An amphibious bionic robot
By using modular design and biomimetic mammalian locomotion principles, combined with the flight mode of rotary-wing drones, the problem of insufficient structural integration and stability in existing amphibious robots has been solved, enabling the robot to switch flexibly and perform tasks efficiently in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CHENGDU UNIVERSITY OF TECHNOLOGY
- Filing Date
- 2025-09-26
- Publication Date
- 2026-07-21
Smart Images
Figure CN224529006U_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, specifically to an amphibious bionic robot. Background Technology
[0002] With the rapid development of robotics technology, mobile robots have been widely used in fields such as military reconnaissance, resource exploration, search and rescue, environmental protection, and scientific research. However, robots that operate in a single environment (such as purely land-based or purely aerial robots) are unable to meet the mission requirements of complex and ever-changing scenarios.
[0003] Existing land robots mainly include wheeled, tracked, and legged types. Wheeled robots have simple structures and high motion efficiency, but weak obstacle-crossing ability and difficulty adapting to rugged terrain; tracked robots have a certain ability to adapt to complex terrain, but their structure is bulky and their turning flexibility is poor; legged robots, by mimicking biological locomotion mechanisms, exhibit strong obstacle-crossing ability and flexibility in unstructured environments, but their structure is complex, their energy consumption is high, and they cannot move in the air.
[0004] Aerial robots mainly consist of rotary-wing UAVs, fixed-wing UAVs, and flapping-wing UAVs. Rotary-wing UAVs can achieve vertical take-off and landing and hovering, and are flexible in operation, but have short endurance and limited payload capacity; fixed-wing UAVs have strong endurance and high flight speed, but cannot operate in confined spaces; flapping-wing UAVs have good stealth characteristics, but have complex structures and weak anti-interference capabilities, and are currently still in the research stage.
[0005] To overcome the limitations of single-environment robots, amphibious robots have emerged. While existing amphibious robots can switch between land and air movement, they still face numerous technical bottlenecks: (1) Poor structural integration between the ground motion module and the flight module leads to low switching efficiency and insufficient stability; (2) The design of the bionic leg mechanism is unreasonable, and it is difficult to balance obstacle crossing ability, stability and movement efficiency when moving on the ground; (3) It lacks efficient self-reconfiguration capabilities and cannot flexibly adjust its structural form according to task requirements; (4) It is susceptible to vibration during flight, and the center of mass shift is prominent when moving on land. The stability and dynamic response of the control system need to be improved.
[0006] Therefore, developing a land-air amphibious biomimetic robot with efficient land-air switching capabilities, stable motion performance, and flexible self-reconfiguration characteristics has become an important research direction in the field of robotics. Summary of the Invention
[0007] The technical problem this invention aims to solve is to provide an amphibious biomimetic robot. Based on the movement principles of the cheetah, a biomimetic mammal, the robot features a biomimetic leg structure designed to enhance its adaptability to complex terrain. Utilizing the flight modes of a rotary-wing drone, it provides flexible flight capabilities, enabling the robot to move on the ground in confined spaces, hover in the air, and take off and land vertically. A land-to-air conversion mechanism allows for stable and rapid switching between the robot's land and air movement modes. A connecting structure enables self-reconfiguration of the robot's components, allowing for wide application in various complex environments.
[0008] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: an amphibious biomimetic robot, comprising two self-reconfigurable body structures that are detachably connected by a main connecting mechanism; Each self-reconfigurable robot structure includes a load cell and two drive mechanisms positioned opposite to the load cell. The load cell and the drive mechanisms are detachably connected via a secondary connection mechanism. This detachable connection design allows the robot to be flexibly combined and reconfigured according to task requirements, improving the robot's adaptability and scalability.
[0009] The drive mechanism includes a curved shell, a land-to-air conversion mechanism, a bionic leg mechanism, and a rotor. The curved shell is connected to a secondary connecting mechanism, providing protection and support for the internal mechanism. The land-to-air conversion mechanism is located inside the curved shell. The bionic leg mechanism is fixed to the upper side of the land-to-air conversion mechanism and changes position with its rotation, serving as the walking drive part in the land-based mode. The rotor is fixed to the land-to-air conversion mechanism and changes position with its rotation, serving as the flight drive part in the aerial mode. The main connecting mechanism includes an active connecting part and a passive connecting part. The active connecting part includes a connecting cover, a worm gear, a worm, a DC motor, an active-passive connecting plate, and a claw assembly. The DC motor is fixed inside the connecting cover, and its power output end is connected to and drives the worm to rotate. The worm gear is located at the center of the connecting cover and meshes with the worm. Four claw assemblies are evenly arranged around the center of the active-passive connecting plate. The active-passive connecting plate has eight locking holes evenly arranged around its center. The passive connection part has the same structure as the active connection part and is symmetrically arranged about the center of the active and passive connection plates; the active connection part and the passive connection part are locked together or separated by their respective hook assemblies passing through the locking holes of the two adjacent active and passive connection plates.
