Pneumatic amphibious soft bionic robot

Abstract

According to the technical scheme, the pneumatic amphibious soft bionic robot is characterized in that the robot comprises a robot body, the left side and the right side of the robot body are each provided with a plurality of driving grooves, the interiors of the driving grooves are connected with pneumatic swing air cylinders, and the interiors of the pneumatic swing air cylinders are connected with rubber soft belts; the driving assembly is arranged on the top face of the robot body and used for driving fishes, the driving assembly comprises a mounting block, the mounting block is connected to the top face of the robot body, a mounting groove is formed in one side of the mounting block, and a sound wave generator is connected into the mounting groove. High-frequency sound waves are emitted through the sound wave generator, so that fishes are driven, the robot is protected, aggressive fishes are prevented from damaging a robot body, electromagnetic pulses are emitted through the electromagnetic pulse generator, fishes depending on electromagnetic induction can be interfered, the aggressive fishes are further driven, and the driving stability is improved.

Description

Technical Field

[0001] The present invention relates to the field of soft bionic robots, and particularly to a pneumatic amphibious soft bionic robot. Background Art

[0002] In recent years, the application fields of robots have been continuously expanding, and have extended from the traditional manufacturing field to fields with relatively complex and changeable operating environments such as military, medical, and surveying. Traditional rigid robots assembled from a large number of rigid components are difficult to meet the actual requirements due to defects and deficiencies such as complex structures, low safety factors, poor adaptability to unstructured environments, high noise, and easy wear of components. With the rapid development of bionic robot technology, material technology, rapid prototyping technology, and intelligent control, soft bionic robots, which are based on natural organisms and have advantages such as high safety in human-computer interaction, strong adaptability to unstructured environments, high driving efficiency, and low maintenance costs, have become a research hotspot in the field of robots.

[0003] For example, in the Chinese patent with the publication number CN214396302U, a pneumatic amphibious soft bionic robot is proposed. The assembly includes a soft bionic actuator, and also includes a torso structure. Soft bionic actuators are arranged at both the front and rear ends of the torso structure. The soft bionic actuator at the front end of the torso structure constitutes the head and neck structure, and the soft bionic actuator at the rear end of the torso structure constitutes the tail structure; fin-like limb structures are also arranged on both sides of the torso structure; the structure of the present invention is reasonably designed, has a low development cost, high driving efficiency, and rich motion forms, and can perform efficient maneuvers in various complex amphibious environments. However, in this solution, when the robot is used in water and encounters aggressive fish, it is easy to cause damage to the robot. Therefore, we propose a pneumatic amphibious soft bionic robot. Summary of the Invention

[0004] Aiming at the problems mentioned in the background art, the purpose of the present invention is to provide a pneumatic amphibious soft bionic robot to solve the problems mentioned in the background art.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions:

[0006] A pneumatic amphibious soft bionic robot comprises: a robot body, a plurality of drive grooves are respectively provided on the left and right sides of the robot body, a pneumatic swing cylinder is connected inside the drive groove, a rubber soft belt is connected inside the pneumatic swing cylinder; a driving component, the driving component is arranged on the top surface of the robot body and used to drive away fish, the driving component comprises a mounting block, the mounting block is connected to the top surface of the robot body, a mounting groove is provided on one side of the mounting block, a sound wave generator is connected inside the mounting groove, when the robot body encounters aggressive fish in water, high-frequency sound waves are emitted by the sound wave generator, so as to drive away the fish and protect the robot.

[0007] By adopting the above technical solution and setting up a driving component, when the operator puts the robot body into water during use, the pneumatic swing cylinder drives the rubber belt to swing horizontally, so that the robot body can swim in the water. When the robot body moves on land, the pneumatic swing cylinder drives the rubber belt to swing at a 45-degree tilt angle, so that the robot body moves on land, thereby achieving the purpose of amphibious movement. When the robot body moves in the water, since the robot body swims like a fish, when facing some aggressive fish, the sound wave generator emits high-frequency sound waves, thereby dispersing the fish school, preventing the aggressive fish from damaging the robot body, and improving the practicality.

