Bionic basilisk lizard robot and control method therefor

Abstract

A bionic basilisk lizard robot and a control method therefor. The bionic basilisk lizard robot comprises a robot body (1), and robot legs and robot foots which are in bilateral symmetry; each robot leg comprises a first robot leg part (2) and a third robot leg part (3) which are hingedly connected to the robot body and are arranged in parallel, a second robot leg part (4) hingedly connected to the first robot leg part (2), and a fourth robot leg part (5) connected to the third robot leg part (3), and an upper joint, a middle joint, and a lower joint are sequentially formed. The robot is capable of walking on water, and the wave-making resistance is small during high-speed walking.

Description

A bionic basilisk lizard robot and its control method Technical Field

[0001] The present invention relates to the field of bionic robots, in particular to a bionic basilisk lizard robot and a control method thereof. Background Art

[0002] Currently, organisms capable of aquatic locomotion fall into two main categories. One category, with relatively low mass, relies on surface tension to propel them across the water, with species such as jumping water striders and water spiders being examples. The other category, with ducks being a prime example, relies on buoyancy to displace water. Their locomotion is affected by wave-making resistance, which rises dramatically at a certain speed. This is one of the key factors preventing current amphibious equipment from increasing in speed.

[0003] Unlike the aforementioned lizards, the basilisk has a unique way of walking on water—water running. While running, the basilisk uses its two feet to continuously slap the water surface, generating upward lifting force and forward propulsion, allowing it to quickly move through the water. Existing technologies have developed bionic bipedal aquatic robots inspired by the basilisk, but these existing bipedal aquatic robots are complex in structure and lack effective performance.

[0004] Summary of the Invention

[0005] Purpose of the invention: The first purpose of the present invention is to provide a bionic basilisk lizard robot with a simple structure that can increase the water contact area and ensure that the feet are dry.

[0006] The second object of the present invention is to provide a control method for a bionic basilisk lizard robot.

[0007] Technical solution: The bionic basilisk lizard robot described in the present invention includes a robot body, robot legs and robot feet that are symmetrically arranged on the left and right. The robot legs include robot legs No. 1 and No. 3 that are hinged to the robot body and set in parallel, robot leg No. 2 that is hinged to robot leg No. 1, and robot leg No. 4 that is connected to robot leg No. 3, and form an upper joint, a middle joint and a lower joint in sequence; the robot foot includes a heel connected to robot leg No. 2 and robot leg No. 4, a plurality of tendons evenly distributed on the heel, and a webbed foot located between adjacent tendons.

[0008] Among them, the flippers are a double-layer hollow structure, the outer layer is a hydrophobic material, and the inner layer is a flexible material that expands under pressure.

[0009] Preferably, the thickness of the outer layer is smaller than the thickness of the inner layer.

[0010] Furthermore, the lower surface of the robot body is provided with an upper joint connecting block for connecting the robot leg No. 1 and an upper joint motor for driving the upper joint to rotate. The upper hinge of the robot leg No. 1 is provided with an upper joint rolling bearing, and the output shaft of the upper joint motor box is connected to the upper joint RV reducer, which is connected to the upper end of the robot leg No. 3.

[0011] Furthermore, a middle joint rolling bearing is provided at the hinge of robot leg No. 1 and robot leg No. 2, and a middle joint RV reducer is provided at the hinge of robot leg No. 3 and robot leg No. 4, and the output shaft of the middle joint RV reducer is connected to the middle joint motor.

[0012] Preferably, a lower joint rolling bearing is provided at the hinge of the No. 2 robot leg and the robot foot, and a lower joint RV reducer is provided at the hinge of the No. 4 robot leg and the robot foot, and the output shaft of the lower joint RV reducer is connected to the lower joint motor.

[0013] Furthermore, a motion holder is provided between the lower ends of the No. 1 robot leg and the No. 3 robot leg, and a motion holder is provided between the lower ends of the No. 2 robot leg and the No. 4 robot leg.

[0014] Furthermore, a solar panel for supplying power is provided on the top of the robot body.

[0015] Preferably, the head of the robot body is a flat arc-shaped portion.

