Bionic snakelike robot

Abstract

The bionic snakelike robot comprises a robot body and a control module, the robot body comprises a plurality of steering engine assemblies, a head structure and a plurality of driving ridges, each steering engine assembly comprises a steering engine and a mounting frame, the steering engines are arranged in the mounting frames, and the steering engines are connected with the control module; the clamping structure comprises a swing base and two clamping columns, and the swing base is connected with a driving arm of the steering engine; the two clamping columns are arranged on the two sides of the other end of the swing base. The head structure is connected with the mounting frame of one steering engine assembly; the multiple driving ridges are of hose structures and are connected to the mounting frame, the multiple steering engine assemblies are sequentially connected through the multiple driving ridges, the driving ridges are clamped between the two clamping columns, and in the left-right reciprocating motion process of driving arms of steering engines, hoses are driven by the clamping structures to swing in a reciprocating mode, so that wave transmission is formed, crawling of a snake is simulated, and the effect of simulating crawling of the snake is achieved. The problem that a traditional robot connected through a rigid joint lacks self-adaptive capacity in a complex environment can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater bionic robots, in particular to a bionic snake-like robot. Background Art

[0002] Underwater bionic snake-like robots are a new type of unmanned submersible, whose design is inspired by snakes in nature. This type of robot usually has multiple joints and can imitate the winding movement of snakes, so it has good maneuverability and adaptability in complex underwater environments.

[0003] Existing bionic snake-like robots are often connected in the form of rigid joints. This connection method often makes the movement more rigid due to its redundant degrees of freedom and lacks adaptability to complex environments, such as submarine reefs, seaweeds and coral reefs. When crossing the above-mentioned complex environments, existing bionic snake-like robots need to change the curvature of the body through servos between joints. However, for exploration environments such as reefs and coral reefs where the routes are very tortuous, the servos need to constantly change the curvature of the robot's body according to the routes, making it difficult to quickly and smoothly pass through and explore complex environments such as coral reefs and submarine reefs. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic snake-like robot, whose body structure can adaptively pass through reefs, coral reefs and other exploration environments with very tortuous routes.

[0005] The technical solution of the present invention is:

[0006] A bionic snake-like robot comprises a fuselage and a control module, wherein the fuselage comprises: a plurality of servo components, each servo component comprises: a mounting frame; a servo, arranged in the mounting frame, connected to the control module, and controlling the swing parameters through the control module; a clamping structure; the clamping structure comprises: a swing base, which is a plate structure, one end of the plate surface is connected to the driving arm of the servo, and the swing base rotates with the driving arm as an axis; two clamping columns, symmetrically arranged on both sides of the other end of the swing base; a head structure, connected to the mounting frame of one of the servo components; the head structure and the clamping structure are both made by 3D printing technology, and have high hardness and waterproofness. A plurality of driving ridges are all hose structures, the driving ridges are connected to the mounting frame, and a plurality of servo components are connected in sequence through the plurality of driving ridges, the driving ridges are clamped between the two clamping columns, and in the process of the left and right reciprocating motion of the driving arm of the servo, the clamping structure drives the hose to swing back and forth, thereby forming a wave transmission to imitate the creeping of a snake. The control module is connected to multiple servos to control the swing parameters of each servo, such as the swing angle and the swing frequency. By controlling the swing parameters of each servo, the motion state of the robot is controlled.

[0007] Furthermore, the head structure is a blunt head structure that imitates the shape of a snake head. This is beneficial for reducing water resistance.

[0008] Furthermore, the clamping column is a semi-cylinder, and the horizontal portion of the side surface of the clamping column is in contact with the driving ridge.

[0009] Furthermore, a connecting plate is provided between the two clamping columns on the same swing base, which is used to limit the driving ridge between the channel formed by the two clamping columns, the connecting plate and the swing base.

[0010] Furthermore, a mounting column is provided on a side surface of the mounting frame, and the driving ridge is plug-connected to the mounting column.

[0011] Furthermore, the end of the driving ridge at the end is sealed with a sealing plug.

