Water spider imitating amphibious robot

Abstract

The water spider imitating amphibious robot comprises a robot body and a folding air bag, a top plate is arranged at the top of the robot body, the opening edge of the top plate is in sealed connection with the folding air bag, and at least six mechanical legs are arranged on the periphery of the robot body; each mechanical leg comprises a base joint, a thigh joint and a shin joint which are connected in sequence, each of the base joint, the thigh joint and the shin joint is composed of a steering engine, a shell and a support, the thigh joint support is horizontally arranged and fixedly connected with the base joint support, the shin joint support is horizontally arranged and fixedly connected with the thigh joint shell, and a paddle is fixedly arranged on the shin joint steering engine; and the robot main body is used for controlling the movement of each mechanical leg and inflating the folding air bag. The invention aims to provide the water spider imitating amphibious robot which can adapt to underwater complex terrains, realize efficient movement on land and in water areas and complete various action postures.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, in particular to an amphibious robot imitating a water spider. Background Art

[0002] At present, underwater robots have been widely used in the fields of environmental detection and rescue. However, existing underwater robots usually use propeller propulsion to achieve underwater movement and posture adjustment, but due to the propeller propulsion mode, their maneuverability is low and it is difficult to adapt to complex water environments. In addition, due to the strong structural rigidity, underwater crawling robots have limited adaptability when operating in irregular terrain or changing water flow environments, and there are problems such as low energy utilization and insufficient operation stability. Publication No. CN212500965U discloses an underwater robot emergency recovery device, which includes a floating device, a valve, a high-pressure gas storage device and a pressure-resistant airbag, and is mainly used for emergency recovery when the underwater robot is out of control. Its working principle is: the high-pressure gas storage device is controlled by a valve to inflate the pressure-resistant airbag, so that the robot generates a large buoyancy, so that it quickly floats to the water surface, which is convenient for salvage and recovery. However, this technical solution is mainly aimed at emergency recovery of the robot in an out-of-control state, and does not involve the floating and sinking adjustment and movement maneuverability optimization of the robot during normal operation, which is difficult to meet the demand for flexible operation capabilities in complex water environments. Therefore, there is an urgent need for an amphibious robot that can adapt to complex underwater terrain, achieve efficient movement on land and water, and perform a variety of movements and postures. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art and to provide an amphibious robot imitating a water spider that can adapt to complex underwater terrain, achieve efficient movement on land and in water, and perform a variety of movements and postures.

[0004] To achieve the above object, the present invention is implemented through the following technical solutions:

[0005] A water spider-like amphibious robot comprises a robot body and a folding airbag, wherein a top plate is arranged on the top of the robot body, and an opening edge of the top plate is sealed and connected to the folding airbag, and at least six mechanical legs are arranged around the robot body; the mechanical legs comprise a basal segment, a femur and a tibia connected in sequence, the basal segment comprises a basal segment steering gear, a basal segment shell and a basal segment bracket, the basal segment shell is fixedly connected to the edge of the robot body, the basal segment steering gear is located in the basal segment shell and is rotatably connected to the basal segment bracket, the femur comprises a femur steering gear, a femur shell and a femur bracket, the femur steering gear is located in the femur shell and is rotatably connected to the femur bracket, the tibia comprises a tibia steering gear, a tibia shell and a tibia bracket, the tibia steering gear is located in the tibia shell and is rotatably connected to the tibia bracket, wherein the femur bracket is horizontally arranged and fixedly connected to the basal segment bracket, the tibia bracket is horizontally arranged and fixedly connected to the femur shell, and a paddling board is fixedly arranged on the tibia steering gear; the robot body is used to control the movement of each mechanical leg and inflate the folding airbag.

[0006] Furthermore, the robot body includes a shell, in which are arranged a cylinder, a relay, a main control board and a battery which are electrically connected to each other. The top opening of the shell is fixedly connected to the top plate and sealed by a waterproof gasket. The air outlet of the cylinder is connected to the air inlet of the folding airbag. The relay and the main control board are used to control the overall switching state and execution action of the robot.

[0007] Furthermore, the foldable airbag is a three-dimensional foldable airbag, the top surface and the bottom surface of the foldable airbag are both regular hexagons and are symmetrical to each other, and there is a regular fold between the top surface and the bottom surface of the foldable airbag.

