Bionic snake-like robot

Abstract

The present invention discloses a bionic snake-like robot, comprising a body and a control module, wherein the body comprises: a plurality of servo assemblies, a head structure and a plurality of driving ridges, each servo assembly comprises: a servo and a mounting frame, the servo is arranged in the mounting frame, and the servo is connected to the control module; the clamping structure comprises: a swing base and two clamping columns, the swing base is connected to the driving arm of the servo; the two clamping columns are arranged on both sides of the other end of the swing base; the head structure is connected to the mounting frame of one of the servo assemblies; the plurality of driving ridges are all hose structures, the driving ridges are connected to the mounting frame, and the plurality of servo assemblies are connected in sequence through the plurality of driving ridges, and the driving ridges are clamped between the two clamping columns. During the reciprocating left and right motion of the driving arm of the servo, the hose is driven to swing back and forth through the clamping structure, thereby forming wave transmission to imitate the crawling of a snake, which can avoid the problem that traditional robots with rigid joint connections lack adaptability in complex environments.

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 vehicle, inspired by the natural world of snakes. These robots typically feature multiple joints that mimic the snake's serpentine motion, giving them excellent maneuverability and adaptability in complex underwater environments.

[0003] Existing bionic snake-like robots are often connected in the form of rigid joints. Due to the redundant degrees of freedom of this connection method, the movement is often stiff and lacks the ability to adapt to complex environments, such as submarine reefs, seagrass and coral reefs. When traversing such complex environments, existing bionic snake-like robots need to change the curvature of their bodies through servos between joints. However, for exploration environments with very tortuous routes such as reefs and coral reefs, the servos need to constantly change the curvature of the robot's body according to the route, 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 body and a control module. The body includes multiple servo assemblies, each of which includes a mounting frame; a servo mounted within the mounting frame and connected to the control module, with its swing parameters controlled by the control module; and a clamping structure. The clamping structure includes a swing base, a plate structure with one end connected to the servo drive arm, the swing base rotating about the drive arm; two clamping columns symmetrically arranged on either side of the other end of the swing base; and a head structure connected to the mounting frame of one of the servo assemblies. Both the head structure and the clamping structure are manufactured using 3D printing technology and have high hardness and waterproof properties. Multiple drive ridges, each of which is a hose structure, are connected to the mounting frame. The multiple servo assemblies are sequentially connected via the multiple drive ridges. The drive ridges are sandwiched between the two clamping columns. When the servo drive arm reciprocates left and right, the clamping structure drives the hose to swing back and forth, thereby generating wave transmission to simulate the wriggling 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 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 body structure imitating the shape of a snake head, which is beneficial to reducing water resistance.

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

[0009] Furthermore, a connecting plate is provided between the two clamping columns on the same swing base, for limiting 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 distal 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, you can connect the Bluetooth on your mobile phone to send a signal, 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, 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 circumference of the rod body, one end of each metal wire is connected to the rod body of the rotating rod, 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, it can drive the rotating rod 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 made smaller. It adopts a driving ridge driven by a hose structure, which reduces the number of degrees of freedom and greatly reduces the control difficulty. At the same time, by using the wave transmission function achieved by the highly flexible hose, the product's movement form is closer to the real appearance of snakes in nature. It can be used for related work inside pipelines or in narrow waters. The driving ridge of the hose structure can avoid the problem of traditional rigid joint-connected robots lacking adaptability in complex environments, and meet the needs of narrow scenes such as coral reefs and submarine 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 does not disturb schools of fish and is beneficial for detecting underwater creatures.

[0021] The present invention adopts a control method that combines 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 establish a connection between a master device and multiple slave devices at the same time, which is convenient for subsequent cluster control. At the same time, the infrared module is easy to carry out modular programming, easy to debug and control. The Bluetooth module has a longer 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 pipes and coral crevices, 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. By docking the impeller with the pipe body of the nozzle, the metal wire rotates to clear away dirt in the pipe or obstacles such as algae in the crevices of corals, making it more capable of passing through 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. drive 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] The following combination Figures 1 to 4 , a detailed description of the specific embodiments of the present invention is provided. 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," "inner," "outer," and the like, indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limiting the present invention.