[0008] Preferably, the driving component further comprises: two instrument slots, the two instrument slots are opened on the top surface of the robot body, and the inside of the instrument slots is connected to an electromagnetic pulse generator.

[0009] By adopting the above technical solution and setting up an electromagnetic pulse generator, when driving away fish, the electromagnetic pulse generator emits electromagnetic pulses, which can interfere with fish that rely on electromagnetic induction, further drive away aggressive fish, and improve the stability of the driving away.

[0010] Preferably, a shooting slot is provided on one side of the robot body, a moving block is arranged inside the shooting slot, a placement slot is provided on one side of the moving block, and a high-definition camera is connected inside the placement slot.

[0011] By adopting the above technical solution and setting up a high-definition camera, the external environment can be photographed through the high-definition camera when in use, which makes it convenient for operators to understand the forward movement of the robot body and avoid the robot body moving to a dangerous position. Animals can also be photographed through the high-definition camera to improve practicality.

[0012] Preferably, two rotating grooves are formed on one side inside the shooting groove. A first motor is connected inside the rotating groove. One end of the driving shaft of the first motor is connected with a lead screw. Two threaded holes are formed on one side of the moving block, and the threaded holes are threadedly connected with the lead screw.

[0013] By adopting the above technical solution, by setting the first motor, when the high-definition camera is in use, the first motor is started. The rotation of the driving shaft of the first motor drives the lead screw to rotate. The rotation of the lead screw can drive the moving block to move, so that the moving block moves inside the shooting groove, and the high-definition camera moves inside the shooting groove. The position of the high-definition camera can be adjusted according to different working environments, improving the practicability.

[0014] Preferably, a control groove is formed on the top surface of the robot body. A controller is connected inside the control groove. A wireless transmission module is connected inside the control groove, and the controller is electrically connected with the wireless transmission module.

[0015] By adopting the above technical solution, by setting the controller, during use, the operator cooperates with the controller through the wireless transmission module to operate the long-distance operation of the robot body, improving the convenience of use.

[0016] Preferably, a storage battery is connected inside the control groove. A plurality of fixing grooves are formed on the top surface of the control groove. A mounting plate is arranged inside the control groove. A plurality of fixing holes are formed on the top surface of the mounting plate. The positions of the fixing holes correspond to the positions of the fixing grooves, and fixing bolts are threadedly connected inside the fixing holes.

[0017] By adopting the above technical solution, by setting the storage battery, during use, the storage battery provides power for the operation of the robot body, ensuring the stability of the robot operation. The electronic devices in the control groove can be protected through the mounting plate, achieving the purpose of protecting the electronic devices.

[0018] Preferably, a limiting groove is formed on the top surface of the mounting plate, and a solar panel is connected inside the limiting groove.

[0019] By adopting the above technical solution, by setting the solar panel, during use, the solar panel absorbs solar energy and converts it into electrical energy, and then the storage battery stores the electrical energy to provide part of the power for the robot operation, achieving the effect of energy conservation and environmental protection.

[0020] Preferably, a heat dissipation groove is formed on one side of the robot body. A sealed box is connected inside the heat dissipation groove. Two electromagnetic valves are connected to one side of the sealed box. An air outlet cavity is formed on one side inside the sealed box. A plurality of one-way valves are connected to one side inside the air outlet cavity. A support plate is connected to one side inside the air outlet cavity. A second motor is connected inside the support plate. One end of the driving shaft of the second motor is connected with a rotating blade.

[0021] By adopting the above technical solution, by setting the electromagnetic valve, when the robot body operates in water, by closing the electromagnetic valve, water is prevented from entering the control groove. When operating on land, by opening the electromagnetic valve and starting the second motor, the rotation of the driving shaft of the second motor can drive the rotating blade to rotate, drive the gas flow, and discharge the heat inside the control groove to the outside, achieving the purpose of dissipating heat from the electronic device.