[0010] Furthermore, the hook assembly includes a hook frame, a hook, a connecting rod, a moving shaft, a fixed frame, and a fixed shaft. The fixed frame is fixed to the active and passive connecting plate, and the fixed shaft is fixed to the top of the fixed frame. The middle part of the hook frame is sleeved on the fixed shaft and contacts the active and passive connecting plate. One end of the connecting rod is connected to the bottom of the worm gear, and the other end is rotatably connected to the end of the hook frame. The upper part of the hook shank of the hook is slidably connected to the vertical groove on the upper part of the hook frame through the moving shaft. The lower part of the hook shank is sleeved on the fixed shaft. The claw body of the hook extends out of the hook frame and locks or separates from the locking hole on the active and passive connecting plate.
[0011] The main connecting mechanism is the core component for connecting and separating the two self-reconfigurable mechanical structures. When connection is needed, a DC motor drives a worm gear to rotate, which in turn drives a worm wheel. The worm wheel, through a connecting rod, pulls the hook frame to rotate around a fixed axis. During rotation, the moving shaft slides along the vertical groove on the upper part of the hook shank, causing the hook pawl to rotate around the fixed axis. The pawl extends and passes through the locking hole of the adjacent active and passive connecting plates, locking the active and passive connecting parts. For separation, the DC motor rotates in the opposite direction, the hook pawl retracts, and the lock is released. The four hook pawl assemblies are evenly distributed to ensure connection stability and uniform force distribution.
[0012] Furthermore, the land-to-air conversion mechanism includes a stepper motor, an L-shaped fixing plate, an attitude conversion drive gear, an attitude conversion driven gear, a connecting shaft, and a U-shaped frame; The L-shaped fixing plate is fixed to the inner side of the curved shell. The stepper motor is fixed to the L-shaped fixing plate and its power output end is connected to the attitude conversion drive gear. The attitude conversion driven gear meshes with the attitude conversion drive gear for transmission. The connecting shaft is fixed to the center of the attitude conversion driven gear and connected to the U-shaped frame.
[0013] The land-to-air conversion mechanism is used to switch the working positions of the bionic leg mechanism and the rotor. When the robot transitions from land mode to air mode, a stepper motor drives the attitude conversion drive gear to rotate, which in turn drives the attitude conversion driven gear to rotate. This, through a connecting shaft, causes the U-shaped frame to rotate 180°, moving the bionic leg mechanism into the curved shell and the rotor out to its working position. Conversely, this transitions the robot from air mode to land mode. An L-shaped fixing plate provides stable support for the entire mechanism, ensuring the accuracy of the transition process.
[0014] Furthermore, the bionic leg mechanism includes a walking drive motor, a walking drive gear, a first driven gear, a second driven gear, a first drive rod, a hip joint, a thigh, a knee joint, a calf, a second drive rod, a first auxiliary link, a second auxiliary link, a third auxiliary link, a first shock absorber, a second shock absorber, an ankle joint, and a flexible foot end; The walking drive motor is fixed inside the U-shaped frame, and its power output end is connected to the walking drive gear. The walking drive gear meshes with a first driven gear and a second driven gear on both sides, respectively. One end of the first drive rod is coaxially connected to the first driven gear, and the other end is rotatably connected to the hip joint. The upper end of the thigh is connected to the hip joint, and the lower end is connected to the knee joint. The upper end of the calf is rotatably connected to the knee joint, and the lower end is connected to the ankle joint. The ankle joint is rotatably connected to the middle of the flexible foot. The second driven gear is coaxially connected to the upper end of the second drive rod. The upper end of the first auxiliary connecting rod is rotatably connected to the second drive rod, and the lower end is rotatably connected to the middle of the calf. The system is as follows: the upper end of the first shock absorber is connected to the connection point between the middle of the lower leg and the first auxiliary link, and the lower end of the first shock absorber is fixed to the lower part of the lower leg; the upper end of the second auxiliary link is rotatably connected to the middle part of the first auxiliary link, and the lower end of the second auxiliary link is rotatably connected to the upper end of the flexible foot; the upper end of the second shock absorber is connected to the connection point between the second auxiliary link and the first auxiliary link, and the lower end of the second shock absorber is fixed to the lower part of the second auxiliary link; the U-shaped frame is provided with several insertion holes, and the upper end of the third auxiliary link is inserted into the insertion holes and rotatably connected thereto via a rotating shaft, and the lower end of the third auxiliary link is rotatably connected to the middle of the thigh.