[0029] The terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of such features; and 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 servo 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: multiple steering engine components 2, a head structure 1 and multiple driving spines 3, as shown in FIG. Figure 1As shown, each servo assembly 2 includes: a servo 21 and a mounting frame 22. The mounting frame 22 is a rectangular frame structure. The servo 21 is arranged in the mounting frame 22, and the servo 21 is connected to the control module. The swing parameters of the servo are controlled by the control module. For example, the swing parameters of the servo include the swing angle and the swing frequency. The clamping structure 4 includes: a swing base 41 and two clamping columns 42, as shown in FIG. 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 servo 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 servo components 2; the head structure 1 and the clamping structure 4 are both made using 3D printing technology and have high hardness and waterproofness. Figure 1 As shown, the plurality of driving ridges 3 are all hose structures, and 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 to form a Figure 1 The serpentine structure shown has a driving spine 3 sandwiched between two clamping posts 42. As the driving arm of the servo 21 reciprocates left and right, the clamping structure 4 drives the hose to swing back and forth, thereby generating a wave transmission that mimics the crawling of a snake. A control module is connected to multiple servos 21 and controls the swing parameters of each servo 21, such as the swing angle and swing frequency. By controlling the swing parameters of each servo 21, the robot's motion state is controlled. The forward movement and direction change of the robot are controlled by controlling the rotation frequency and rotation angle of the front and rear servos 21. For example, when the robot is moving forward, the front servo 21 rotates at a small angle and high frequency, while the rear servo rotates at a large angle and low frequency. When turning, the servo 21's rotation angles on both sides are adjusted, for example, from (-a, a) to (0, a), to complete the turn.

[0033] like Figure 1 As shown, in some embodiments, the head structure 1 is a blunt-headed structure in the shape of a snake's head. Such a blunt-headed structure 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 two clamping columns 42, the connecting plate 43 and the channel formed by the swing base 41.

[0035] like Figure 1As shown, since this embodiment adopts a driving spine 3 with 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. 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 with a 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 and is used to connect 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 connect to the Bluetooth to send signals. We use this method to stop the bionic snake from moving, avoiding the problem of conflict with the infrared signal.

[0039] In some embodiments, since the robot is often used in narrow places such as pipes and coral crevices, it is easy to be blocked by some foreign objects when moving, such as dirt in the pipes and algae in the crevices 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 medium is provided to the nozzle 61 through the pump body 6, 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 cross the obstacle. It is worth noting that the medium can be one of gas or 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 an outer shell, a rotating shaft and fan blades on the rotating shaft. The impeller 7 is located at the injection end of the nozzle 61 pipeline, and the outer 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 avoid the impeller 7 being too close to the pipe body 62 when the escape device does not need to be driven, resulting in obstruction of the medium injection 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. 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. 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. The cross-clamping structure includes a card strip and a card slot. It is opened on the peripheral side of the impeller shaft, and the clip strip is set on the outside of the rotating rod 8, and the clip strip is set in the slot. It can slide along the groove of the slot and drive the rotating rod 8 to rotate when the rotating shaft of the impeller 7 rotates. The position of the impeller 7 away from the tube body 62 is regulated by the telescopic rod 10 to ensure that the medium injection in the tube body 62 will not be hindered by the impeller 7 when the escape device is not needed. When the escape device is needed, the telescopic rod 10 is driven to dock the outer shell of the impeller 7 with the tube body 62, so that the medium can drive the rotating shaft of the impeller 7 to rotate, and through the cross-locking 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 scope of protection 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 servo assemblies (2), each servo assembly (2) comprising: a mounting frame (22); a servo (21) disposed in the mounting frame (22), connected to the control module, and having a swing parameter controlled by the control module; a clamping structure (4); the clamping structure (4) comprising: a swing base (41) being a plate structure, one end of the plate surface being connected to a driving arm of the servo (21), the swing base (41) rotating about the driving arm; and two clamping columns (42) symmetrically disposed 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 servo assemblies (2); A plurality of driving ridges (3) are all hose structures, the driving ridges (3) are connected to the mounting frame (22), and a plurality of steering gear components (2) are sequentially connected through the plurality of driving ridges (3), the driving ridges (3) are clamped between two of the clamping columns (42), and 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; The head structure (1) includes a nozzle (61), the nozzle (61) 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), and the pump body (6) is arranged on a mounting frame (22) connected to the head structure (1).

2. The bionic snake-like robot according to claim 1, characterized in that: The head structure (1) is a blunt body structure imitating 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) contacts the driving ridge (3).

4. The bionic snake-like robot according to claim 1, characterized in that: A connecting plate (43) is provided between the two clamping columns (42) on the same swing base (41) for limiting the driving ridge (3) between the two clamping columns (42), the connecting plate (43) and the channel formed by 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 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 remote control and is used to connect to the user's mobile phone. The power supply is used to power the infrared module and the servo (21).

8. The bionic snake-like robot according to claim 1, characterized in that: A release device is provided in the tube body (62) of each nozzle (61), and the release device comprises: An impeller (7) is located at the spray 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 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 ring array.

9. The bionic snake-like robot according to claim 8, characterized in that: The escape device further comprises: 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) through 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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