Hybrid-driven walking, spraying and swimming integrated bionic robot and advancing method

Abstract

The invention relates to a hybrid-driven walking, spraying and swimming integrated bionic robot and an advancing method, the hybrid-driven walking, spraying and swimming integrated bionic robot is suitable for water surface, underwater and underwater movement, the hybrid-driven walking, spraying and swimming integrated bionic robot comprises a pressure-resistant shell, a spraying driving structure is arranged in the pressure-resistant shell, walking feet are arranged outside the pressure-resistant shell, and the spraying driving structure in the pressure-resistant shell comprises a water pump and a gravity center adjusting water cabin communicated with the water pump; the output end of the water pump is communicated with the outside, the walking feet are arranged outside the pressure-resistant shell, and the power structure of each walking foot comprises a pull rod which is located in the pressure-resistant shell and driven by a power set arranged in the pressure-resistant shell to move axially and an energy storage spring which is located in the pressure-resistant shell and connected with the pull rod and the walking structure, and the pull rod pushes and pulls the energy storage spring to drive the walking structure. Hybrid driving is adopted, and meanwhile the walking feet and the water spraying propulsion equipment are arranged; and various working motion postures are achieved, and walking, spraying and swimming integration is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of bionic devices, in particular to a hybrid-driven walking, jetting and swimming integrated bionic robot and a traveling method. Background Art

[0002] Most of the current underwater bionic robots are fish-inspired swimming robots, which have difficulty landing and exploring underwater and cannot adapt to complex underwater terrain environments.

[0003] There are a small number of crawling robots, some of which cannot be used in underwater environments, and some of which are due to the complex terrain of underwater environments, where ordinary crawling structures find it difficult to climb over rugged ground. Therefore, there are only very few special working conditions, such as when the flat bottom of the water has been mined, where robots with a single mode of movement can be used for auxiliary work. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a rationally structured hybrid-driven walking, jetting and swimming integrated bionic robot and a travel method, which can adapt to complex underwater terrain environments and conduct landing exploration on the bottom of the water.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A hybrid-driven walking, jetting and swimming integrated bionic robot is suitable for surface, underwater and bottom movement, comprising a pressure-resistant shell, a jetting driving structure arranged inside the pressure-resistant shell, and walking feet arranged outside the pressure-resistant shell.

[0007] The jet drive structure inside the pressure hull includes a water pump and a gravity adjustment water tank connected to the water pump. The output end of the water pump is connected to the outside world.

[0008] Multiple walking feet are arranged outside the pressure-resistant shell, and the power structure of the walking feet is:

[0009] The pull rod is located inside the pressure shell and is driven by the power group built into the pressure shell to move axially.

[0010] The energy storage spring is located in the pressure-resistant shell and is connected to the pull rod and the walking structure. The pull rod pushes and pulls the energy storage spring to drive the walking structure.

[0011] As a further improvement of the above technical solution:

[0012] The water pump and center of gravity adjustment water tank are located at the rear of the pressure hull.

[0013] A power group is arranged inside the pressure-resistant shell, and the power group includes: a lithium battery group and a voltage stabilizing device, a control and communication device, and a power source device. The power source device is connected to the pull rod.

[0014] The energy storage spring drives at least two walking feet.

[0015] The walking feet are arranged on both sides of the pressure-resistant shell, and the footholds of the walking feet are discretely arranged.

[0016] The support point between the walking foot and the ground is point contact or line contact.

[0017] A moving method of a hybrid-driven walking-jetting-swimming integrated bionic robot includes moving on the water surface, moving underwater and moving under the water.

[0018] When traveling on the water surface, the center of gravity is adjusted, and the water tank provides positive buoyancy greater than negative buoyancy, so the robot floats on the water surface and moves by controlling the water pump to spray water.

[0019] When traveling underwater, the buoyancy provided by the gravity center adjustment water tank maintains the robot in dynamic balance in the water. The robot moves by controlling the water pump to spray water.

[0020] When moving underwater, the negative buoyancy provided by the center of gravity adjustment water tank keeps the robot on the underwater ground, and the robot achieves crawling movement by controlling the walking feet.

[0021] As a further improvement of the above technical solution:

[0022] The working process of the robot controlling the walking foot is as follows: the power group drives the pull rod, the pull rod axially pushes and pulls back and forth to drive the energy storage spring, the energy storage spring pulls the connected walking foot, causing relative displacement between the walking foot and the ground, driving the robot to walk; the deformation ability of the energy storage spring compensates for the walking energy consumption.