[0016] The present invention provides a control method for a bionic basilisk lizard robot, comprising the following steps:

[0017] Taking the right robot leg as an example, the upper joint motor rotates forward, the upper joint RV reducer output frame rotates backward, the robot leg No. 3 lifts up, the upper joint motor speed reaches the set speed, the leg lifting speed reaches the set speed, the movement amplitude of the robot leg No. 3 when lifting reaches the set angle, with 0° perpendicular to the upper body of the robot, the upper joint motor rotates backward, the upper joint RV reducer output frame rotates forward, the robot leg No. 3 kicks down, the extreme angle when kicking reaches the set angle, and the kicking speed is consistent with the leg lifting speed;

[0018] When robot leg No. 3 lifts, the middle joint motor rotates forward, the middle joint motor speed reaches the set speed, the middle joint RV reducer output frame reverses, robot leg No. 4 rotates downward by the set angle, and the rotation speed of robot leg No. 4 reaches the set speed; during the rotation process, it remains perpendicular to robot leg No. 3; when robot leg No. 3 kicks, the middle joint motor reverses, the middle joint RV reducer output frame rotates forward, robot leg No. 4 rotates upward by the set angle, and cooperates with robot leg No. 3 to perform the kicking action;

[0019] When robot leg No. 3 lifts its leg, the motor of the lower joint rotates forward, the speed of the motor of the lower joint reaches the set speed, the output frame of the RV reducer of the lower joint rotates forward, the robot foot rotates counterclockwise by the set angle, the rotation speed of the robot foot reaches the set speed, and the robot lifts its leg; when robot leg No. 3 kicks its leg, the motor of the lower joint rotates forward, the speed of the motor of the lower joint reaches the set speed, the output frame of the RV reducer of the lower joint rotates reversely, the robot foot rotates clockwise by the set angle, the speed of the robot foot reaches the set speed, and the robot kicks the water. After the kicking is completed, the motor of the lower joint reverses, and the robot foot rotates counterclockwise by the set angle.

[0020] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention utilizes a motor to drive a reducer to drive the robot legs to achieve alternate leg kicking and leg lifting, and realizes walking on the water surface by simulating the movement of a basilisk lizard, effectively avoiding the problem of large wave resistance when an object of a certain weight moves at high speed in water; at the same time, the robot feet of the present invention adopt a double-layer hollow structure setting, which can not only ensure that the contact area between the feet of the basilisk lizard robot and the water is increased when running on the water surface, but also ensure that the feet do not get wet and maintain the dryness of the feet. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic structural diagram of the present invention;

[0022] FIG2 is a structural diagram of the robot body according to the present invention;

[0023] FIG3 is a second structural diagram of the robot body of the present invention;

[0024] FIG4 is a schematic structural diagram of the robot legs and robot feet of the present invention;

[0025] FIG5 is an exploded view of the robot legs and feet according to the present invention;

[0026] FIG6 is a schematic structural diagram of a reducer in the present invention;

[0027] FIG7 is a schematic structural diagram of a rolling bearing at an upper joint of the present invention;

[0028] FIG8 is a schematic diagram of a rolling bearing at a lower or middle joint of the present invention;

[0029] FIG9 is a schematic structural diagram of the robot foot of the present invention;

[0030] FIG10 is a schematic diagram of the fin of the present invention before treading water;

[0031] FIG11 is a schematic diagram of the fin of the present invention after treading water and expanding;

[0032] FIG12 is a control flow chart of the basilisk-like lizard robot of the present invention. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0034] As shown in FIG1 , the bionic basilisk lizard robot of the present invention includes a robot body 1 , robot legs and robot feet that are symmetrically arranged on both sides. The robot legs and robot feet move alternately to walk on water.

[0035] The two legs and feet of the robot are arranged symmetrically. Taking the right leg and right foot as an example, the robot legs include robot leg No. 1 2, robot leg No. 3 3, robot leg No. 2 4, robot leg No. 4 5, upper joint connecting block 9, upper joint motor 10, upper joint rolling bearing 11, upper joint RV reducer 12, middle joint rolling bearing 13, middle joint RV reducer 14, middle joint motor 15, lower joint rolling bearing 16, lower joint RV reducer 17, lower joint motor 18 and motion cage 19.