[0012] Furthermore, the control module includes: a power supply, a remote control, an infrared module and a Bluetooth module. The infrared sensor is used to receive remote control signals. The Bluetooth module is connected to the main control board of the controller for connecting to the user's mobile phone. The power supply is used to power the infrared module and the servo.

[0013] Through Arduino programming, different buttons on the remote control can have different functions, such as controlling the rotation angle of the servo or the frequency of movement.

[0014] The Arduino main control board is also connected to an HC06 Bluetooth module. After programming, the mobile phone can be connected to the Bluetooth to send signals, which can stop the bionic snake from moving and avoid conflicts with infrared signals.

[0015] Furthermore, the head structure also includes a nozzle, which is externally connected to a pump body, and the nozzle sprays from the bottom of the head structure in a direction away from the head structure, and the pump body is arranged on a mounting frame connected to the head structure.

[0016] Furthermore, an escape device is provided in the tube body of each of the nozzles, and the escape device includes: an impeller, located at the injection end of the nozzle pipe and driven by the water flow in the tube body; a rotating rod, connected to the rotating shaft of the impeller, and a plurality of metal wires are provided on the periphery of the rod body, one end of each metal wire is connected to the rotating rod body, and the plurality of metal wires are arranged in a circular array.

[0017] Furthermore, the escape device also includes: a telescopic rod, a fixed end of which is connected to the side wall of the tube body, and a telescopic end is connected to the housing of the impeller, and the telescopic rod communicates with the control module; a fixing part, including a fixed rod and a bearing, one end of the fixed rod is connected to the bottom of the head structure, and the other end is connected to the bearing, the bearing is sleeved with one end of the rotating rod, and the other end of the rotating rod is sleeved with the rotating shaft of the impeller through a cross-locking structure, so that when the rotating shaft of the impeller rotates, the rotating rod can be driven to rotate, and the rotating shaft of the impeller can slide on the rotating rod.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The robot structure of the present invention is simpler and its volume can be smaller. The driving ridge of the hose structure is used to drive the robot, which reduces the number of degrees of freedom and greatly reduces the control difficulty. At the same time, through the wave transmission function achieved by the hose with higher flexibility, the movement form of the product is closer to the real appearance of snakes in nature, and can be used for related work inside pipelines or in narrow waters. The driving ridge of the hose structure can avoid the problem of lack of adaptive ability of robots with traditional rigid joint connections in complex environments, and meet the needs of narrow scenes such as coral reefs and underwater reefs.

[0020] Furthermore, the bionic snake of the present invention generates less noise when moving underwater through the driving ridges of the hose structure, which will not disturb the fish and is conducive to the detection of underwater creatures.

[0021] The present invention adopts a control method combining an infrared module and a Bluetooth module. Infrared technology has a fast propagation rate in the air and a short time to establish communication. It can also realize simultaneous connection between a master device and multiple slave devices, which is convenient for subsequent cluster control. At the same time, the infrared module is convenient for modular programming, easy to debug and control. The Bluetooth module has a long control distance, stronger penetration ability, and supports two-way data transmission. Through the cooperation of the infrared module and the Bluetooth module, the transmission of the control signal is more stable, avoiding the problem of robot loss of control due to signal transmission delay or loss.

[0022] The present invention cooperates with the pump body and the nozzle so that when the robot works in narrow locations such as pipelines and coral slits, it can cross obstacles by lifting the head structure and the body. When the obstacle cannot be crossed by lifting the body, the robot of the present invention is also equipped with an escape device, which connects the impeller with the pipe body of the nozzle to rotate the metal wire, thereby clearing away dirt in the pipeline or obstacles such as algae in the slits of corals, and has better passability for narrow forward routes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a top view of the structural schematic diagram of the present invention.

[0024] Figure 2 for Figure 1 An enlarged view of the structural schematic diagram of the middle A area.

[0025] Figure 3 It is a schematic diagram of the internal structure of the head structure of the present invention.

[0026] Figure 4 It is a bottom view of the schematic structural diagram of the escape device of the present invention.