[0015] The bionic leg mechanism employs a multi-link coordinated drive to achieve a walking posture similar to that of an organism. A walking drive motor rotates a walking drive gear, which in turn drives a first drive rod and a second drive rod via a first driven gear and a second driven gear, respectively. The first drive rod drives the hip joint, causing the thigh to swing around the hip joint; the second drive rod, through a first auxiliary link, drives the lower leg, coordinating with the knee joint to achieve flexion and extension of the lower leg. A third auxiliary link can adjust its length according to the terrain, enhancing the leg's adaptability. First and second shock absorbers effectively cushion the impact during walking, while the flexible foot end increases friction with the ground, improving walking stability.
[0016] Furthermore, the rotor includes a brushless motor and a flight wing. The brushless motor is fixed to the outside of the U-shaped frame, and the power output end of the brushless motor drives the flight wing to rotate.
[0017] The rotor provides the power for the robot's flight. The brushless motor, characterized by high efficiency and high speed, drives the rotor to rotate at high speed, generating lift. The mounting position on the outside of the U-shaped frame ensures that the rotor is not interfered with by other components during operation, guaranteeing flight stability.
[0018] Furthermore, the load box is equipped with a wheeled moving mechanism, which includes a servo motor and moving wheels. The servo motor is fixed inside the load box, and the lower end of the moving wheels extends out of the bottom of the load box and is rotatably connected to the servo motor.
[0019] Wheeled mobility mechanisms, as an auxiliary means of land movement, are suitable for flat surfaces. Servo motors drive the rotating wheels, enabling the robot to move quickly. In conjunction with bionic leg mechanisms, this improves the robot's movement efficiency in various land environments.
[0020] Furthermore, the outer side of the load box is also provided with an active connection part or a passive connection part.
[0021] The active or passive connection parts on the outside of the load box enable the robot to be extended and connected with other modules or the same robot, increasing the functionality and flexibility of the robot body, and forming robot systems of different sizes according to task requirements.
[0022] Furthermore, the structure of the secondary connecting mechanism is the same as that of the primary connecting mechanism.
[0023] The secondary connection mechanism adopts the same structure as the main connection mechanism, ensuring the reliability of the connection between the load box and the drive mechanism and the ease of disassembly, which facilitates the maintenance or replacement of the drive mechanism and improves the maintenance efficiency of the robot.
[0024] The advantages of this invention compared to the prior art are: This invention enables rapid and stable switching between land and air modes for robots, allowing them to flexibly switch operating modes in complex environments and greatly improving their adaptability and task execution capabilities.
[0025] This invention employs a modular design, with each mechanism having a clear division of labor and working collaboratively. The design of the main and auxiliary connecting mechanisms facilitates robot assembly and disassembly, as well as maintenance and upgrades. Furthermore, the main connecting mechanism allows for the separation and combination of the robot's front and rear parts, with each part capable of operating independently after separation.
[0026] The bionic leg mechanism of this invention mimics the movement of biological legs, has multiple degrees of freedom, and can realize complex walking movements. At the same time, the wheeled movement mechanism serves as an auxiliary, further improving the robot's mobility on land. Attached Figure Description
[0027] Figure 1 This is a structural schematic diagram of an amphibious biomimetic robot according to the present invention.
[0028] Figure 2 This is a schematic diagram of the connecting mechanism.
[0029] Figure 3 This is the main view of the connecting mechanism.
[0030] Figure 4 This is a schematic diagram of the connecting mechanism.
[0031] Figure 5This is a schematic diagram of the working process of the connecting mechanism.
[0032] Figure 6 This is a schematic diagram of the hook assembly.
[0033] Figure 7 This is the main view of the hook component.
[0034] Figure 8 This is a schematic diagram of the drive mechanism.
[0035] Figure 9 This is a schematic diagram of the land-to-air conversion mechanism and the rotor. Figure 1 .
[0036] Figure 10 This is a schematic diagram of the land-to-air conversion mechanism and the rotor. Figure 2 .
[0037] Figure 11 This is a structural diagram of an L-shaped fixing plate.
[0038] Figure 12 This is the front view of the bionic leg mechanism.
[0039] Figure 13 This is a rear view of the bionic leg mechanism.
[0040] Figure 14 This is a structural diagram of the load cell and wheeled moving mechanism. Figure 1 .
[0041] Figure 15 This is a structural diagram of the load cell and wheeled moving mechanism. Figure 2 .