[0008] Compared with the prior art, the present invention has the following beneficial effects:

[0009] The mechanical legs in the present invention are divided into four sections: coxa, femur, tibia and paddle, so that the mechanical legs have three degrees of freedom. The servos of each section can realize the movements of front and back swinging, up and down lifting, and inward and outward flexion and extension, so that the robot can move flexibly on land and in water and adapt to various complex terrains. The folding airbag on the top of the robot is controlled by the relay and the main control board to realize rapid inflation and deflation, and rapid floating and sinking. Moreover, the folding airbag has regular folds, so that when the cylinder inflates the folding airbag, the folding airbag can expand according to the regular folding trajectory, so that the expansion speed and shape of the folding airbag are controllable, and the robot can keep moving vertically upward when floating, avoiding the loss of the equipment due to the irregular expansion of the folding airbag and deviation from the floating trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of the present invention;

[0011] Figure 2 It is a schematic diagram of the structure of the mechanical leg in the present invention;

[0012] Figure 3 It is a schematic diagram of the structure of the robot body in the present invention;

[0013] Figure 4 It is a schematic diagram of the structure of the foldable airbag in the present invention;

[0014] Figure 5 A schematic diagram of the folding lines of the foldable airbag in the present invention;

[0015] Figure 6 for Figure 5 Schematic diagram after horizontal expansion.

[0016] Reference numerals:

[0017] 1-folding airbag, 2-top plate, 3-robot body, 4-base shell, 5-base servo, 6-base bracket, 7-thigh bracket, 8-thigh servo, 9-thigh shell, 10-tibia bracket, 11-tibia servo, 12-tibia shell, 13-paddle board, 31-shell, 32-cylinder, 33-relay, 34-main control board, 35-battery. DETAILED DESCRIPTION

[0018] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0019] like Figures 1 to 3 As shown, an amphibious robot imitating a water spider comprises a robot body 3 and a folding airbag 1, wherein a top plate 2 is arranged on the top of the robot body 3, and the opening edge of the top plate 2 is sealed and connected to the folding airbag 1, and at least six mechanical legs are arranged around the robot body 3; the mechanical legs comprise a coxa, a femur and a tibia connected in sequence, the coxa is composed of a coxa steering gear 5, a coxa shell 4 and a coxa bracket 6, the coxa shell 4 is fixedly connected to the edge of the robot body 3, the coxa steering gear 5 is located in the coxa shell 4 and is rotatably connected to the coxa bracket 6, and the femur is composed of a femur steering gear 8, a femur outer shell 4 and a femur bracket 6, The robot body 3 is composed of a tibial servo 11, a tibial shell 12 and a tibial bracket 10, the tibial servo 11 is located in the tibial shell 12 and is rotatably connected to the tibial bracket 10, wherein the femur bracket 7 is horizontally arranged and fixedly connected to the base bracket 6, the tibial bracket 10 is horizontally arranged and fixedly connected to the femur shell 9, and a paddle board 13 is fixedly arranged on the tibial servo 11; the robot body 3 is used to control the movement of each mechanical leg and to inflate the folding airbag 1.

[0020] The robot body includes a shell 31, in which a cylinder 32, a relay 33, a main control board 34 and a battery 35 are electrically connected to each other. The top opening of the shell 35 is fixedly connected to the top plate 2 and sealed by a waterproof gasket. The air outlet of the cylinder 32 is connected to the air inlet of the folding airbag 1. The relay 33 and the main control board 34 are used to control the switch state and execution action of the robot as a whole. In this embodiment, the main control board 34 is an ESP32 main control board, and the battery 35 is used to supply power to the cylinder 32, the relay 33, the main control board 34 and each servo. The base servo 5, the femur servo 8 and the tibia servo 11 are all bus waterproof servos. The servo wires of the three servos of each mechanical leg are bundled together and penetrated into the robot body 3 through the side holes of the shell 31. The holes are sealed with waterproof glue.

[0021] Each mechanical leg can swing forward and backward, lift up and down, and flex and extend in and out. The base servo 5 at the base is in a vertical state, and the base servo 5 can control the base bracket 6 set vertically to swing horizontally, completing the forward and backward swinging action of the leg; the femur bracket 7 at the femur is set horizontally and fixed to the base bracket 6, and the femur bracket 7 remains stationary when the femur servo 8 moves, so that the femur servo 8 drives the tibia bracket 10 to swing up and down, completing the up and down lifting action of the leg; the tibia bracket 10 at the tibia is set horizontally and fixed to the femur shell 9, and the tibia bracket 10 remains stationary when the tibia servo 11 moves, so that the tibia servo 11 drives the paddle 13 to swing up and down, and when the femur servo 8 and the tibia servo 11 move synchronously, the internal and external flexion and extension of the femur and tibia of the leg can be completed. This design enables the robot to move flexibly on land and in water, simulating the gait of a water spider, such as controlling the paddle board 13 to paddle backward to generate forward thrust, pushing the robot to swim forward continuously, and controlling the different swing amplitudes of the paddle boards 3 on the left and right sides of the robot body 3 to enable the robot to complete left and right turns.