[0022] In summary, the present invention mainly has the following beneficial effects:

[0023] By setting the driving component, when in use, when the operator puts the robot body into the water, the pneumatic swing cylinder drives the rubber soft belt, making the rubber soft belt swing horizontally, so that the robot body can swim in the water. When the robot body moves on land, the pneumatic swing cylinder drives the rubber soft belt to swing at a 45-degree inclination angle, enabling the robot body to move on land, achieving the purpose of amphibious movement. When the robot body moves in the water, since the robot body swims like a fish, when facing some aggressive fish, the high-frequency sound waves are emitted by the sound wave generator to disperse the fish group, preventing the aggressive fish from damaging the robot body and improving the practicability. When driving away, the electromagnetic pulse generator emits electromagnetic pulses, which can interfere with the fish relying on electromagnetic induction and further drive away the aggressive fish, improving the stability of driving away.

[0024] By setting the high-definition camera, when in use, the external environment is photographed by the high-definition camera, which is convenient for the operator to master the road conditions ahead of the robot body and avoid the robot body moving to a dangerous position. The animal can also be photographed by the high-definition camera. When the high-definition camera is in use, the first motor is started. The rotation of the driving shaft of the first motor drives the screw rod to rotate. The rotation of the screw rod can drive the moving block to move, making the moving block move inside the photographing groove, and the high-definition camera moves inside the photographing groove. The position of the high-definition camera can be adjusted according to different working environments, improving the practicability.

[0025] By setting up a solar panel, when in use, the solar panel absorbs solar energy and converts it into electrical energy, and then the electrical energy is stored by a storage battery to provide part of the power for the operation of the robot, achieving the effect of energy conservation and environmental protection. By setting up a solenoid valve, when the robot body operates in water, the solenoid valve is closed to prevent water from entering the control tank. When operating on land, the solenoid valve is opened to start the second motor. The rotation of the drive shaft of the second motor can drive the rotary blade to rotate, driving the gas flow and discharging the heat inside the control tank to the outside, achieving the purpose of dissipating heat from the electronic device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0027] Figure 2 is a structural schematic diagram of the robot body of the present invention;

[0028] Figure 3 is a structural schematic diagram of the control tank of the present invention;

[0029] Figure 4 is a structural schematic diagram of the heat dissipation tank of the present invention;

[0030] Figure 5 is a structural schematic diagram of the mounting plate of the present invention;

[0031] Figure 6 is a cross-sectional schematic diagram of the robot body of the present invention;

[0032] Figure 7 is a cross-sectional schematic diagram of the sealed box of the present invention.

