阅读说明：本技术 一种水陆两栖清洁机器人的驱动推进器 (Driving propeller of amphibious cleaning robot ) 是由 窦培林 赵世发 施琦 李秀 容学苹 任陈鸿 张晓柳 徐瑞 杨豪杰 于 2021-09-06 设计创作，主要内容包括：本发明公开了一种水陆两栖清洁机器人的驱动推进器,它涉及水陆两栖机器人技术领域,包括旋转机构、蠕动机构、安装外壳,旋转机构通过第一马达驱动,蠕动机构通过第二马达驱动,蠕动机构具有与第二马达输出轴固定的驱动凸轮、与驱动凸轮连动的曲轴以及穿过曲轴的蠕动脊柱、蠕动起始连接件、尾鳍,通过第二马达驱动曲轴转动,从而带动蠕动脊柱相对于曲轴产生径向蠕动,从而由转动运动转化成蠕动运动,可通过控制旋转机构、蠕动机构中的第一马达、第二马达实现驱动推进器的转向与移动。本发明的优点在于：蠕动机构在陆地上可以自由行走,尾鳍可摆动,实现水中移动,实现水陆两栖清洁机器人的垃圾清理海岸交互,结构稳定,水中的推进效果好。(The invention discloses a driving propeller of an amphibious cleaning robot, which relates to the technical field of amphibious robots and comprises a rotating mechanism, a peristaltic mechanism and a mounting shell, wherein the rotating mechanism is driven by a first motor, the peristaltic mechanism is driven by a second motor, the peristaltic mechanism is provided with a driving cam fixed with an output shaft of the second motor, a crankshaft linked with the driving cam, a peristaltic spine penetrating through the crankshaft, a peristaltic starting connecting piece and a tail fin, the crankshaft is driven to rotate by the second motor, so that the peristaltic spine is driven to generate radial peristalsis relative to the crankshaft, the rotary motion is converted into the peristaltic motion, and the steering and the movement of the driving propeller can be realized by controlling the first motor and the second motor in the rotating mechanism and the peristaltic mechanism. The invention has the advantages that: the peristaltic mechanism can freely walk on land, the tail fin can swing, the underwater movement is realized, the interaction of garbage cleaning seashore of the amphibious cleaning robot is realized, the structure is stable, and the propelling effect in water is good.)

1. A drive propeller of an amphibious cleaning robot, characterized in that: the device comprises an installation shell, a rotating mechanism and a peristaltic mechanism, wherein the rotating mechanism and the peristaltic mechanism are installed on the installation shell;

the mounting shell is provided with two shell plates which are arranged in parallel, the shell plates are fixedly connected through a connecting plate, and the connecting plate is perpendicular to the shell plates;

the rotating mechanism is provided with a first motor and a rotating roller, the first motor is arranged on one side of the shell plate, and the rotating roller is driven by the first motor to rotate by a corresponding angle so as to change the advancing direction of the rotating roller;

the peristaltic mechanism is arranged between the two shell plates of the mounting shell and comprises a second motor, a driving cam, a crankshaft, a peristaltic array and tail fins, the second motor provides advancing power for the peristaltic mechanism, the output shaft of the second motor is fixedly connected with the driving cam and drives the crankshaft to rotate through the second motor, a fixing plate perpendicular to the shell plates is arranged between the two shell plates of the mounting shell, and the output shaft of the second motor penetrates through the fixing plate;

the outer edge of the driving cam is connected with a crankshaft which is linked with the driving cam, and the crankshaft is formed by connecting bent shafts in the same bending direction;

the peristaltic array comprises two groups of peristaltic spines, each group of peristaltic spines is provided with a plurality of peristaltic spines, adjacent peristaltic spines of each group are sequentially connected in a rotating mode, the two groups of peristaltic spines are connected through spine rods to form the peristaltic array, the two groups of peristaltic spines are symmetrically arranged on two sides of the fixing plate, and in the two groups of peristaltic spines, the upper portions and the lower portions of the two corresponding peristaltic spines are connected through the spine rods;

the peristaltic arrays are arranged outside the crankshaft in a penetrating mode, the peristaltic spines are uniformly distributed on the crankshaft, the crankshaft is located between spinal rods above and below the crankshaft, the crankshaft rotates to drive the peristaltic spines to generate radial peristalsis relative to the crankshaft, and the peristaltic spines swing up and down along with the spiral motion of the crankshaft to achieve peristaltic mechanical motion;

peristaltic starting connecting pieces are respectively connected to two sides of the fixed plate and are rotationally connected with the fixed plate, one end, far away from the fixed plate, of each peristaltic starting connecting piece is rotationally connected with a peristaltic spine at the head end of the peristaltic array, a peristaltic spine at the tail end of the peristaltic array is connected with a tail fin, one side of the tail fin is fixedly connected with the peristaltic spine at the tail end of the peristaltic array, and the tail fin is driven to swing through radial peristalsis of the peristaltic spine relative to a crankshaft;