[0042] As shown in the figure: 1. Self-reconfigurable body structure; 11. Load box; 12. Drive mechanism; 121. Curved shell; 122. Land-to-air conversion mechanism; 1221. Stepper motor; 1222. L-shaped fixing plate; 1223. Attitude conversion drive gear; 1224. Attitude conversion driven gear; 1225. Connecting shaft; 1226. U-shaped frame; 1227. Insertion hole; 123. Bionic leg mechanism; 1231. Walking drive motor; 1232. Walking drive gear; 1233. First driven gear; 1234. Second driven gear; 1235. First drive rod; 1236. Hip joint; 1237. Thigh; 1238. Knee joint; 1239. Lower leg; 12310. Second drive rod; 12311. First auxiliary link; 12312. Second auxiliary link. 12313, Third Auxiliary Link, 12314, First Shock Absorber, 12315, Second Shock Absorber, 12316, Ankle Joint, 12317, Flexible Foot End, 124, Rotor, 1241, Brushless Motor, 1242, Flight Wing, 13, Secondary Connection Mechanism, 14, Wheeled Movement Mechanism, 141, Servo Motor, 142, Moving Wheel, 2, Main Connection Mechanism, 21, Active Connection Part, 211, Connection Cover, 212, Worm Gear, 213, Worm, 214, DC Motor, 215, Active and Passive Connection Plate, 2151, Locking Hole, 216, Claw Assembly, 2161, Hook Frame, 2162, Claw, 2163, Linkage, 2164, Moving Shaft, 2165, Fixed Frame, 2166, Fixed Shaft, 22, Passive Connection Part. Detailed Implementation
[0043] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "vertical", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0044] In the description of this invention, "first feature" and "second feature" may include one or more of the indicated features. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of the indicated features.
[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0046] The following detailed description of an amphibious biomimetic robot of the present invention, with reference to the accompanying drawings, will be provided in further detail.
[0047] Combined with appendix Figure 1-15 The specific implementation process of the amphibious bionic robot of the present invention is as follows: A land-air amphibious biomimetic robot includes two self-reconfigurable body structures 1 that can be detachably connected by a main connecting mechanism 2. When the two self-reconfigurable body structures 1 are connected, they form a complete device that can achieve three movement states: walking, flying, and wheel movement. They can also act separately. When a single self-reconfigurable body structure 1 is running, it can achieve the movement state of wheel movement.
[0048] Each self-reconfigurable body structure 1 includes a load cell 11 and two drive mechanisms 12 arranged opposite to the load cell 11. The load cell 11 and the drive mechanisms 12 are detachably connected through a secondary connection mechanism 13. This detachable connection design allows the robot to be flexibly combined and reconfigured according to task requirements, improving the robot's adaptability and scalability.
[0049] The drive mechanism 12 includes a curved shell 121, a land-to-air conversion mechanism 122, a bionic leg mechanism 1227, a socket 123, and a rotor 124. The curved shell 121 is connected to a secondary connecting mechanism 13, which provides protection and support for the internal mechanism. The land-to-air conversion mechanism 122 is located inside the curved shell 121. The bionic leg mechanism 1227 and the socket 123 are fixed to the upper side of the land-to-air conversion mechanism 122 and change position with its rotation, serving as the walking drive part in the land mode. The rotor 124 is fixed to the land-to-air conversion mechanism 122 and changes position with its rotation, serving as the flight drive part in the air mode. The land-to-air conversion mechanism 122 includes a stepper motor 1221, an L-shaped fixing plate 1222, an attitude conversion drive gear 1223, an attitude conversion driven gear 1224, a connecting shaft 1225, and a U-shaped frame 1226. The left outer surface of the L-shaped fixing plate 1222 is connected to the secondary connecting mechanism 13 by bolts. The L-shaped fixing plate 1222 is connected to the U-shaped frame 1226 by the connecting shaft 1225. Considering the weight of the U-shaped frame 1226 and the bionic leg mechanism 1227; the insertion hole; 123, therefore... A set of fixed-axis gear transmission components for transmitting large torque is designed on the front surface of the L-shaped fixed plate 1222. The fixed-axis gear transmission components consist of attitude conversion drive gear 1223 and attitude conversion driven gear 1224. The two attitude conversion drive gears 1223 are connected to two stepper motors 1221 respectively through flange couplings. The torque output by the stepper motors 1221 drives the gear system to rotate, thereby driving the U-shaped frame 1226 to achieve a 90° rotation, thus realizing stable and fast land-to-air conversion.