[0036] As shown in Figures 2, 3, 4, and 5, two upper joint connection blocks 9 are symmetrically arranged on the lower surface of the robot body 1. The upper joint connection block 9 is provided with an upper joint connection shaft 22 for connecting to robot leg No. 1. The upper joint connection shaft 22 is connected to the vector of robot leg No. 1 through the upper joint rolling bearing 11, limiting the leg to rotation only, and cooperating with the upper joint motor 10 to control the movement of the robot leg. The lower surface of the robot body 1 has two symmetrically arranged working boxes for mounting the upper joint motor 10. The upper joint motor 10 is located on the lower surface of the robot body 1. The upper joint rolling bearing 11 is provided at the hinge between robot leg No. 1 and the upper joint connection block 9. The upper joint RV reducer 12 is connected to the output shaft of the upper joint motor 10, and the upper joint RV reducer 12 is connected to the upper end of robot leg No. 3. The hinge between robot legs 1 (2) and 2 (4) is equipped with a middle joint rolling bearing 13. The hinge between robot legs 3 (3) and 4 (5) is equipped with a middle joint RV reducer 14. The output shaft of this middle joint RV reducer 14 is connected to a middle joint motor 15. The hinge between robot leg 2 (4) and the robot foot is equipped with a lower joint rolling bearing 16. The hinge between robot leg 4 (5) and the robot foot is equipped with a lower joint RV reducer 17. The output shaft of this lower joint RV reducer 17 is connected to a lower joint motor 18. A motion holder 19 is provided between the lower ends of robot leg No. 1 2 and robot leg No. 3 3, and a motion holder 19 is provided between the lower ends of robot leg No. 2 4 and robot leg No. 4 5. Robot leg No. 1 2 and robot leg No. 3 3 are arranged in parallel, robot leg No. 1 2 is hinged to the robot body 1, robot leg No. 2 4 is hinged to robot leg No. 1, and robot leg No. 4 5 is hinged to robot leg No. 3, and an upper joint, a middle joint and a lower joint are formed in sequence.

[0037] As shown in Figures 9, 10 and 11, the robot foot includes a heel 6 connected to robot leg No. 2 and robot leg No. 4, multiple tendons 7 evenly distributed on the heel, and a web 8 located between adjacent tendons. The web 8 is a double-layer hollow structure, the outer layer is a hydrophobic material, and the inner layer is a flexible material that expands under pressure. The thickness of the outer layer is less than that of the inner layer.

[0038] A solar panel 20 is installed on the top of the robot body 1 to supply power to the upper joint motor 10, the middle joint motor 15, and the lower joint motor 18. This provides energy for the robot, reducing the device's energy requirements in normal operating environments through solar power. The head of the robot body 1 is a flat, curved portion, which reduces air resistance during movement.

[0039] The robot legs are provided with robot legs No. 1 and No. 2, robot legs No. 3 and No. 4. The upper, middle and lower joints of robot legs No. 1 and No. 2 are connected by rolling bearings, as shown in Figures 7 and 8, limiting the joints to rotation only. The upper, middle and lower joints of robot legs No. 3 and No. 4 are fixed to the output frame end faces of the upper joint RV reducer, the middle joint RV reducer and the lower joint RV reducer by bolts. The motors at the joints control the movement direction and speed of the robot legs through the RV reducer. The ends of robot legs No. 1 and No. 3, and robot legs No. 2 and No. 4 are provided with welded motion retaining frames to ensure their consistent movement. The middle joint motor is fixed to the outside of the middle joint of leg 3. The middle joint RV reducer pinion housing is bolted to the inside of the middle joint of leg 3. The middle joint RV reducer output frame is bolted to leg 4. The middle joint motor is housed in the servo motor box. The middle joint RV reducer controls the movement of legs 4 and 2. The lower joint motor is located at the lower joint of leg 4. The lower joint RV reducer pinion housing is bolted to the inside of leg 4. The foot is bolted to the end face of the lower joint RV reducer output frame. The lower joint motor controls the movement of the foot through the lower joint RV reducer. The structure and operating principle of the left leg are identical to those of the right leg. The two legs work together to simulate the locomotion of a basilisk lizard, treading water. As shown in Figure 6, the RV reducers are uniformly fixed with pinion housings, and the output frame operates in an output mode. Using the RV reducer as the link between the robot joint and the reducer can amplify the motor's torque and extend its life.

