounting hole 91 on the sensor mounting bracket 9 via the second sensor mounting hole 81. The water-jetting foot mechanism 400 is fixedly connected to the robot's leg structure via the sensor mounting bracket 9. Therefore, the pressure received by the water-jetting foot mechanism 400 from the water nozzle 1 end can be transmitted to the motor mounting housing 7 via the water inlet guide grille 3. The pressure is then transmitted to the pressure sensor 8 via the lateral and longitudinal tensile and compressive forces between the sensor mounting bracket 9 and the motor mounting housing 7. The pressure sensor 8 then provides feedback signals to obtain the force measurement data of the water nozzle 1. The force can be the resultant force of gravity and friction when the robot is crawling, or the thrust when the robot propels itself underwater by spraying water.

[0038] In this embodiment, the sensor fixing bracket 9 is a C-shaped component. Its middle section is used to connect the robot's leg structure, and its two ends are respectively connected to two pressure sensors 8 on both sides of the motor fixing housing 7. Connecting pieces are provided at both ends that bulge radially inward along the water-spraying foot mechanism 400. A third sensor fixing hole 91 is provided on the connecting piece to cooperate with the connection of the pressure sensor 8.

[0039] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A biomimetic robot water-jetting foot mechanism, characterized in that, The water-spraying foot mechanism includes a guide tube and a motor, with the motor fixedly connected inside the guide tube along its axis. The duct section is composed of a water spray nozzle, a water inlet guide grille, and a motor mounting housing, which are sequentially and fixedly connected. The motor unit consists of a propeller and a motor. The propeller is fixedly connected to the motor and is driven to rotate by the motor. The water inlet guide grille is a sleeve with side cutouts installed around the propeller. The cutouts of the water inlet guide grille serve as the water inlet of the water-jetting foot mechanism, and the water jet serves as the water outlet of the water-jetting foot mechanism. The water-spraying foot mechanism also includes a buffer spring, which abuts against the water spray nozzle and the water inlet guide grille; The water inlet guide grille is further provided with an extension section at one end near the water nozzle, and a fixing member is provided on the side of the extension section. The fixing member is slidably connected to the sliding groove provided on the side of the water nozzle. The extended section extends into the water nozzle, and a spring buffer ring is provided at the end near the hollow part to abut against the buffer spring.

2. The water-spraying foot mechanism according to claim 1, characterized in that, The hollowed-out portion extends along one end of the propeller away from the water nozzle along its axial direction.

3. The water-spraying foot mechanism according to claim 1, characterized in that, The water nozzle adopts a frustum-shaped mesh structure, and the area of ​​the nozzle cross-section is smaller than the area of ​​the water flow cross-section of the inlet guide grille.

4. The water-spraying foot mechanism according to claim 1, characterized in that, The water-spraying foot mechanism also includes a pressure sensor and a sensor mounting bracket; The water-jetting foot mechanism is connected to the robot's leg structure via the sensor mounting bracket; One end of the pressure sensor is fixedly connected to the motor housing, and the other end is fixedly connected to the sensor mounting bracket.

5. The water-spraying foot mechanism according to claim 1, characterized in that, The blade rotation diameter of the water-jet foot mechanism is 30-40mm; The length of the catheter portion is 140-160mm, and the maximum diameter is 45-60mm.

6. A biomimetic robot, characterized in that, The bionic robot includes a shell, a partition, and legs, wherein the shell and the partition form a sealed chamber, and the legs include a bionic robot water-jetting foot mechanism as described in any one of claims 1 to 5.

Images