Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method

Abstract

The invention discloses a foot paddle-wing hybrid drive type amphibious operation bionic robot and a movement method. The robot comprises a robot body, two sides of the robot body are symmetrically provided with at least four groups of foot paddle driving modules which independently control rotary motion, and all the foot paddle driving modules incline downwards and have the same inclination angle; and at least two groups of empennage driving modules which independently control up-and-down swinging are symmetrically mounted at the tail part of the aircraft body. The robot disclosed by the invention has crawling and floating motion modes; the robot can work at any depth in water, does not need a buoyancy adjusting device, has high adaptability to the irregular ground and different water area environments by means of few motors, improves the crawling stability and obstacle crossing capacity, simplifies the adjusting process, and is simple in structure, high in flexibility, light in weight and high in comprehensive movement performance.

Description

technical field [0001] The invention belongs to the technical field of amphibious bionic machines, and relates to a foot paddle-wing hybrid-driven bionic robot for amphibious operations and a movement method. Background technique [0002] As we all know, the ocean area accounts for 71% of the total area of ​​the earth, and the ocean is the four major strategic spaces that human beings rely on for survival and development—land, sea, air, and sky. The second largest space after the land is energy and biological resources. It is the most realistic space with the greatest potential for development at present. As a blue country, the ocean is closely related to the survival and development of human beings. After entering the 21st century, human beings feel the pressure of the increasingly tense land resources. The ocean is about to become an important base for the sustainable development of mankind and the hope for the future of mankind. Since the birth of underwater robots in t...

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Problems solved by technology

[0003] In the process of realizing the present invention, the inventor found that the prior art has the following shortcomings: the Chinese patent application number 200920266709.0, through the design of the drive mechanism, the robot can move the body through the drive wheels or propellers in different environments; its shortcomings Yes, the robot has poor ability to overcome obstacles during crawling, and the rigid collision between the wheels or blades and the ground is prone to plastic deformation, and the robot itself does not have the ability to float up and down in the water, so it needs to carry three pontoons to adjust its depth in the water , the robot system is relatively complex and the robot is heavy; on the other hand, in areas with lush aquatic organisms, the high-speed rotation of the propeller is prone to entanglement, making it difficult for the robot to get stuck in this area.

The Chinese patent application number 201710155344.3 realizes the floating and diving of the robot in the water through the design of the wheel and paddle steering mechanism, but its mechanism is too complicated, and it has not yet solved the problem of weak ability to overcome obstacles on land, unstable movement, and in areas with lush aquatic organisms. The problem that the paddle drive system is easily entangled with aquatic organisms

The Chinese patent with application number 201720946173.1 proposes a drive form that works in an environment with luxuriant aquatic organisms. Its disadvantage is that two tail fins are driven by one motor, and the movement flexibility is poor. Although it can move in a straight line in the water, it can be realized by the spring restoring force. The reciprocating motion of the paddles has a small output torque, which can only push a small robot to move in the water, and the purpose of this patent is to realize the flapping of two paddles driven by a motor through a new type of mechanism, the actual movement mode Extremely single, with extremely limited underwater operation capabilities

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