[0050] The bionic leg mechanism 1227; socket; 123 simplifies the cheetah's hind limb structure, designing the robot's mechanical leg as a three-segment structure. Compared to the traditional two-segment leg structure, this three-segment leg structure not only provides a larger workspace, enabling the robot to perform various tasks more flexibly.
[0051] Bionic leg mechanism 1227; socket; 123 includes a walking drive motor 1231, a walking drive gear 1232, a first driven gear 1233, a second driven gear 1234, a first drive rod 1235, a hip joint 1236, a thigh 1237, a knee joint 1238, a lower leg 1239, a second drive rod 12310, a first auxiliary link 12311, a second auxiliary link 12312, a third auxiliary link 12313, a first shock absorber 12314, a second shock absorber 12315, an ankle joint 12316, and a flexible foot end. 12317; The walking drive motor 1231 is fixed inside the U-shaped frame 1226 and its power output end is connected to the walking drive gear 1232. The walking drive gear 1232 meshes with the first driven gear 1233 and the second driven gear 1234 on both sides respectively. One end of the first drive rod 1235 is coaxially connected to the first driven gear 1233, and the other end is rotatably connected to the hip joint 1236. The upper end of the thigh 1237 is connected to the hip joint 1236, and the lower end is connected to the knee joint 1238. The upper end of the lower leg 1239 is rotatably connected to the knee joint 1238, and the lower end is connected to the ankle joint. Section 12316; Ankle joint 12316 is rotatably connected to the middle of flexible foot end 12317; Second driven gear 1234 is coaxially connected to the upper end of second drive rod 12310; Upper end of first auxiliary connecting rod 12311 is rotatably connected to second drive rod 12310, and lower end is rotatably connected to the middle of lower leg 1239; Upper end of first shock absorber 12314 is connected to the connection between the middle of lower leg 1239 and first auxiliary connecting rod 12311, and lower end of first shock absorber 12314 is fixed to the lower part of lower leg 1239; Upper end of second auxiliary connecting rod 12312 is connected to the first auxiliary connecting rod 12311. The middle part of the auxiliary link 12311 is rotatably connected, the lower end of the second auxiliary link 12312 is rotatably connected to the upper end of the flexible foot end 12317, the upper end of the second shock absorber 12315 is connected to the connection between the second auxiliary link 12312 and the first auxiliary link 12311, and the lower end of the second shock absorber 12315 is fixed to the lower part of the second auxiliary link 12312; the U-shaped frame 1226 is provided with several insertion holes, the upper end of the third auxiliary link 12313 is inserted into the insertion hole through a rotating shaft and rotatably connected to it, and the lower end of the third auxiliary link 12313 is rotatably connected to the middle part of the thigh 1237.
[0052] The bionic leg mechanism 1227; socket; 123 employs a multi-link coordinated drive to achieve a walking posture similar to that of a living organism. To ensure that the number of drives for the bionic leg mechanism 1227; socket; 123 is only one, a fixed-axis gear system is designed: one driving wheel (walking drive gear 1232) and two driven wheels (first driven gear 1233 and second driven gear 1234). By controlling the movement of the driving wheel, the force and torque output by the walking drive motor 1231 are simultaneously transmitted to the first drive rod 1235 and the second drive rod 12310 of the bionic leg mechanism 1227; socket; 123, thereby controlling the high-speed movement of the bionic leg mechanism 1227; socket; 123. This improves the robot's movement efficiency and achieves lightweight design. The walking drive motor 1231 drives the walking drive gear 1232 to rotate, which in turn drives the first drive rod 1235 and the second drive rod 12310 through the first driven gear 1233 and the second driven gear 1234, respectively. The first drive rod 1235 drives the hip joint 1236 to move, causing the thigh 1237 to swing around the hip joint 1236. The second drive rod 12310 drives the lower leg 1239 to move via the first auxiliary link 12311, cooperating with the knee joint 1238 to achieve flexion and extension of the lower leg 1239. The third auxiliary link 12313 can be adjusted in length according to the terrain to enhance the adaptability of the leg. The first shock absorber 12314 and the second shock absorber 12315 can effectively buffer the impact force during walking, and the flexible foot end 12317 increases the friction with the ground, improving walking stability.
[0053] The rotor 124 includes a brushless motor 1241 and a flight wing 1242. The brushless motor 1241 is fixed to the outside of the U-shaped frame 1226, and its power output drives the flight wing 1242 to rotate. The rotor 124 provides the robot with the power for flight. The brushless motor 1241 features high efficiency and high speed, enabling it to drive the flight wing 1242 to rotate at high speed and generate lift. The mounting position on the outside of the U-shaped frame 1226 ensures that the flight wing 1242 is not interfered with by other components during operation, guaranteeing flight stability.