[0040] The left heel joint is bolted to the output frame end of the RV reducer in the lower joint. The right side is connected to robot leg No. 2 via a rolling bearing, limiting the foot's rotation to coordinate with the reducer's motion control. To ensure sufficient contact area between the foot and the water surface and the strength of the flipper, the foot is equipped with a total of five tendons. The overall structure of the flipper is a double-layer hollow structure, with a thicker inner layer of flexible material that expands under pressure and a thinner outer layer of hydrophobic material. This double-layer hollow structure ensures that the basilisk-like lizard robot's foot has a larger contact area with the water when running on the surface, while also ensuring that the foot does not get wet and maintains dryness.

[0041] The present invention provides a control method for a bionic basilisk lizard robot, comprising the following steps:

[0042] Taking the right robot leg as an example, the upper joint motor rotates forward, the upper joint RV reducer output frame rotates backward, and the robot leg No. 3 lifts up. The upper joint motor speed reaches 2500rpm, and the leg lifting speed reaches 120rpm. The movement range of the robot leg No. 3 when lifting reaches 60°, with 0° perpendicular to the upper body of the robot. The upper joint motor rotates backward, the upper joint RV reducer output frame rotates forward, and the robot leg No. 3 kicks downward. The maximum angle during kicking reaches -30°, and the kicking speed is consistent with the leg lifting speed.

[0043] When robot leg No. 3 lifts, the middle joint motor rotates forward, reaching a speed of 2000 rpm. The output frame of the RV reducer at the middle joint reverses, and robot leg No. 4 rotates downward 60°, reaching a rotation speed of 120 rpm. During this rotation, the leg remains perpendicular to robot leg No. 3. When robot leg No. 3 kicks, the middle joint motor reverses, the output frame of the RV reducer at the middle joint rotates forward, and robot leg No. 4 rotates upward 60°, coordinating with robot leg No. 3 to perform the kicking action.

[0044] When robot leg No. 3 lifts its leg, the motor of the lower joint rotates forward, the speed of the motor reaches 1500rpm, the output frame of the RV reducer of the lower joint rotates forward, the robot foot rotates 30° counterclockwise, and the rotation speed of the robot foot reaches 100rpm, performing the foot-lifting action; when robot leg No. 3 kicks its leg, the motor of the lower joint rotates forward, the speed of the motor reaches 1500rpm, the output frame of the RV reducer of the lower joint rotates reversed, the robot foot rotates 30° clockwise, and the speed of the robot foot reaches 100rpm, performing the water-kicking action. After the water-kicking is completed, the motor of the lower joint reverses, and the robot foot rotates 60° counterclockwise.

[0045] As shown in FIG12 , a control method of a basilisk lizard-like robot according to the present invention includes the following steps:

[0046] Step 1, placing the basilisk lizard robot at a working position;

[0047] Step 2. The RV reducer pinion housing is fixed to the outside of the motor box. The robot legs are connected to the RV reducer output frame. The upper joint servo motor is nested at the tail of the reducer input shaft. The input shaft is meshed with the reducer planetary gear. The servo motor controls the direction and speed of the reducer through the input shaft. The upper joint has two reducers and motors, corresponding to the robot leg No. 1 on the left leg and the robot leg No. 3 on the right leg. The upper joint motors, which are symmetrical on both sides, control the movement direction and speed of the robot legs No. 1 and No. 3 through the upper joint RV reducer to perform the running thigh lifting action. Here, the right leg is used as the Take the No. 3 robot leg as an example: the upper joint motor provides power to the upper joint RV reducer through the input shaft. The upper joint motor rotates forward, and the reducer output frame rotates backward. The No. 3 robot leg lifts up. The motor speed is required to reach 2500rpm, and the leg lifting speed is required to reach 120rpm. The movement amplitude of the No. 3 robot leg when lifting is required to reach 60°, with 0° perpendicular to the upper body of the robot. The upper joint motor rotates backward, and the reducer output frame rotates forward. The No. 3 robot leg kicks downward. The maximum angle when kicking is required to reach -30°, and the kicking speed is consistent with the leg lifting speed. The No. 3 robot leg moves in coordination with the No. 1 robot leg. When the No. 3 robot leg lifts, the No. 1 robot leg kicks; when the No. 3 robot leg kicks, the No. 1 robot leg lifts.