[0027] Among them, 1. head structure, 2. servo assembly, 21. servo, 22. mounting frame, 3. driving ridge, 4. clamping structure, 41. swing base, 42. clamping column, 43. connecting plate, 5. mounting column, 6. pump body, 61. nozzle, 62. pipe body, 7. impeller, 8. rotating rod, 81. metal wire, 9. fixing part, 91. bearing, 92. fixing rod, 10. telescopic rod. DETAILED DESCRIPTION

[0028] Combine the following Figures 1 to 4 , the specific embodiments of the present invention are described in detail. In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0029] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0030] It should be noted that the circuit connection of the control system, the connection between the pump body and the nozzle, and the circuit connection of the steering gear involved in the present invention all adopt conventional methods and do not involve any innovation.

[0031] Example

[0032] like Figure 1 As shown, a bionic snake-like robot includes a body and a control module. The body includes: a plurality of steering engine components 2, a head structure 1 and a plurality of driving spines 3, such as Figure 1As shown, each steering gear assembly 2 includes: a steering gear 21 and a mounting frame 22, the mounting frame 22 is a rectangular frame structure, the steering gear 21 is arranged in the mounting frame 22, and the steering gear 21 is connected to the control module, and the swing parameters of the steering gear are controlled by the control module. For example, the swing parameters of the steering gear include the swing angle and the swing frequency. The clamping structure 4 includes: a swing base 41 and two clamping columns 42, such as Figure 2 As shown, the swing base 41 is a plate structure, one end of the plate surface is connected to the driving arm of the steering gear 21, and the swing base 41 rotates around the driving arm; two clamping columns 42 are symmetrically arranged on both sides of the other end of the swing base 41; Figure 1 As shown, the head structure 1 is connected to the mounting frame 22 of one of the steering gear components 2; the head structure 1 and the clamping structure 4 are both manufactured using 3D printing technology and have high hardness and waterproofness. Figure 1 As shown, the plurality of driving spines 3 are all hose structures, and the driving spines 3 are connected to the mounting frame 22. The plurality of steering gear components 2 are connected in sequence through the plurality of driving spines 3 to form a structure as shown in FIG. Figure 1 In the serpentine structure shown, the driving ridge 3 is clamped between two clamping columns 42, and in the process of the driving arm of the servo 21 reciprocating left and right, the hose is driven to swing back and forth through the clamping structure 4, thereby forming a wave transmission to imitate the crawling of a snake. The control module is connected to multiple servos 21, and controls the swing parameters of each servo 21, such as the swing angle and the swing frequency, respectively. By controlling the swing parameters of each servo 21, the motion state of the robot is controlled. The forward movement and direction change of the fuselage are controlled by controlling the rotation frequency and rotation angle of different servos 21 in front and behind. For example, when the fuselage is moved forward, the rotation angle of the front servo 21 is small and the frequency is high, and the angle of the rear servo is large and the frequency is low; when the fuselage is turned, the rotation angle of the servo 21 on both sides is adjusted, such as the angle changes from (-a, a) to (0, a), to complete the turning of the fuselage.

[0033] like Figure 1 As shown, in some embodiments, the head structure 1 is a blunt-headed structure in the shape of a snake head. The blunt-headed structure designed in this way effectively reduces the water resistance of the fuselage.

[0034] In some embodiments, in order to enable the clamping column 42 to be in more smooth contact with the driving spine 3 and to keep the driving spine 3 always between the two clamping columns 42, as shown in FIG. Figure 2 As shown, the clamping column 42 is a semi-cylinder, and the horizontal part of the side of the clamping column 42 is in contact with the driving ridge 3, and a connecting plate 43 is provided between the two clamping columns 42 on the same swing base 41, which is used to limit the driving ridge 3 between the channel formed by the two clamping columns 42, the connecting plate 43 and the swing base 41.

[0035] like Figure 1As shown, since the present embodiment adopts a driving spine 3 of a hose structure, in order to facilitate the installation and splicing of multiple sections of the driving spine 3, a mounting column 5 is provided on the side of the mounting frame 22, and the driving spine 3 and the mounting column 5 are plug-connected, and the end of the driving spine 3 at the end is sealed with a sealing plug to prevent water from entering the driving spine 3 of the hose structure and affecting the structural characteristics of the driving spine 3, such as softness and toughness.

