Multi-joint wheel web propelling mechanism based on magnetic pole coupling

Abstract

The invention discloses a multi-joint wheel web propelling mechanism based on magnetic pole coupling, the multi-joint wheel web propelling mechanism comprises chain links, pressing plates, flexible cloth and magnetic blocks, the multiple chain links are connected through the magnetic blocks in a coupling mode, the magnetic blocks are fixed to the connecting positions of the adjacent chain links, the flexible cloth is fixed to the chain links through the pressing plates, and the amphibious composite propelling device can be used for an amphibious robot. Under the land working condition, under the action of the flexible cloth and the magnetic blocks, the device can be adaptively switched into an arc-shaped leg or a flexible web according to the contact state with the ground, under the underwater working condition, under the action of the magnetic blocks, the passive relative rotation amplitude generated by the device is small or the device is in a straight web shape, and water stirring propelling is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a multi-joint wheel-paddle propulsion mechanism based on magnetic pole coupling. Background Art

[0002] Amphibious robots have attracted extensive attention from researchers due to their outstanding advantages in unstructured and complex environments, and are showing a trend of continuous development. Compared with robots that can only work in both water and land, amphibious robots have been shown to have greater flexibility, adaptability and robustness. Due to these outstanding advantages, amphibious robots have broad application prospects in scientific, commercial and military fields such as reconnaissance, marine mine detection, disaster relief, water quality monitoring, and ecosystem protection. Due to the huge difference between water and land environments, the propulsion system is the main difficulty in the application of amphibious robots. The main propulsion methods of unmanned ground vehicles include wheels and tracks. Unmanned underwater vehicles usually use propellers and water jets. Since the above-mentioned traditional drive system is only applicable to a single medium, it is worth studying to find a unified drive mechanism to reduce structural complexity and improve system reliability. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned existing problems and to provide a multi-joint wheel-paddle propulsion mechanism based on magnetic pole coupling, so that the robot can achieve land and underwater propulsion and adapt to multi-mode cross-domain movement in muddy areas such as water-land transition environments.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: a multi-joint wheel-paddle propulsion mechanism based on magnetic pole coupling, including chain links, pressure plates, flexible cloth, and magnetic blocks.

[0005] According to the above technical scheme, the multiple links are coupled and connected by magnetic blocks, and the links include a head link, an intermediate link, and a tail link. One end of the head link is provided with a special-shaped shaft hole to be connected and fixed with the output shaft of the robot drive motor, and the other end is connected to the intermediate link through a flexible joint. One end of the tail link is connected to the intermediate link through a flexible joint. The links are provided with threaded holes for fixing the pressure block and the pressure plate through bolts. The flexible cloth is fixed to the link through a pressure plate, and the magnetic block is fixed at the connection between adjacent links. The contact surfaces of the two interconnected links are respectively concave and convex, and the width of the groove is slightly larger than the width of the convexity, so that relative rotation can occur between the two links. Adjusting the length of each link can change the final bending shape of the arc leg and the stress state of each flexible joint.

[0006] According to the above technical solution, the length of the flexible cloth is adjustable. By adjusting the length of the flexible cloth, the limit relative rotation angle between two links can be adjusted to change the final bending shape of the arc-shaped leg and the stress state of each flexible joint.

[0007] According to the above technical solution, the magnetic poles of the two contacting surfaces of the magnetic block attract each other, and the torque threshold required for joint rotation can be adjusted by adjusting the magnetism of the magnetic block, thereby adjusting the state of the flexible fins of the robot under underwater working conditions to obtain different propulsion effects.

[0008] According to the above technical solution, the pressing block, pressing plate and chain link are provided with rounded corners to reduce the wear of the flexible cloth.

[0009] Compared with the prior art, the present invention has the following beneficial effects: By comparing the propulsion performance and advantages and disadvantages of existing commonly used land propulsion methods and underwater propulsion methods, the present invention creatively proposes a new leg / fin composite propulsion mechanism, which has a simple structure, fast deformation, and adaptability to amphibious environments. The entire deformation process changes adaptively according to the working conditions, and can achieve bidirectional drive, avoiding the disadvantages of frequent replacement of propulsion devices of amphibious robots or the hidden dangers caused by carrying multiple propulsion mechanisms at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 Schematic diagram of the structure of a multi-joint paddle propulsion mechanism based on magnetic pole coupling in an embodiment of the present invention;

[0011] Figure 2 is a schematic diagram of the flexible joint structure when the arc-shaped leg is curled in an embodiment of the present invention;

[0012] In the figure, the head end link -1, the middle link -2, the tail end link -3, the pressing block -4, the pressing sheet -5, the flexible cloth -6, the convex magnetic block -7, and the magnetic block -8. Implementation

