Amphibious robot with flexible walking feet

Abstract

The utility model discloses an amphibious robot with flexible walking feet, which comprises a bearing cabin for sealing and bearing a power supply and a controller, a plurality of walking feet symmetrically arranged on the periphery of the bearing cabin, and a plurality of jet flow mechanisms respectively arranged on the walking feet and used for diving control, a bottom plate is arranged at the bottom of each walking foot through a corresponding elastic mechanism I; according to the amphibious robot with the flexible walking feet, the bottom plates with the elastic mechanisms I are arranged at the bottoms of the walking feet respectively, so that when the amphibious robot with the flexible walking feet dives and touches the bottom, the amphibious robot with the flexible walking feet can stably walk under the irregular external environment (rugged terrain) or the impact load; the whole robot is buffered through the walking feet, and the impact load and the influence of the external environment on internal equipment of the robot are reduced.

Description

Technical Field

[0001] The utility model relates to the field of robot technology, and more specifically, to an amphibious robot with flexible walking legs. Background Art

[0002] Amphibious robots have the ability to operate on land and underwater and are widely used in the execution of various high-risk tasks. Depending on different application scenarios, during diving operations, robots are usually required to be able to swim and walk in the water to complete the corresponding tasks. For example, the amphibious robot with patent application number 2023216936622 sets the robot into a fully symmetrical structure. When it rolls over, multiple mechanical legs can be adjusted in the opposite direction, and multiple mechanical legs are pushed together with multiple jet mechanisms to control the movement direction of the robot on land or in water. However, due to the hard structure of its walking feet, there is no buffer module. When the robot is performing walking operations, it is usually necessary to dive to the bottom of the water. In different environments, the terrain of the bottom of the water is also different. The rugged terrain or the impact load of diving and hitting the bottom will exert an impact force on the robot's walking feet, affecting the stability of the robot and the stability of the equipment in the cabin. Utility Model Content

[0003] An object of the present invention is to solve the above-mentioned problems and / or disadvantages and to provide advantages as will be described below.

[0004] In order to achieve these purposes and other advantages of the utility model, an amphibious robot with flexible walking legs is provided, including a carrying cabin for sealing a power supply and a controller, a plurality of walking legs symmetrically arranged on the periphery of the carrying cabin, and a plurality of jet mechanisms respectively arranged on the walking legs for diving control, and a bottom plate is provided at the bottom of each walking leg through a corresponding elastic mechanism I.

[0005] Preferably, each walking leg is adjusted to the left and right positions through a harmonic reduction motor module connected to the carrying cabin.

[0006] Preferably, each harmonic reduction motor module includes:

[0007] The motor is installed on the load compartment, and its power output end is connected to the U-shaped frame I through a harmonic reducer;

[0008] The power output end of the servo installed on the walking leg is connected to the U-shaped frame II through two transmission arms;

[0009] The U-shaped frame I and the U-shaped frame II are arranged vertically in space and are connected into an integrated structure through corresponding fixing mechanisms.

[0010] Preferably, the U-shaped frame I is connected to the middle part of the walking foot via an elastic element II.

[0011] The present invention has at least the following beneficial effects: First, by arranging bottom plates with elastic mechanisms I at the bottoms of the walking feet, the present invention enables an amphibious robot with flexible walking feet to provide cushioning for the entire robot when it dives and touches the bottom in an irregular external environment (rough terrain) or under impact loads, thereby reducing the impact of the impact load and the external environment on the internal equipment of the robot.

[0012] Secondly, the utility model sets a matching harmonic reduction motor module between the walking legs and the carrying cabin, fully utilizing the high reduction ratio and high precision of the harmonic reduction motor module, and realizes precise motion control by reducing the speed of the servo output and increasing the torque.

[0013] Thirdly, the utility model provides an elastic element II connected to the bottom of the U-shaped frame I at the waist of the walking leg to limit the maximum bending angle of the walking leg joint, thereby avoiding excessive bending or reverse breaking under the action of external force.