[0036] The control module of this embodiment includes: a power supply, a remote control, an infrared module and a Bluetooth module. The infrared sensor is used to receive the remote control signal. The Bluetooth module is connected to the main control board of the controller for connecting to the user's mobile phone. The power supply is used to power the infrared module and the servo 21.

[0037] Through Arduino programming, different buttons on the remote control have different functions, such as controlling the rotation angle of the servo 21 or the frequency of movement.

[0038] The Arduino main control board is also connected to an HC06 Bluetooth module. After programming, the mobile phone can be connected to Bluetooth to send signals. We use this method to stop the bionic snake from moving and avoid conflicts with infrared signals.

[0039] In some embodiments, since the robot is often used in narrow locations such as pipes and coral slits, it is easy to be blocked by some foreign objects when moving, such as dirt in the pipes and algae in the slits of corals. In order to improve the robot's ability to escape when the body is trapped, Figure 3 and Figure 4 As shown, the head structure 1 also includes a nozzle 61, which is externally connected to a pump body 6, and the nozzle 61 sprays from the bottom of the head structure 1 in a direction away from the head structure 1. The pump body 6 is arranged on a mounting frame 22 connected to the head structure 1. The pump body 6 provides a medium to the nozzle 61 so that the nozzle 61 sprays the medium outward, thereby lifting the head structure 1 through the ejection force of the medium, driving the fuselage to lift and pass over obstacles. It is worth noting that the medium can be one of a gas or a liquid.

[0040] When the obstacle cannot be lifted over, the robot of this embodiment also includes an escape device, such as Figure 4 As shown, an escape device is provided in the tube body 62 of each nozzle 61, and the escape device includes: an impeller 7 and a rotating rod 8, the impeller 7 includes a shell, a rotating shaft and blades on the rotating shaft, the impeller 7 is located at the injection end of the nozzle 61 pipeline, the shell matches the inner diameter of the tube body 62 of the nozzle 61, and is driven by the water flow in the tube body 62; the rotating rod 8 is connected to the rotating shaft of the impeller 7, and a plurality of metal wires 81 are provided on the circumference of the rod body, one end of each metal wire 81 is connected to the rod body of the rotating rod 8, and the plurality of metal wires 81 are arranged in a circular array.

[0041] In some embodiments, in order to prevent the impeller 7 from being too close to the pipe body 62 when the escape device does not need to be driven, so as to prevent the medium injection from being blocked and affecting the lifting of the fuselage, such as Figure 4 As shown, the escape device also includes: a telescopic rod 10 and a fixing member 9, the fixed end of the telescopic rod 10 is connected to the side wall of the tube body 62, and the telescopic end is connected to the shell of the impeller 7, and the telescopic rod 10 communicates with the control module; the fixing member 9 is used to limit the position distance of the rotating rod 8 from the bottom of the head structure 1 to reduce the space occupied by the head structure, and the fixing member 9 includes a fixing rod 92 and a bearing 91, one end of the fixing rod 92 is connected to the bottom of the head structure 1, and the other end is connected to the bearing 91, the bearing 91 is sleeved with one end of the rotating rod 8, and the other end of the rotating rod 8 is sleeved with the rotating shaft of the impeller 7 through a cross-clamping structure, and the cross-clamping structure includes a clamping strip and a clamping groove. It is opened on the circumferential side of the impeller shaft, and the clamping strip is arranged on the outside of the rotating rod 8, and the clamping strip is arranged in the clamping groove, and can slide along the groove of the clamping groove, and can drive the rotating rod 8 to rotate when the rotating shaft of the impeller 7 rotates, and the position of the impeller 7 away from the tube body 62 is regulated by the telescopic rod 10, so that when the escape device is not needed, it is ensured that the medium injection in the pipeline 62 will not be hindered by the impeller 7, and when the escape device is needed, the telescopic rod 10 is driven to make the outer shell of the impeller 7 and the tube body 62 dock, so that the medium can drive the rotating shaft of the impeller 7 to rotate, and through the cross-clamping structure, when the position of the impeller 7 is moved, it will not affect the position of the metal wire 81 on the rotating rod 8 away from the head structure 1.