[0023] The beneficial effects of the present invention are as follows:

[0024] The bionic robot provided by the present invention mainly imitates water spider reptiles, uses multiple slender walking legs to achieve redundant degrees of freedom, increases the contact points with the ground, and reduces the area of ​​a single contact point to adapt to complex terrain.

[0025] The bionic robot of the present invention has two driving modes: crawling and jetting. The two driving modes can be used in combination or separately, and can adapt to different working environments on the water surface, in the water, and under the water. The jetting drive can provide rapid maneuverability, and the walking foot crawling has the ability to adapt to the complex underwater topography, thereby achieving a variety of working motion postures and the purpose of walking, jetting, and swimming in an integrated manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the overall structure of the bionic robot of the present invention, in which only one energy storage spring is shown as an example.

[0027] Figure 2 It is a schematic diagram of the bionic robot of the present invention moving on the water surface.

[0028] Figure 3 This is a schematic diagram of the bionic robot of the present invention moving in water.

[0029] Figure 4 This is a schematic diagram of the bionic robot of the present invention moving underwater.

[0030] Among them: 1. Pressure-resistant shell; 2. Walking foot; 3. Lithium battery pack and voltage stabilizing device; 4. Control and communication device; 5. Power source device; 6. Pull rod; 7. Energy storage spring; 8. Water pump; 9. Center of gravity adjustment water tank. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0032] like Figure 1-Figure 4 As shown, the hybrid-driven walking-jetting-swimming integrated bionic robot of this embodiment is suitable for surface, underwater and bottom water movement, and comprises a pressure-resistant shell 1, a jet driving structure is arranged inside the pressure-resistant shell 1, and a walking foot 2 is arranged outside the pressure-resistant shell 1.

[0033] The jet drive structure inside the pressure hull includes a water pump 8 and a gravity center adjustment water tank 9 connected to the water pump 8. The output end of the water pump 8 is connected to the outside.

[0034] A plurality of walking feet 2 are arranged outside the pressure-resistant shell 1, and the power structure of the walking feet 2 is:

[0035] The pull rod 6 is located in the pressure shell and is driven by the power group built into the pressure shell 1 to move axially.

[0036] The energy storage spring 7 is located in the pressure-resistant shell and is connected to the pull rod 6 and the walking structure. The pull rod 6 pushes and pulls the energy storage spring 7 to drive the walking structure.

[0037] The water pump 8 and the gravity center adjustment water tank 9 are located at the rear of the pressure hull 1 .

[0038] A power group is arranged inside the pressure-resistant shell 1 , and the power group includes: a lithium battery group and a voltage stabilizing device 3 , a control and communication device 4 , and a power source device 5 . The power source device 5 is connected to a pull rod 6 .

[0039] The energy storage spring 7 drives at least two walking legs 2 .

[0040] The walking feet 2 are arranged on both sides of the pressure-resistant shell 1, and the footholds of the walking feet 2 are discretely arranged.

[0041] The supporting point between the walking foot 2 and the ground is point contact or line contact.

[0042] The moving method of the hybrid-driven walking-jetting-swimming integrated bionic robot of claim 1 in this embodiment includes moving on the water surface, moving underwater and moving under water.

[0043] When traveling on the water surface, the center of gravity adjustment water tank 9 provides positive buoyancy greater than negative buoyancy, and the robot floats on the water surface. The movement is achieved by controlling the water pump 8 to spray water.

[0044] When traveling underwater, the buoyancy provided by the gravity center adjustment water tank 9 maintains the robot in dynamic balance in the water. The robot moves by controlling the water pump 8 to spray water.

[0045] When traveling underwater, the negative buoyancy provided by the gravity center adjustment water tank 9 keeps the robot on the underwater ground, and the robot realizes crawling movement by controlling the walking feet 2.

[0046] The working process of the robot controlling the walking foot 2 is as follows: the power group drives the pull rod 6, the pull rod 6 axially reciprocates and pushes to drive the energy storage spring 7, the energy storage spring 7 pulls the connected walking foot 2, causing the walking foot 2 to displace relative to the ground and drive the robot to walk; the deformation ability of the energy storage spring 7 compensates for the walking energy consumption.