the rubber sleeve is fixedly sleeved on the spinal rod connected between the bottom of the peristaltic spine of the peristaltic mechanism and the lower part of the peristaltic spine;

the inner sides of the two shell plates of the mounting shell are uniformly distributed with a plurality of groove-shaped projections, the inner sides of the shell plates are fixedly connected with a plurality of groove-containing supporting rods which are respectively arranged corresponding to the groove-shaped projections, the groove-containing supporting rods are arranged in empty grooves of the groove-shaped projections, the inner wall surfaces of the groove-shaped projections are tangent to the groove-containing supporting rods, the groove-shaped projections are connected with a peristaltic spine through bolts, and the peristaltic spine drives the groove-shaped projections to slide relative to the groove-containing supporting rods.

2. A drive propeller of an amphibious cleaning robot according to claim 1, characterised in that: the first motor is arranged in the first motor placing box, the first motor placing box is supported by a supporting plate, the supporting plate is horizontally arranged below the connecting plate, and an output shaft of the first motor is sleeved with a driving gear;

backup pad one side is connected with runing rest, rotatory gyro wheel passes through gyro wheel support mounting, gyro wheel support mounting is in the below of connecting axle, the connecting axle vertically installs on runing rest through connecting bearing, the cover is equipped with driven gear on the connecting axle, driven gear and driving gear meshing set up, pass power to rotatory gyro wheel through first motor drive, drive rotatory gyro wheel and rotate.

3. A drive propeller of an amphibious cleaning robot according to claim 1, characterised in that: the second motor is fixedly arranged in the second motor placing box, the second motor placing box is arranged at the bottom of the connecting plate of the mounting shell, the second motor placing box is arranged on the side face of the rotating roller, and the second motor placing box and the driving cam are respectively arranged on two sides of the fixing plate.

4. A drive propeller of an amphibious cleaning robot according to claim 1, characterised in that: the bottom of the two sides of the fixed plate is respectively provided with a groove, the end parts of the peristalsis starting connecting pieces connected with the two sides of the fixed plate are respectively arranged in the grooves, and the peristalsis starting connecting pieces are hinged with the fixed plate.

5. A drive propeller of an amphibious cleaning robot according to claim 1, characterised in that: the creeping spine is provided with a creeping spine main body and a double-lug structure, the double-lug structure comprises an upper spine arc and a lower spine arc, the double-lug structure and the creeping spine main body form a triangular structure, and the upper spine arc and the lower spine arc are respectively arranged above and below the creeping spine main body;

two adjacent peristaltic spines of each group of peristaltic spines are connected through a connecting block, the middle of the connecting block is of an arc structure, connecting lugs are arranged above and below one side of the arc structure respectively, the connecting block is hinged with one peristaltic spine through the arc structure, and the two connecting lugs of the connecting block are fixedly connected with an upper spine arc and a lower spine arc of the other peristaltic spine respectively, so that the two adjacent peristaltic spines are rotatably connected;

the peristalsis starting connecting piece is connected with a peristalsis spine at the head end of the peristalsis array through a connecting block, the connecting block is fixedly connected with the peristalsis spine at the head end of the peristalsis array, and an arc structure in the middle of the connecting block is hinged to one end, far away from the fixed plate, of the peristalsis starting connecting piece.

6. A drive propeller of an amphibious cleaning robot according to claim 1, characterised in that: the tail fin is a fan-shaped flexible body; the driving cam is eccentric.

7. A drive propeller of an amphibious cleaning robot according to claim 1, characterised in that: the radial creep displacement value realized by the crankshaft driving the creep spine does not exceed the sine-like function interval value of the crankshaft projection.

8. A drive propeller of an amphibious cleaning robot according to claim 5, characterised in that: the included angle between the upper spine circular arc and the lower spine circular arc of the peristaltic spine is 101 degrees, and the upper spine circular arc and the lower spine circular arc are vertically symmetrical according to the axial symmetry line of the peristaltic spine; the included angle between the axial symmetry line between the connecting block and the peristaltic spine and the horizontal line is 10 degrees.

9. A drive propeller of an amphibious cleaning robot according to claim 1, characterised in that: the connecting angle between the crankshaft and the driving cam is 60 degrees; the driving cam is in a small fan shape, the angle between the largest unfolded fan shape is 35.75 degrees, and the crankshaft is connected with the bottom of the driving cam in a welding mode.

Technical Field

The invention relates to the technical field of amphibious robots, in particular to a driving propeller of an amphibious cleaning robot.