[0014] Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of an amphibious robot with flexible walking legs according to the present invention;

[0016] Figure 2 This is a structural diagram of the cooperation between the walking foot and the harmonic reduction motor module of the utility model. DETAILED DESCRIPTION

[0017] The present invention will be described in further detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0018] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0019] It should be noted that in the description of this utility model, the orientations or positional relationships indicated by terms are based on the orientations or positional relationships shown in the accompanying drawings. This is for the purpose of facilitating the description of this utility model and simplifying the description. It does not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, it should not be construed as limiting this utility model. In addition, the terms "I" and "II" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "provided with", "sleeved / connected", "connected", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be a communication between the internal parts of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In addition, in the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is lower in level than the second feature.

[0022] Example 1

[0023] An amphibious robot with flexible walking legs, its structure is as follows Figure 1 As shown, it includes a carrying cabin 1 for sealing a power supply and a controller, a plurality of walking legs 2 symmetrically arranged on the periphery of the carrying cabin 1, and a plurality of jet mechanisms 3 for diving control (the jet mechanism includes a propeller and a water jet propulsion device, and the movement on the water surface and underwater is achieved through the cooperation of the propeller and the water jet propulsion device). The bottom of each walking leg 2 is provided with a bottom plate 5 through a corresponding elastic mechanism I 4. In actual application, the elastic mechanism I is configured to adopt a spring. According to the structure and size of the bottom plate, the elastic mechanism I can be arranged as needed and set into two or more, so that it can serve as a shock-absorbing element for the robot leg or the wheel at the bottom of the bottom plate, and is used to provide buffering under rugged terrain or impact loads.

[0024] Working principle: When the robot performs underwater operations, it floats on the water surface by carrying multiple walking legs 2 through the carrying cabin 1. When walking underwater, when multiple jet mechanisms 3 are activated, the thrust generated by the multiple jet mechanisms 3 drives the multiple walking legs 2 and the carrying cabin 1 to sink to the bottom of the water. When reaching the bottom of the water, under the thrust of the jet mechanism 3, the bottom plate first contacts the bottom of the water. At the same time, the reaction force of the bottom structure is reacted to the bottom plate and buffered by the elastic mechanism I, reducing the impact of the reaction force on the robot's legs, thereby achieving the purpose of reducing the impact on the carrying cabin 1, ensuring the stability of the internal equipment, and reducing equipment damage.

[0025] Example 2

[0026] This embodiment 2 is a preferred embodiment of the present invention, and its specific structure is as follows: Figure 1 - Figure 2 As shown, the following improvements are disclosed based on Implementation 1:

[0027] Each walking leg 2 is adjusted to the left and right by a harmonic reduction motor module 6 connected to the load-bearing cabin. In the application of the flexibly connected walking leg 2, the high reduction ratio and high precision of the harmonic reduction motor module 6 help to complete small motion adjustments and fine operations, enabling the mechanism to accurately control position and speed. At the same time, the harmonic module can reduce weight and is intended to reduce stress transfer between the moving parts and the main body shell. Each harmonic reduction motor module 6 includes:

[0028] A harmonic reduction assembly 7 is arranged on the carrier cabin through a U-shaped frame Ⅰ9. The harmonic reduction assembly includes a motor 14 and a harmonic reducer 8 connected to the power output end of the motor. An encoder 16 (the encoder is used for position and speed feedback to improve control accuracy) and a control board 17 (the control board is used for signal processing, drive control, monitoring of joint status, and ensuring normal operation of the joint module) are arranged between the harmonic reducer 8 and the motor back cover 15, and a matching flexible cover is also provided at one end of the motor rotor 18 (the rotor provides a power source and is the driving part of the joint module) (because its structure, relationship and working mode belong to the existing technology, it will not be described again). In this structure, the harmonic reducer 8 achieves a large reduction ratio through the difference in the number of teeth of the flexible wheel and the rigid wheel, which can usually reach a reduction ratio of tens to hundreds. At the same time, by reducing the rotational speed and increasing the output torque, in actual applications, the joint can be enabled to carry a larger load. The joint module of the harmonic reducer achieves high-precision, high-torque and low backlash joint motion control through the coordinated work of various components. Each component has a specific role: the motor provides power, the harmonic reducer reduces speed and increases torque, the encoder provides feedback, the control unit achieves precise control, and the support and connection structure provides a stable mechanical connection. Through the coordination of these components, the joint module can operate stably and efficiently in various complex environments.