[0047] The specific structure and working principle of the present invention are as follows:

[0048] Aiming at the complex underwater landform environment, the present invention provides a bionic water spider with multiple special-shaped walking feet 2, which has a small contact area with the ground and can crawl and bounce while meeting the functional requirements of jet acceleration in water and swimming on the water surface.

[0049] like Figure 1 As shown, the bionic water spider includes a pressure-resistant shell 1, which can resist deep water pressure and protect the components in the pressure-resistant shell 1. A lithium battery pack and a voltage stabilizing device 3 are installed in the pressure-resistant shell 1. The lithium battery pack and the voltage stabilizing device 3 are an existing power source that provide power to the entire bionic water spider. A control and communication device 4, a power source device 5, a pull rod 6 driven by the power source device 5, a water pump 8 connected to the pull rod 6, and a center of gravity adjustment water tank 9 connected to the water pump 8 are also installed in the pressure-resistant shell 1. An energy storage spring 7 is also connected to the pull rod 6. The power source device 5 can be an existing device such as a motor, a piston cylinder, etc. The power source device 5 drives the pull rod 6 and the energy storage spring 7, which can pull the walking feet 2 installed on both sides of the outside of the pressure-resistant shell 1 to achieve walking.

[0050] When the bionic water spider needs to be controlled to move, the operator controls it remotely through the control and communication device 4 ; the lithium battery pack and voltage stabilizing device 3 inside the bionic water spider provide power for the control and communication device 4 and the power source device 5 .

[0051] The power source device 5 provides power for the pull rod 6 and the water pump 8 .

[0052] When the walking foot 2 is needed for walking, the power source device 5 pushes and pulls the pull rod 6, and the energy storage spring 7 led out from the pull rod 6 is connected to the walking foot 2 on both sides. When the energy storage spring 7 is pulled, at least one walking foot 2 can be pulled at the same time.

[0053] As an optional optimized implementation, multiple energy storage springs 7 can be provided to pull multiple walking feet 2 simultaneously or alternately.

[0054] As an optional embodiment, the output end of the power source device 5 can be connected to a cam, and two or more pull rods 6 are connected to the cam. When the cam rotates, the two or more pull rods 6 extend and retract alternately, pulling different energy storage springs 7, driving different walking feet 2, and realizing efficient crawling.

[0055] The walking foot 2 can be rotatably connected to the outer wall of the pressure-resistant shell 1 by means of an installation method such as hinged connection or pivotal connection. Theoretically, as long as it can be pulled by the energy storage spring 7, the design requirements are met.

[0056] The connection point between the energy storage spring 7 and the walking foot 2 can be inside the pressure-resistant shell 1. At this time, the walking foot 2 penetrates the pressure-resistant shell 1 and is watertightly connected. The end of the walking foot 2 extending into the pressure-resistant shell 1 is pulled by the energy storage spring 7, so that the part of the walking foot 2 extending outside the pressure-resistant shell 1 can also be driven;

[0057] Alternatively, the connection point between the energy storage spring 7 and the walking foot 2 is outside the pressure-resistant housing 1. In this case, the energy storage spring 7 is required to extend out of the housing and connect with the walking foot 2 to pull the walking foot 2. In this case, the energy storage spring 7 itself is required to be waterproof and corrosion-resistant, and the energy storage spring 7 and the pressure-resistant housing 1 are watertightly connected.

[0058] The function of the energy storage spring 7 is to reduce walking energy consumption, improve energy utilization, and reduce the impact of walking vibration on the robot. Compared with the conventional direct-drive walking foot 2, it can extend the service life of the robot.

[0059] The water pump 8 arranged at the tail of the pressure hull 1 has two main functions. One is to spray water outward from the tail of the pressure hull 1 for instantaneous acceleration; the other is to change the center of gravity to adjust the amount of water in the water tank 9. By controlling the amount of water, the overall weight and the position of the center of gravity of the bionic water spider can be adjusted to achieve longitudinal balance.

[0060] The walking foot 2 in the present invention adopts a special-shaped walking foot 2, which is similar in shape to the walking foot 2 of a reptile or spider. The footholds of the special-shaped walking foot 2 are discrete, and each walking foot 2 has a small contact area with the ground, thereby avoiding the problem of difficulty in stable footing on complex landforms. In the case of an extremely irregular bottom surface, the walking foot 2 can be selected to ensure that the walking foot 2 can land on the next expected foothold, so that the bionic water spider can walk freely and achieve functions such as obstacle avoidance and obstacle crossing.