[0042] The above disclosures are only several preferred specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A bionic snake-like robot, comprising a body and a control module, characterized in that: The fuselage comprises: A plurality of steering gear assemblies (2), each steering gear assembly (2) comprising: a mounting frame (22); a steering gear (21), which is arranged in the mounting frame (22) and connected to the control module, and the swing parameter is controlled by the control module; a clamping structure (4); the clamping structure (4) comprising: a swing base (41), which is a plate structure, one end of the plate surface is connected to the driving arm of the steering gear (21), and the swing base (41) rotates with the driving arm as an axis; two clamping columns (42), which are symmetrically arranged on both sides of the other end of the swing base (41); A head structure (1) connected to a mounting frame (22) of one of the steering gear assemblies (2); The plurality of driving ridges (3) are all hose structures. The driving ridges (3) are connected to the mounting frame (22). The plurality of steering gear components (2) are connected in sequence through the plurality of driving ridges (3). The driving ridges (3) are clamped between two clamping columns (42). When the driving arm of the steering gear (21) reciprocates left and right, the clamping structure (4) drives the hose to swing back and forth, thereby forming wave transmission to imitate the crawling of a snake.

2. A bionic snake-like robot according to claim 1, characterized in that: The head structure (1) is a blunt-headed structure that imitates the shape of a snake's head.

3. The bionic snake-like robot according to claim 1, characterized in that: The clamping column (42) is a semi-cylinder, and the horizontal portion of the side surface of the clamping column (42) is in contact with the driving ridge (3).

4. The bionic snake-like robot according to claim 1, characterized in that: A connecting plate (43) is provided between two clamping columns (42) on the same swing base (41) for limiting the driving ridge (3) between the channel formed by the two clamping columns (42), the connecting plate (43) and the swing base (41).

5. The bionic snake-like robot according to claim 1, characterized in that: A mounting column (5) body is provided on the side of the mounting frame (22), and the driving ridge (3) and the mounting column (5) body are plug-connected.

6. The bionic snake-like robot according to claim 5, characterized in that: The end of the driving ridge (3) at the end is sealed with a sealing plug.

7. The bionic snake-like robot according to claim 1, characterized in that: The control module comprises: a power supply, a remote controller, an infrared module and a Bluetooth module. The infrared sensor is used to receive remote controller signals. The Bluetooth module is connected to the main control board of the controller and is used to connect to a user's mobile phone. The power supply is used to supply power to the infrared module and the steering gear (21).

8. The bionic snake-like robot according to claim 1, characterized in that: The head structure (1) further comprises a nozzle (61), the nozzle (61) being externally connected to a pump body (6), and the nozzle (61) sprays from the bottom of the head structure (1) in a direction away from the head structure (1), and the pump body (6) is arranged on a mounting frame (22) connected to the head structure (1).

9. The bionic snake-like robot according to claim 8, characterized in that: A release device is provided in the tube body (62) of each of the spray heads (61), and the release device comprises: An impeller (7) is located at the spraying end of the nozzle (61) pipe and is driven by the water flow in the pipe body (62); The rotating rod (8) is connected to the rotating shaft of the impeller (7), and a plurality of metal wires (81) are arranged around the rod body, one end of each metal wire (81) is connected to the rod body of the rotating rod (8), and the plurality of metal wires (81) are arranged in a ring array.

10. The bionic snake-like robot according to claim 9, characterized in that: The escape device also includes: A telescopic rod (10), a fixed end of which is connected to the side wall of the tube body (62), a telescopic end of which is connected to the housing of the impeller (7), and the telescopic rod (10) communicates with the control module; The fixing member (9) comprises a fixing rod (92) and a bearing (91), wherein one end of the fixing rod (92) is connected to the bottom of the head structure (1), and the other end is connected to the bearing (91), the bearing (91) is sleeved with one end of the rotating rod (8), and the other end of the rotating rod (8) is sleeved with the rotating shaft of the impeller (7) via a cross-engaging structure, so that when the rotating shaft of the impeller (7) rotates, the rotating rod (8) can be driven to rotate, and the rotating shaft of the impeller (7) can slide on the rotating rod (8).

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