[0029] The power output end of the steering gear 10 provided on the walking leg 2 is connected to the U-shaped frame II 12 via two transmission arms 11;

[0030] The U-shaped frame I and the U-shaped frame II 12 are arranged vertically in space and are connected into an integrated structure through corresponding fixing mechanisms (such as rivets, screws, etc., or directly by welding).

[0031] Working principle: In actual application, the transmission shaft I of the motor 7 is arranged perpendicular to the annular wall 13. The power output by the transmission shaft I is decelerated or accelerated by the harmonic reducer 8. The torque output drives the U-shaped frame I 9 to move left and right. The left and right movement of the U-shaped frame I 9 causes the two transmission arms 11 connected to the U-shaped frame II 12 to move left and right synchronously, completing the left and right position change of the walking foot 2.

[0032] The transmission shaft II of the servo 10 is arranged in space parallel to the upper end surface of the walking leg 2. The power output by the transmission shaft I drives the two transmission arms 11 to change their positions, thereby driving the walking leg 2 to adjust its position in the up and down directions.

[0033] It should be noted that compared with the existing technology, this example uses a harmonic reducer 8 and a motor 7 to control the left and right movement of the walking foot 2, so that it can have more precise motion control compared with the previous situation of using a servo to control the left and right movement. At the same time, the example also reduces the use of one servo, which is conducive to controlling the weight of the equipment.

[0034] Example 3

[0035] This embodiment 3 is a preferred embodiment of the present invention, which discloses the following improvements based on the embodiment 2:

[0036] The U-shaped frame I9 is ​​connected to the middle part of the walking foot 2 via an elastic element II13.

[0037] Working principle: In actual application, the elastic element II 13 is configured to adopt a spring to limit the maximum bending angle of the joint of the walking foot 2 to avoid excessive bending or reverse breaking under the action of external force.

[0038] Furthermore, the spring can provide a soft damping effect, increasing the reaction force when the joint approaches the extreme position, thereby preventing structural damage.

[0039] The above solutions are only examples of preferred embodiments, but are not limited thereto. When implementing the present invention, appropriate replacements and / or modifications can be made according to user needs.

[0040] The number of devices and processing scales described herein are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.

[0041] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and exemplary embodiments. They can be applied to a variety of fields suitable for the present invention. Further modifications will be readily apparent to those skilled in the art. Therefore, the present invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims

1. An amphibious robot with flexible walking legs, comprising a carrying cabin for sealing a power supply and a controller, a plurality of walking legs symmetrically arranged around the carrying cabin, and a plurality of jet mechanisms for diving control provided on the walking legs, characterized in that: The bottom of each walking foot is provided with a bottom plate through the corresponding elastic mechanism I.

2. The amphibious robot with flexible walking legs according to claim 1, characterized in that: Each walking leg can achieve left and right position adjustment through a harmonic reduction motor module connected to the load-bearing cabin.

3. The amphibious robot with flexible walking legs according to claim 2, characterized in that: Each harmonic reduction motor module includes: The motor is installed on the load compartment, and its power output end is connected to the U-shaped frame I through a harmonic reducer; The power output end of the servo installed on the walking leg is connected to the U-shaped frame II through two transmission arms; The U-shaped frame I and the U-shaped frame II are arranged vertically in space and are connected into an integrated structure through corresponding fixing mechanisms.

4. The amphibious robot with flexible walking legs according to claim 3, characterized in that: The U-shaped frame I is connected to the middle part of the walking foot through an elastic element II.

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