[0061] like Figure 2 As shown, the bionic water spider of the present invention is in the working state of swimming on the water surface. At this time, the water content in the center of gravity adjustment water tank 9 is small, and the bionic water spider floats on the water surface and swims.

[0062] like Figure 3 As shown, the bionic water spider of the present invention works in water. At this time, the water content in the center of gravity adjustment water tank 9 increases, and the bionic water spider floats in the water. When acceleration is required, the water pump 8 sprays water to provide propulsion.

[0063] like Figure 4 As shown, the bionic water spider of the present invention is in the working state underwater. At this time, the water content in the center of gravity adjustment water tank 9 is high, and the bionic water spider needs to overcome the complexity of the underwater topography and mainly uses the walking feet 2 to crawl.

[0064] The advantage of the present invention is that it adopts a hybrid drive mode, combining the walking feet 2 and the water pump 8 to spray water, which can obtain different forward speeds, adapt to different working environments and achieve rapid maneuverability; due to the large number of walking feet 2, the robot has redundant degrees of freedom and is more flexible as a whole.

[0065] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A hybrid-driven walking-jetting-swimming integrated bionic robot, characterized in that: The device is suitable for surface, underwater and bottom water sports, and comprises a pressure-resistant shell (1), a jet drive structure is arranged inside the pressure-resistant shell (1), and walking feet (2) are arranged outside the pressure-resistant shell (1). The jet drive structure inside the pressure hull includes a water pump (8) and a gravity center adjustment water tank (9) connected to the water pump (8). The output end of the water pump (8) is connected to the outside. A plurality of walking feet (2) are arranged outside the pressure-resistant shell (1), and the power structure of the walking feet (2) is as follows: The pull rod (6) is located in the pressure-resistant shell and is driven by a power group built into the pressure-resistant shell (1) to move axially. The energy storage spring (7) is located in the pressure-resistant shell and is connected to the pull rod (6) and the walking structure. The pull rod (6) pushes and pulls the energy storage spring (7) to drive the walking structure.

2. The hybrid-driven walking-jetting-swimming integrated bionic robot according to claim 1, characterized in that: The water pump (8) and the gravity center adjustment water tank (9) are located at the rear of the pressure hull (1).

3. The hybrid-driven walking-jetting-swimming integrated bionic robot according to claim 1, characterized in that: A power group is arranged inside the pressure-resistant shell (1), and the power group includes: a lithium battery group and a voltage stabilizing device (3), a control and communication device (4), and a power source device (5). The power source device (5) is connected to a pull rod (6).

4. The hybrid-driven walking-jetting-swimming integrated bionic robot according to claim 3, characterized in that: The energy storage spring (7) drives at least two walking feet (2).

5. The hybrid-driven walking-jetting-swimming integrated bionic robot according to claim 1, characterized in that: The walking feet (2) are arranged on both sides of the pressure-resistant shell (1), and the footholds of the walking feet (2) are discretely arranged.

6. The hybrid-driven walking-jetting-swimming integrated bionic robot according to claim 5, characterized in that: The supporting point between the walking foot (2) and the ground is point contact or line contact.

7. A method for moving using the hybrid-driven walking-jetting-swimming integrated bionic robot according to claim 1, characterized in that: Including surface travel, underwater travel and underwater travel, When traveling on the water surface, the center of gravity adjustment water tank (9) provides positive buoyancy greater than negative buoyancy, so that the robot floats on the water surface and moves by controlling the water pump (8) to spray water. When traveling underwater, the buoyancy provided by the gravity center adjustment water tank (9) maintains the robot in dynamic balance in the water. The robot moves by controlling the water pump (8) to spray water. When the robot is traveling underwater, the negative buoyancy provided by the gravity center adjustment water tank (9) keeps the robot on the underwater ground, and the robot realizes crawling movement by controlling the walking feet (2).

8. The traveling method according to claim 7, characterized in that: The working process of the robot controlling the walking foot (2) is as follows: the power group drives the pull rod (6), the pull rod (6) axially pushes and pulls back and forth to drive the energy storage spring (7), the energy storage spring (7) pulls the connected walking foot (2), so that the walking foot (2) and the ground are relatively displaced, driving the robot to walk; the deformation capacity of the energy storage spring (7) compensates for the walking energy consumption.

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