[0022] like Figures 4 to 6 As shown, the foldable airbag 1 is a three-dimensional foldable airbag. The top and bottom surfaces of the foldable airbag 1 are both regular hexagons and symmetrical to each other. There are regular folds between the top and bottom surfaces of the foldable airbag 1. The foldable airbag 1 is made of two identical regular hexagonal silicone rubber pieces with folds. The expanded volume of the airbag is sufficient to drive the robot to float. The six vertices of a single regular hexagonal airbag are A, B, C, D, E, and F, respectively, and the midpoints of the six sides are O, respectively. 1 , O 2 , O 3 , O 4 , O 5 , O 6 , connect the midpoints of the six sides of the regular hexagon that have an interval relationship to form six intersection points A 1 , B 1 , C 1 , D 1 、E1 、F 1 , and then connect AA 1 BB 1 、CC 1 ,DD 1 EE 1 , FF 1 . Figure 6 Medium 1 O 3 , O 2 O 4 , O 3 O 5 , O 4 O 6 , O 5 O 1 , O 6 O 2 For the valley, AA 1 BB 1 、CC 1 ,DD 1 EE 1 , FF 1 Since the folding airbag 1 has regular folds, when the cylinder 32 inflates the folding airbag 1, the folding airbag 1 can expand regularly according to the folding track, so that the expansion speed and shape of the folding airbag 1 are controllable, and the robot can keep moving vertically upward when floating, avoiding the loss of the equipment due to deviation from the floating track due to the irregular expansion of the folding airbag 1.

[0023] In addition, the space inside the robot body 3 can be integrated with other modules, relying on the main control board 34 for data processing and wireless transmission. For example, if equipped with a holographic projection and communication module, it can visualize the three-dimensional image of the underwater environment in real time and transmit the data to the remote monitoring terminal to achieve accurate monitoring.

[0024] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An amphibious robot imitating a water spider, comprising a robot body (3) and a folding airbag (1), characterized in that: The robot body (3) is provided with a top plate (2) at the top, the opening edge of the top plate (2) is sealed and connected to the folding airbag (1), and at least six mechanical legs are arranged around the robot body (3); the mechanical legs include a basal segment, a femur and a tibia connected in sequence, the basal segment is composed of a basal segment steering gear (5), a basal segment shell (4) and a basal segment bracket (6), the basal segment shell (4) is fixedly connected to the edge of the robot body (3), the basal segment steering gear (5) is located in the basal segment shell (4) and is rotatably connected to the basal segment bracket (6), the femur is composed of a femur steering gear (8), a femur shell (9) and a femur bracket (7), and the femur steering gear ( 8) is located in the femur shell (9) and is rotatably connected to the femur bracket (7), the tibia is composed of a tibia servo (11), a tibia shell (12) and a tibia bracket (10), the tibia servo (11) is located in the tibia shell (12) and is rotatably connected to the tibia bracket (10), wherein the femur bracket (7) is horizontally arranged and fixedly connected to the base bracket (6), the tibia bracket (10) is horizontally arranged and fixedly connected to the femur shell (9), and a paddle board (13) is fixedly arranged on the tibia servo (11); the robot body (3) is used to control the movement of each mechanical leg and to inflate the folding airbag (1).

2. The water spider amphibious robot according to claim 1, characterized in that: The robot body (3) comprises a shell (31), in which a cylinder (32), a relay (33), a main control board (34) and a battery (35) which are electrically connected to each other are arranged. The top opening of the shell (31) is fixedly connected to the top plate (2) and sealed by a waterproof gasket. The air outlet of the cylinder (32) is connected to the air inlet of the folding airbag (1). The relay (33) and the main control board (34) are used to control the switching state and execution action of the robot as a whole.

3. The water spider amphibious robot according to claim 1, characterized in that: The foldable airbag (1) is a three-dimensional foldable airbag. The top surface and the bottom surface of the foldable airbag (1) are both regular hexagons and are symmetrical to each other. There is a regular inward folding fold between the top surface and the bottom surface of the foldable airbag (1).

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