[0048] Step 3: The middle joint motor controls the middle RV reducer to control the movement direction and speed of robot legs 2 and 4, and perform the running and calf-lifting action. The middle joint motor is fixed on the outside of robot leg 3. There are 2 motors and reducers in the middle joint, corresponding to robot leg 2 of the left leg and robot leg 4 of the right leg respectively. The middle joint motor controls the movement direction and speed of robot legs 2 and 4 through the middle joint RV reducer. Here, we take leg 4 of the right leg as an example: when robot leg 3 lifts its leg, the middle joint motor rotates forward and the motor speed is The speed is required to reach 2000rpm, the output frame of the reducer reverses, and the robot leg No. 4 rotates downward 60°. The rotation speed of the robot leg is required to reach 120rpm. During the rotation, it remains perpendicular to the robot leg No. 3. When the robot leg No. 3 kicks, the middle joint motor reverses, the output frame of the reducer rotates forward, and the robot leg No. 4 rotates upward 60° to cooperate with the robot leg No. 3 to perform the kicking action. The robot leg No. 2 and the robot leg No. 4 coordinate their movements. When the robot leg No. 4 cooperates with the robot leg No. 3 to kick, the robot leg No. 2 cooperates with the robot leg No. 1 to lift the leg, and the two movements are coordinated at the same speed.

[0049] Step 4: The lower joint motor works, and the RV reducer controls the robot's feet to run and step. The lower joint motor is fixed to the outside of robot legs No. 4 and No. 2. The lower joint motor and reducer correspond to the robot's left and right feet respectively. Here we take the right foot as an example: when robot leg No. 3 lifts its leg, the lower joint motor reverses, the motor speed is required to reach 1500rpm, the reducer output frame rotates forward, the right foot rotates 30° counterclockwise, and the right foot rotation speed is required to reach 100rpm to lift the foot. When the robot kicks the water, after the right foot touches the water surface, the lower joint motor rotates forward at a uniform speed, the speed is required to be 1500rpm, the reducer output frame reverses, the right foot rotates 30° clockwise, and the speed is required to be 100rpm to kick the water. After the kick is completed, the lower joint motor rotates forward, and the right foot rotates 60° counterclockwise. The left and right feet cooperate to complete the kicking action.

[0050] Step 5: When the right leg completes the running action, the left leg repeats the action of the left leg, and the cycle continues.

[0051] The basilisk lizard-like robot of the present invention can walk on the water surface by simulating the movement mode of the basilisk lizard, thereby expanding the types of movement modes of current amphibious equipment in water. The device not only has a certain load-bearing capacity but can also effectively avoid the problem of large wave resistance when an object moves at high speed in water.

Claims

1. A bionic basilisk lizard robot, characterized by: The robot comprises a robot body (1), a robot leg portion and a robot foot portion which are symmetrically arranged on the left and right sides, wherein the robot leg portion comprises a robot leg No. 1 (2) and a robot leg No. 3 (3) which are articulated with the robot body (1) and arranged in parallel, a robot leg No. 2 (4) which is articulated with the robot leg No. 1, and a robot leg No. 4 (5) which is connected with the robot leg No. 3, and forms an upper joint, a middle joint and a lower joint in sequence; the robot foot comprises a heel (6) which is connected with the robot leg No. 2 and the robot leg No. 4, a plurality of tendons (7) evenly distributed on the heel, and a webbed foot (8) located between adjacent tendons.

2. The bionic basilisk lizard robot according to claim 1, characterized in that: The flipper (8) is a double-layer hollow structure, the outer layer is a hydrophobic material, and the inner layer is a flexible material that expands under pressure.