[0033] Reference numerals: 1, robot body; 2, drive groove; 3, pneumatic swing cylinder; 4, rubber soft belt; 5, mounting block; 6, mounting groove; 7, sound wave generator; 8, instrument groove; 9, electromagnetic pulse generator; 10, shooting groove; 11, moving block; 12, placement groove; 13, high-definition camera; 14, rotating groove; 15, first motor; 16, lead screw; 17, threaded hole; 18, control tank; 19, controller; 20, wireless transmission module; 21, storage battery; 22, fixed groove; 23, mounting plate; 24, fixing hole; 25, fixing bolt; 26, limiting groove; 27, solar panel; 28, heat dissipation tank; 29, sealed box; 30, solenoid valve; 31, air outlet cavity; 32, one-way valve; 33, support plate; 34, second motor; 35, rotary blade. DETAILED DESCRIPTION OF THE INVENTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] refer to Figures 1-7 A pneumatic amphibious soft bionic robot comprises a robot body 1, a plurality of driving grooves 2 are respectively provided on the left and right sides of the robot body 1, a pneumatic swing cylinder 3 is connected inside the driving groove 2, a rubber soft belt 4 is connected inside the pneumatic swing cylinder 3, a driving component is arranged on the top surface of the robot body 1 for driving away fish, the driving component comprises a mounting block 5, the mounting block 5 is connected to the top surface of the robot body 1, a mounting groove 6 is provided on one side of the mounting block 5, a sound wave generator 7 is connected inside the mounting groove 6, when in use, when the robot body 1 encounters aggressive fish in the water, high-frequency sound waves are emitted by the sound wave generator 7, so as to drive away the fish and protect the robot, by setting up the driving component, when in use, when the operator puts the robot body 1 into the water, the pneumatic swing cylinder 3 drives the rubber soft belt 4, so that the rubber soft belt 4 swings in the horizontal direction, so that The robot body 1 can swim in the water. When the robot body 1 moves on land, the pneumatic swing cylinder 3 drives the rubber soft belt 4 to swing at a 45-degree inclination angle, so that the robot body 1 moves on land and achieves the purpose of amphibious movement. When the robot body 1 moves in the water, since the robot body 1 swims like a fish, when facing some aggressive fish, the sound wave generator 7 emits high-frequency sound waves to disperse the fish school and prevent the aggressive fish from damaging the robot body 1, thereby improving practicality. The driving component also includes two instrument slots 8, and the two instrument slots 8 are opened on the top surface of the robot body 1. The inside of the instrument slot 8 is connected to an electromagnetic pulse generator 9. By setting the electromagnetic pulse generator 9, when driving, the electromagnetic pulse is emitted by the electromagnetic pulse generator 9, which can interfere with the fish that rely on electromagnetic induction, further drive away the aggressive fish, and improve the stability of the driving.

[0036] Reference Figures 1-7, on one side of the robot body 1, a shooting groove 10 is provided. Inside the shooting groove 10, a moving block 11 is arranged. On one side of the moving block 11, a placement groove 12 is provided. Inside the placement groove 12, a high-definition camera 13 is connected. By setting the high-definition camera 13, during use, the external environment is photographed through the high-definition camera 13, which is convenient for the operator to master the road conditions for the advancement of the robot body 1 and avoid the robot body 1 moving to a dangerous position. It can also photograph animals through the high-definition camera 13 to improve the practicality. On one side inside the shooting groove 10, two rotating grooves 14 are provided. Inside the rotating grooves 14, a first motor 15 is connected. One end of the driving shaft of the first motor 15 is connected to a lead screw 16. On one side of the moving block 11, two threaded holes 17 are provided. The threaded holes 17 are threadedly connected to the lead screw 16. By setting the first motor 15, when the high-definition camera 13 is in use, the first motor 15 is started. The rotation of the driving shaft of the first motor 15 drives the lead screw 16 to rotate. The rotation of the lead screw 16 can drive the moving block 11 to move, so that the moving block 11 moves inside the shooting groove 10, and the high-definition camera 13 moves inside the shooting groove 10. The position of the high-definition camera 13 can be adjusted according to different working environments, improving the practicality.

[0037] Refer to Figures 1-7 , on the top surface of the robot body 1, a control groove 18 is provided. Inside the control groove 18, a controller 19 is connected. Inside the control groove 18, a wireless transmission module 20 is connected. The controller 19 is electrically connected to the wireless transmission module 20. By setting the controller 19, during use, the operator operates the long-distance operation of the robot body 1 through the cooperation of the wireless transmission module 20 and the controller 19, improving the convenience of use. Inside the control groove 18, a storage battery 21 is connected. On the top surface of the control groove 18, a plurality of fixing grooves 22 are provided. Inside the control groove 18, a mounting plate 23 is arranged. On the top surface of the mounting plate 23, a plurality of fixing holes 24 are provided. The positions of the fixing holes 24 correspond to the positions of the fixing grooves 22. Inside the fixing holes 24, fixing bolts 25 are threadedly connected. By setting the storage battery 21, during use, the storage battery 21 provides power for the operation of the robot body 1 to ensure the stability of the robot operation. The electronic devices in the control groove 18 can be protected through the mounting plate 23 to achieve the purpose of protecting the electronic devices. On the top surface of the mounting plate 23, a limiting groove 26 is provided. Inside the limiting groove 26, a solar panel 27 is connected. By setting the solar panel 27, during use, the solar panel 27 absorbs solar energy and converts it into electrical energy, and then the storage battery 21 stores the electrical energy to provide part of the power for the robot operation, achieving the effect of energy conservation and environmental protection.