[0054] To ensure stable flight and flexible control of the robot in the air, the rotor 124 of this application is a quadcopter 124, meaning that each of the four drive mechanisms 12 is equipped with one rotor 124. During flight, the quadcopter 124 is subjected to an upward vertical pull, roll torque, pitch torque, and yaw torque. The pull is provided by the four wings 1242, ensuring the robot's hovering and ascent / descending. The roll torque allows the robot to tilt left and right, generated by two pairs of relatively rotating wings 1242. The pitch torque allows the robot to tilt forward and backward, achieved through the force difference between the front and rear wings 1242. The yaw torque controls the robot's rotation direction, primarily achieved through the speed difference between the wings 1242. The interaction of these pulls and torques ensures stable flight and flexible control of the robot in the air.
[0055] The load box 11 is provided with a wheeled moving mechanism 14, which includes a servo motor 141 and a moving wheel 142. The servo motor 141 is fixed inside the load box 11, and the lower end of the moving wheel 142 extends out of the bottom of the load box 11 and is rotatably connected to the servo motor 141.
[0056] The wheeled mobility mechanism 14 serves as an auxiliary method for land movement and is suitable for flat surfaces. The servo motor 141 drives the moving wheels 142 to rotate, enabling rapid robot movement. In conjunction with the bionic leg mechanism 1227 and the socket 123, it improves the robot's movement efficiency in various land environments. The wheeled mobility mechanism 14 ensures the movement of the two self-reconfigurable body structures 1 when they operate independently in confined spaces.
[0057] The main connecting mechanism 2 includes an active connecting part 21 and a passive connecting part 22. The active connecting part 21 includes a connecting cover 211, a worm gear 212, a worm 213, a DC motor 214, an active-passive connecting plate 215, and a claw assembly 216. The DC motor 214 is fixed inside the connecting cover 211. The power output end of the DC motor 214 is connected to and drives the worm 213 to rotate. The worm gear 212 is located at the center of the connecting cover 211 and meshes with the worm 213. Four claw assemblies 216 are evenly arranged around the center of the active-passive connecting plate 215. The active-passive connecting plate 215 has eight locking holes 2151 evenly arranged around its center. The passive connection part 22 has the same structure as the active connection part 21 and is symmetrically arranged about the center of the active and passive connection plate 215. The active connection part 21 and the passive connection part 22 are locked together or separated by their respective claw assemblies 216 passing through the locking holes 2151 of the two adjacent active and passive connection plates 215.
[0058] The hook assembly 216 includes a hook frame 2161, a hook 2162, a connecting rod 2163, a moving shaft 2164, a fixed frame 2165, and a fixed shaft 2166. The fixed frame 2165 is fixed on the active-passive connecting plate 215, and the fixed shaft 2166 is fixed on the top of the fixed frame 2165. The middle part of the hook frame 2161 is sleeved on the fixed shaft 2166 and contacts the active-passive connecting plate 215. One end of the connecting rod 2163 is connected to the bottom of the worm gear 212, and the other end is rotatably connected to the end of the hook frame 2161. The upper part of the hook handle of the hook 2162 is slidably connected to the vertical groove on the upper part of the hook frame 2161 through the moving shaft 2164. The lower part of the hook handle of the hook 2162 is sleeved on the fixed shaft 2166. The claw body of the hook 2162 extends out of the hook frame 2161 and locks or separates from the locking hole 2151 on the active-passive connecting plate 215.
[0059] The main connecting mechanism 2 is the core component for connecting and separating the two self-reconfigurable body structures 1. When connection is required, the DC motor 214 drives the worm gear 213 to rotate, which in turn drives the worm wheel 212 to rotate. The worm wheel 212 pulls the hook frame 2161 around the fixed shaft 2166 via the connecting rod 2163. During the rotation of the hook frame 2161, the moving shaft 2164 slides along the vertical groove on the upper part of the hook handle, causing the hook pawl 2162 to rotate around the fixed shaft 2166. The pawl extends and passes through the locking hole 2151 of the adjacent active and passive connecting plates 215, thus locking the active connecting part 21 and the passive connecting part 22. When separating, the DC motor 214 rotates in the opposite direction, the hook pawl 2162 retracts, and the lock is released. The four hook pawl assemblies 216 are evenly distributed to ensure the stability of the connection and the uniformity of force.