[0013] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0014] Reference Figure 1 , 2 As shown, a multi-joint wheel-paddle propulsion mechanism based on magnetic pole coupling provided by the present invention includes chain links, pressure plates, flexible cloth 6, and magnetic blocks. The pressure plate includes a pressure block 4 and a pressure sheet 5. Multiple chain links are coupled and connected by magnetic blocks. The chain links include a head end chain link 1, an intermediate chain link 2, and a tail end chain link 3. One end of the head end chain link 1 is provided with a special-shaped shaft hole connected and fixed with the output shaft of the robot drive motor, and the other end is connected to the intermediate chain link 2. One end of the tail end chain link 3 is connected to the intermediate chain link 2, and the end of the tail end chain link 3 is in contact with the ground. The chain links are provided with threaded holes for fixing the pressure block 4 and the pressure sheet 5 by bolts. The flexible cloth 6 is fixed to the chain links through the pressure plate, and the magnetic blocks are glued and fixed at the connection between adjacent chain links. The width of the gap groove between the magnetic blocks 8 is slightly larger than the width of the protrusion of the convex magnetic block 7, so that relative rotation can occur between the two chain links. Adjusting the length of each chain link can change the final bending shape of the arc leg and the stress state of each flexible joint.

[0015] Furthermore, the flexible cloth 6 is symmetrically arranged on both sides of the chain link, two holes are provided on the pressure block 4 and the pressure plate 5, and the positions of the holes correspond to the positions of the bolt holes on the chain link. The two ends of the flexible cloth 6 are respectively placed under the pressure block 4 and the pressure plate 5, and the pressure block 4 and the pressure plate 5 are fastened to the chain link by bolts. The flexible cloth 6 will be squeezed and fixed on the chain link. When the adjacent chain links rotate relative to each other, the inner flexible cloth 62 will be relaxed, and the outer flexible cloth 63 will be tightened to limit the relative rotation angle between the adjacent chain links. The length of the flexible cloth 6 is adjustable. By adjusting the length of the flexible cloth 6, the maximum relative rotation angle between the two chain links can be adjusted to change the final bending shape of the arc leg and the stress state of each flexible joint.

[0016] Furthermore, the magnetic poles of the two contacting surfaces of the magnetic block attract each other. Under land conditions, when the chain links touch the ground or other obstacles, the attracted magnetic blocks are separated by force, and the adjacent chain links will passively produce relative rotation and eventually curl into an arc. When the ground force disappears, the adjacent chain links will restore to a straight webbed shape under the suction force of the magnetic blocks. Under underwater conditions, propulsion is carried out by swinging the straight webbed. The force of water on the straight webbed is smaller than the ground reaction force under land conditions. The suction force of the magnetic blocks of adjacent chain links is greater than the force of water on the straight webbed, and the passive relative rotation amplitude is small or in the shape of a straight web. By adjusting the magnetism of the magnetic blocks, the torque threshold required for joint rotation can be adjusted, thereby adjusting the state of the flexible webbed of the robot under underwater conditions to achieve different propulsion effects.

[0017] The above are only preferred embodiments of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the protection scope of the present invention.

Claims

1. A multi-joint wheel-paddle propulsion mechanism based on magnetic pole coupling, comprising a chain link, a pressure plate, a flexible cloth, and a magnetic block, wherein the multiple chain links are coupled and connected by the magnetic block, and the chain links include a head end chain link, an intermediate chain link, and a tail end chain link, one end of the head end chain link is provided with a special-shaped shaft hole connected and fixed with the output shaft of the robot drive motor, and the other end is connected to the intermediate chain link through a flexible joint, and one end of the tail end chain link is connected to the intermediate chain link through a flexible joint, and the chain link is provided with a threaded hole for fixing the pressure block and the pressure sheet through bolts, the flexible cloth is fixed to the chain link through the pressure plate, and the magnetic block is fixed at the connection between adjacent chain links, the contact surfaces of two interconnected chain links are respectively concave and convex, and the width of the groove is slightly larger than the width of the convex, so that relative rotation can occur between the two chain links, and adjusting the length of each chain link can change the final bending shape of the arc leg and the stress state of each flexible joint.

2. The multi-joint paddle propulsion mechanism based on magnetic pole coupling according to claim 1, characterized in that: The length of the flexible cloth is adjustable. By adjusting the length of the flexible cloth, the limit relative rotation angle between two chain links can be adjusted to change the final bending shape of the arc-shaped leg and the stress state of each flexible joint.

3. The multi-joint paddle propulsion mechanism based on magnetic pole coupling according to claim 1, characterized in that: The magnetic poles of the two contacting surfaces of the magnetic block attract each other, and the torque threshold required for the joint rotation can be adjusted by adjusting the magnetism of the magnetic block, thereby adjusting the state of the flexible fins of the robot under underwater working conditions to obtain different propulsion effects.

4. The multi-joint paddle propulsion mechanism based on magnetic pole coupling according to claim 1, characterized in that: The pressing block, pressing plate and chain link are provided with rounded corners to reduce the wear of the flexible cloth.

Images