3. The bionic basilisk lizard robot according to claim 2, characterized in that: The thickness of the outer layer is smaller than the thickness of the inner layer.

4. The bionic basilisk lizard robot according to claim 1, characterized in that: The lower surface of the robot body (1) is provided with an upper joint connection block (9) for connecting the robot leg No. 1 and an upper joint motor (10) for driving the upper joint to rotate; the upper hinge of the robot leg No. 1 (2) is provided with an upper joint rolling bearing (11); the output shaft of the upper joint motor (10) is connected to an upper joint RV reducer (12); and the upper joint RV reducer (12) is connected to the upper end of the robot leg No. 3 (3).

5. The bionic basilisk lizard robot according to claim 4, characterized in that: A middle joint rolling bearing (13) is provided at the hinge of the robot leg No. 1 (2) and the robot leg No. 2 (4), and a middle joint RV reducer (14) is provided at the hinge of the robot leg No. 3 (3) and the robot leg No. 4 (5), and the output shaft of the middle joint RV reducer (14) is connected to the middle joint motor (15).

6. The bionic basilisk lizard robot according to claim 5, characterized in that: A lower joint rolling bearing (16) is provided at the hinge between the No. 2 robot leg (4) and the robot foot, and a lower joint RV reducer (17) is provided at the hinge between the No. 4 robot leg (5) and the robot foot, wherein the output shaft of the lower joint RV reducer (17) is connected to the lower joint motor (18).

7. The bionic basilisk lizard robot according to claim 1, characterized in that: A motion retaining frame (19) is provided between the lower ends of the No. 1 robot leg (2) and the No. 3 robot leg (3), and a motion retaining frame (19) is provided between the lower ends of the No. 2 robot leg (4) and the No. 4 robot leg (5).

8. The bionic basilisk lizard robot according to claim 1, characterized in that: A solar panel (20) for supplying power is arranged on the top of the robot body (1).

9. The bionic basilisk lizard robot according to claim 1, characterized in that: The head of the robot body is a flat arc-shaped portion.

10. A control method for the bionic basilisk lizard robot according to claim 6, characterized in that: The steps include: Taking the robot leg on the right as an example, the upper joint motor rotates forward, the upper joint RV reducer output frame rotates reversely, the robot leg No. 3 is lifted up, the upper joint motor speed reaches the set speed, the leg lifting speed reaches the set speed, the movement amplitude of the robot leg No. 3 reaches the set angle when lifting the leg, with 0° perpendicular to the upper body of the robot, the upper joint motor rotates reversely, the upper joint RV reducer output frame rotates forward, the robot leg No. 3 kicks downward, the limit angle reaches the set angle when kicking, and the kicking speed is consistent with the leg lifting speed; When the robot leg No. 3 lifts its leg, the middle joint motor rotates forward, the middle joint motor speed reaches the set speed, the middle joint RV reducer output frame reverses, the robot leg No. 4 rotates downward to the set angle, and the rotation speed of the robot leg No. 4 reaches the set speed; during the rotation process, it remains perpendicular to the robot leg No. 3; when the robot leg No. 3 kicks its leg, the middle joint motor reverses, the middle joint RV reducer output frame rotates forward, the robot leg No. 4 rotates upward to the set angle, and cooperates with the robot leg No. 3 to kick its leg; When robot leg No. 3 lifts its leg, the motor of the lower joint rotates forward, the speed of the motor of the lower joint reaches the set speed, the output frame of the RV reducer of the lower joint rotates forward, the foot of the robot rotates counterclockwise to the set angle, the rotation speed of the foot of the robot reaches the set speed, and the foot lifts its foot; when robot leg No. 3 kicks its leg, the motor of the lower joint rotates forward, the speed of the motor of the lower joint reaches the set speed, the output frame of the RV reducer of the lower joint reverses, the foot of the robot rotates clockwise to the set angle, the speed of the foot of the robot reaches the set speed, and the water kicking action is performed. After the water kicking is completed, the motor of the lower joint reverses, and the foot of the robot rotates counterclockwise to the set angle.

Images