[0060] The operating principles of the active connection unit 21 and the passive connection unit 22 are as follows: Combined with appendix Figure 3 Four hook brackets 2161 are evenly distributed at 90° angles on the active and passive connecting plates 215, and power is simultaneously transmitted to the four hooks 2162 via the worm gear 212. Figure 4 It can be seen that the worm gear 212, connecting rod 2163, and hook frame 2161 together form a crank-slider mechanism, while the hook frame 2161, moving shaft 2164, fixed shaft 2166, and pawl form a crank-double-slider mechanism. The use of worm gear 212 and worm 213 for transmission, effectively combining the two crank mechanisms, improves the stability, load capacity, adaptability, and control accuracy of the connecting mechanism, while reducing energy consumption. Simultaneously, it converts the small displacement of the hook frame 2161 into a large rotation of the pawl 2162.
[0061] Combined with appendix Figure 5The working process of the main connecting mechanism 2 is as follows: Initially, the hook 2162 is screwed into the active-passive connecting plate 215. Due to the self-locking of the DC motor 214 and the unidirectional transmission of the worm gear 212 and worm 213, the hook 2162 cannot move. When the amphibious bionic robot performs heterogeneous self-reconfiguration, the DC motor 214 on the connecting mechanism is powered on, and the motor shaft drives the worm gear 212 to rotate clockwise through the worm 213, causing the connecting rod to drive the hook frame 2161 to make a small linear displacement in the groove of the connecting plate. Due to the passive linear motion of the moving shaft 2164, the hook 2162 rotates out of the connecting plate around the fixed shaft 2166 and is firmly connected to the active-passive connecting plate 215. When the motor power line is reversed, the worm gear 212 rotates counterclockwise, and the connecting mechanism will automatically separate.
[0062] During the reconstruction process, there may be some angular errors at the joints of each functional module. At the same time, it is also necessary to consider the connection and positioning problem of adjacent modules when the robot is initially built. An asymmetrical positioning wedge is designed on the active and passive connection plate 215 to help each functional module connect and position better.
[0063] The load box 11 is also provided with an active connection part 21 or a passive connection part 22 on the outside; if an active connection part 21 is provided on the outside of the load box 11 of one self-reconfigurable body structure 1, then a passive connection part 22 is provided on the outside of the load box 11 of the other self-reconfigurable body structure 1, so as to ensure that the two self-reconfigurable body structures 1 can achieve rapid self-reconfiguration connection, thereby increasing the functionality and flexibility of the body.
[0064] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.
Claims
1. A land-and-air amphibious biomimetic robot, characterized in that: It includes two self-reconfigurable body structures (1) that are detachably connected via a main connection mechanism (2); Each self-reconfigurable body structure (1) includes a load box (11) and two drive mechanisms (12) arranged opposite to the load box (11). The load box (11) and the drive mechanisms (12) are detachably connected by a secondary connection mechanism (13). The drive mechanism (12) includes a curved shell (121), a land-to-air conversion mechanism (122), a bionic leg mechanism (123), and a rotor (124). The curved shell (121) is connected to a secondary connection mechanism (13). The land-to-air conversion mechanism (122) is located inside the curved shell (121). The bionic leg mechanism (123) is fixed to the upper side of the land-to-air conversion mechanism (122) and changes position with its rotation as a walking drive part in land mode. The rotor (124) is fixed to the land-to-air conversion mechanism (122) and changes position with its rotation as a flight drive part in air mode. The main connecting mechanism (2) includes an active connecting part (21) and a passive connecting part (22). The active connecting part (21) includes a connecting cover (211), a worm gear (212), a worm (213), a DC motor (214), an active-passive connecting plate (215), and a claw assembly (216). The DC motor (214) is fixed inside the connecting cover (211). The power output end of the DC motor (214) is connected to and drives the worm (213) to rotate. The worm gear (212) is located at the center of the connecting cover (211) and meshes with the worm (213). The claw assembly (216) has four claws evenly arranged around the center of the active-passive connecting plate (215). The active-passive connecting plate (215) has eight locking holes (2151) evenly arranged around its center. The passive connection part (22) has the same structure as the active connection part (21) and is symmetrically arranged about the center of the main and passive connection plates (215); the active connection part (21) and the passive connection part (22) are locked together or separated by their respective claw assemblies (216) passing through the locking holes (2151) of the two adjacent main and passive connection plates (215).
2. The amphibious biomimetic robot according to claim 1, characterized in that: The hook assembly (216) includes a hook frame (2161), a hook (2162), a connecting rod (2163), a moving shaft (2164), a fixed frame (2165), and a fixed shaft (2166). The fixed frame (2165) is fixed on the active-passive connecting plate (215), and the fixed shaft (2166) is fixed on the top of the fixed frame (2165). The middle part of the hook frame (2161) is sleeved on the fixed shaft (2166) and contacts the active-passive connecting plate (215). One end of the rod (2163) is connected to the bottom of the worm gear (212), and the other end is rotatably connected to the end of the hook frame (2161); the upper part of the hook handle of the hook (2162) is slidably connected to the vertical groove on the upper part of the hook frame (2161) through the moving shaft (2164), the lower part of the hook handle of the hook (2162) is sleeved on the fixed shaft (2166), and the claw body of the hook (2162) extends out of the hook frame (2161) and locks or separates from the locking hole (2151) on the active and passive connecting plate (215).