[0038] Refer to Figures 1-7, a heat dissipation groove 28 is provided on one side of the robot body 1. A sealing box 29 is connected inside the heat dissipation groove 28. Two electromagnetic valves 30 are connected to one side of the sealing box 29. An air outlet cavity 31 is provided on one side inside the sealing box 29. A plurality of one-way valves 32 are connected to one side inside the air outlet cavity 31. A support plate 33 is connected to one side inside the air outlet cavity 31. A second motor 34 is connected inside the support plate 33. One end of the drive shaft of the second motor 34 is connected with a rotating blade 35. By setting the electromagnetic valve 30, when the robot body 1 operates in water, by closing the electromagnetic valve 30, water is prevented from entering the control groove 18. When operating on land, by opening the electromagnetic valve 30 and starting the second motor 34, the rotation of the drive shaft of the second motor 34 can drive the rotating blade 35 to rotate, driving the gas flow, so that the heat inside the control groove 18 is discharged to the outside, achieving the purpose of dissipating heat from the electronic device.

[0039] Working principle: Please refer to Figures 1-7As shown, by setting up a driving component, when in use, when the operator puts the robot body 1 into the water, the pneumatic swing cylinder 3 drives the rubber soft belt 4, causing the rubber soft belt 4 to swing horizontally, enabling the robot body 1 to swim in the water. When the robot body 1 moves on land, the pneumatic swing cylinder 3 drives the rubber soft belt 4 to swing at a 45-degree inclination angle, enabling the robot body 1 to move on land, achieving the purpose of amphibious movement. When the robot body 1 moves in the water, since the robot body 1 swims like a fish, when facing some aggressive fish, the acoustic wave generator 7 emits high-frequency acoustic waves to disperse the fish group, preventing the aggressive fish from damaging the robot body 1 and improving the practicality. By setting up the electromagnetic pulse generator 9, during the driving process, the electromagnetic pulse generator 9 emits electromagnetic pulses, which can interfere with fish relying on electromagnetic induction, further driving away the aggressive fish and enhancing the stability of the driving. By setting up the high-definition camera 13, when in use, the high-definition camera 13 takes pictures of the external environment, facilitating the operator to master the road conditions ahead of the robot body 1 and avoiding the robot body 1 moving to dangerous positions. The high-definition camera 13 can also take pictures of animals. By setting up the first motor 15, when the high-definition camera 13 is in use, the first motor 15 is started. The rotation of the drive shaft of the first motor 15 drives the lead screw 16 to rotate. The rotation of the lead screw 16 can drive the moving block 11 to move, causing the moving block 11 to move inside the shooting groove 10, enabling the high-definition camera 13 to move inside the shooting groove 10. The position of the high-definition camera 13 can be adjusted according to different working environments, improving the practicality. By setting up the controller 19, when in use, the operator cooperates with the controller 19 through the wireless transmission module 20 to operate the long-distance operation of the robot body 1, enhancing the convenience of use. By setting up the storage battery 21, when in use, the storage battery 21 provides power for the operation of the robot body 1, ensuring the stability of the robot operation. The electronic devices in the control groove 18 can be protected through the mounting plate 23, achieving the purpose of protecting the electronic devices. By setting up the solar panel 27, when in use, the solar panel 27 absorbs solar energy and converts it into electrical energy, and then the storage battery 21 stores the electrical energy, providing part of the power for the robot operation, achieving the effect of energy conservation and environmental protection. By setting up the solenoid valve 30, when the robot body 1 operates in the water, the solenoid valve 30 is closed to prevent water from entering the control groove 18. When operating on land, the solenoid valve 30 is opened, and the second motor 34 is started. The rotation of the drive shaft of the second motor 34 can drive the rotary vane 35 to rotate, driving the gas flow and discharging the heat inside the control groove 18 to the outside, achieving the purpose of dissipating heat from the electronic devices.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pneumatic amphibious soft bionic robot, characterized in that include: A robot body (1), wherein a plurality of drive slots (2) are respectively provided on the left and right sides of the robot body (1), the drive slots (2) are internally connected to pneumatic swing cylinders (3), and the pneumatic swing cylinders (3) are internally connected to a rubber soft belt (4); A driving component is provided on the top surface of the robot body (1) for driving away fish. The driving component comprises a mounting block (5), the mounting block (5) is connected to the top surface of the robot body (1), a mounting groove (6) is provided on one side of the mounting block (5), and a sound wave generator (7) is connected inside the mounting groove (6). When in use, when the robot body (1) encounters aggressive fish in water, high-frequency sound waves are emitted by the sound wave generator (7), thereby driving away the fish and protecting the robot.

2. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that, The driving component also includes: Two instrument slots (8), the two instrument slots (8) are opened on the top surface of the robot body (1), and the inside of the instrument slots (8) is connected to an electromagnetic pulse generator (9).

3. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that, A shooting slot (10) is provided on one side of the robot body (1), a moving block (11) is arranged inside the shooting slot (10), a placement slot (12) is provided on one side of the moving block (11), and a high-definition camera (13) is connected inside the placement slot (12).

4. The pneumatic amphibious soft bionic robot according to claim 3, characterized in that, Two rotating grooves (14) are provided on one side of the interior of the shooting groove (10), a first motor (15) is connected to the interior of the rotating groove (14), a screw rod (16) is connected to one end of a driving shaft of the first motor (15), and two threaded holes (17) are provided on one side of the moving block (11), and the threaded holes (17) are threadedly connected to the screw rod (16).

5. The pneumatic amphibious soft bionic robot according to claim 4, characterized in that, A control slot (18) is provided on the top surface of the robot body (1), a controller (19) is connected inside the control slot (18), a wireless transmission module (20) is connected inside the control slot (18), and the controller (19) and the wireless transmission module (20) are electrically connected together.

6. The pneumatic amphibious soft bionic robot according to claim 5, characterized in that, The control groove (18) is internally connected to a storage battery (21), a top surface of the control groove (18) is provided with a plurality of fixing grooves (22), a mounting plate (23) is provided inside the control groove (18), a top surface of the mounting plate (23) is provided with a plurality of fixing holes (24), the positions of the fixing holes (24) correspond to the positions of the fixing grooves (22), and the internal threads of the fixing holes (24) are connected with fixing bolts (25).

7. The pneumatic amphibious soft bionic robot according to claim 6, characterized in that, A limiting groove (26) is provided on the top surface of the mounting plate (23), and a solar panel (27) is connected inside the limiting groove (26).

8. The pneumatic amphibious soft bionic robot according to claim 1, characterized in that, One side of the robot body (1) is provided with a heat dissipation groove (28). A sealing box (29) is connected inside the heat dissipation groove (28). Two electromagnetic valves (30) are connected to one side of the sealing box (29). An air outlet cavity (31) is provided on one side inside the sealing box (29). A plurality of one-way valves (32) are connected to one side inside the air outlet cavity (31). A support plate (33) is connected to one side inside the air outlet cavity (31). A second motor (34) is connected inside the support plate (33). One end of the drive shaft of the second motor (34) is connected with a rotating blade (35).

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