3. The amphibious biomimetic robot according to claim 2, characterized in that: The land-air conversion mechanism (122) includes a stepper motor (1221), an L-shaped fixing plate (1222), an attitude conversion drive gear (1223), an attitude conversion driven gear (1224), a connecting shaft (1225), and a U-shaped frame (1226). The L-shaped fixing plate (1222) is fixed inside the curved shell (121). The stepper motor (1221) is fixed on the L-shaped fixing plate (1222) and its power output end is connected to the attitude conversion drive gear (1223). The attitude conversion driven gear (1224) meshes with the attitude conversion drive gear (1223) for transmission. The connecting shaft (1225) is fixed at the center of the attitude conversion driven gear (1224) and connected to the U-shaped frame (1226).
4. The amphibious biomimetic robot according to claim 3, characterized in that: The bionic leg mechanism (123) includes a walking drive motor (1231), a walking drive gear (1232), a first driven gear (1233), a second driven gear (1234), a first drive rod (1235), a hip joint (1236), a thigh (1237), a knee joint (1238), a lower leg (1239), a second drive rod (12310), a first auxiliary link (12311), a second auxiliary link (12312), a third auxiliary link (12313), a first shock absorber (12314), a second shock absorber (12315), an ankle joint (12316), and a flexible foot end (12317). The walking drive motor (1231) is fixed inside the U-shaped frame (1226) and its power output end is connected to the walking drive gear (1232). The walking drive gear (1232) is meshed with the first driven gear (1233) and the second driven gear (1234) on both sides respectively. One end of the first drive rod (1235) is coaxially connected to the first driven gear (1233) and the other end is rotatably connected to the hip joint (1236). The upper end of the thigh (1237) is connected to the hip joint (1236). 236), the lower end is connected to the knee joint (1238), the upper end of the lower leg (1239) is rotatably connected to the knee joint (1238), and the lower end is connected to the ankle joint (12316); the ankle joint (12316) is rotatably connected to the middle of the flexible foot end (12317); the second driven gear (1234) is coaxially connected to the upper end of the second drive rod (12310), the upper end of the first auxiliary connecting rod (12311) is rotatably connected to the second drive rod (12310), and the lower end is connected to the lower leg (12316). 1239) is rotatably connected in the middle. The upper end of the first shock absorber (12314) is connected to the connection between the middle of the lower leg (1239) and the first auxiliary connecting rod (12311), and the lower end of the first shock absorber (12314) is fixed to the lower part of the lower leg (1239). The upper end of the second auxiliary connecting rod (12312) is rotatably connected to the middle of the first auxiliary connecting rod (12311), and the lower end of the second auxiliary connecting rod (12312) is rotatably connected to the upper end of the flexible foot end (12317). The upper end of the second shock absorber (12315) is connected to the connection between the second auxiliary link (12312) and the first auxiliary link (12311), and the lower end of the second shock absorber (12315) is fixed to the lower part of the second auxiliary link (12312); the U-shaped frame (1226) is provided with several insertion holes, and the upper end of the third auxiliary link (12313) is inserted into the insertion hole through a rotating shaft and rotated to connect with it. The lower end of the third auxiliary link (12313) is rotated to connect with the middle part of the thigh (1237).
5. The amphibious biomimetic robot according to claim 4, characterized in that: The rotor (124) includes a brushless motor (1241) and a flight wing (1242). The brushless motor (1241) is fixed on the outside of the U-shaped frame (1226), and the power output end of the brushless motor (1241) drives the flight wing (1242) to rotate.
6. The amphibious biomimetic robot according to claim 5, characterized in that: The load box (11) is provided with a wheeled moving mechanism (14), which includes a servo motor (141) and a moving wheel (142). The servo motor (141) is fixed inside the load box (11), and the lower end of the moving wheel (142) extends out of the bottom of the load box (11) and is rotatably connected to the servo motor (141).
7. The amphibious biomimetic robot according to claim 6, characterized in that: The load cell (11) is also provided with an active connection part (21) or a passive connection part (22) on the outside.
8. The amphibious biomimetic robot according to claim 7, characterized in that: The structure of the secondary connecting mechanism (13) is the same as that of the main connecting mechanism (2).