Background

The existing amphibious cleaning robot is mainly driven in a composite mode, and two sets of systems are adopted to realize propulsion in water and walking on land.

In the existing integrated amphibious propeller, Chinese invention with the patent number of CN201910858720.4 discloses a swing-track integrated bionic amphibious propulsion device, which is simultaneously provided with a swing-type bionic propeller and a walking track, and the two are integrated, so that the swing-type bionic propulsion device suitable for water navigation and the walking track suitable for land traveling can be completed, the complexity of the system can be reduced, the influence of an amphibious propulsion system on the internal space and structure of an amphibious carrier can be avoided, but the swing-type bionic propulsion device has too high requirement on a motor, and the structure is unstable due to too large motion amplitude;

the Chinese invention with the patent number of CN201911003067.X discloses a bionic amphibious propeller, which utilizes the rotation of a motor to be transmitted and output through a rotating shaft of an eccentric wheel to be the rotation of an eccentric wheel in a swinging part, drives the swinging part to swing in a reciprocating way in a plane, each eccentric wheel is arranged according to a certain phase difference, the sine-like fluctuation of a flexible fin is realized, a set of mechanism is utilized to realize amphibious propulsion, the structure is simple and clear, the implementation is easy, but the invention has high requirement on the strength of the flexible fin in a vertical state and is very easy to damage;

chinese patent No. CN201810808836.2 discloses an amphibious unmanned ship for cleaning algae in intertidal zones, in which an amphibious driving propeller is provided to provide driving force for the whole equipment in working environments such as sand and water to realize functions of steering, braking and the like, and the stronger anti-sinking function of a flood dragon spiral roller is utilized, so that the amphibious unmanned ship is particularly suitable for driving in extremely soft zones, the adaptability of the unmanned ship to various environments is improved, but the installation is difficult, and the propulsion effect in water is relatively weak in the same type of products.

The mayflies combine two modes of peristaltic walking and DNA spiral form, and realize the amphibious function of the propeller through structural design so as to solve the defects in the prior art.

Disclosure of Invention

The invention aims to solve the technical problem of providing a driving propeller of an amphibious cleaning robot, which can solve the problems of instability of a structure, high strength requirement, difficult installation and poor propelling effect in water caused by overlarge motion amplitude of the driving propeller of the amphibious robot in the prior art.

In order to solve the technical problems, the technical scheme of the invention is as follows: the device comprises an installation shell, a rotating mechanism and a peristaltic mechanism, wherein the rotating mechanism and the peristaltic mechanism are installed on the installation shell;

the mounting shell is provided with two shell plates which are arranged in parallel, the shell plates are fixedly connected through a connecting plate, and the connecting plate is perpendicular to the shell plates;

the rotating mechanism is provided with a first motor and a rotating roller, the first motor is arranged on one side of the shell plate, and the rotating roller is driven by the first motor to rotate by a corresponding angle so as to change the advancing direction of the rotating roller;

the peristaltic mechanism is arranged between the two shell plates of the mounting shell and comprises a second motor, a driving cam, a crankshaft, a peristaltic array and tail fins, the second motor provides advancing power for the peristaltic mechanism, the output shaft of the second motor is fixedly connected with the driving cam and drives the crankshaft to rotate through the second motor, a fixing plate perpendicular to the shell plates is arranged between the two shell plates of the mounting shell, and the output shaft of the second motor penetrates through the fixing plate;

the outer edge of the driving cam is connected with a crankshaft which is linked with the driving cam, and the crankshaft is formed by connecting bent shafts in the same bending direction;

the peristaltic array comprises two groups of peristaltic spines, each group of peristaltic spines is provided with a plurality of peristaltic spines, adjacent peristaltic spines of each group are sequentially connected in a rotating mode, the two groups of peristaltic spines are connected through spine rods to form the peristaltic array, the two groups of peristaltic spines are symmetrically arranged on two sides of the fixing plate, and in the two groups of peristaltic spines, the upper portions and the lower portions of the two corresponding peristaltic spines are connected through the spine rods;

the peristaltic arrays are arranged outside the crankshaft in a penetrating mode, the peristaltic spines are uniformly distributed on the crankshaft, the crankshaft is located between spinal rods above and below the crankshaft, the crankshaft rotates to drive the peristaltic spines to generate radial peristalsis relative to the crankshaft, and the peristaltic spines swing up and down along with the spiral motion of the crankshaft to achieve peristaltic mechanical motion;

peristaltic starting connecting pieces are respectively connected to two sides of the fixed plate and are rotationally connected with the fixed plate, one end, far away from the fixed plate, of each peristaltic starting connecting piece is rotationally connected with a peristaltic spine at the head end of the peristaltic array, a peristaltic spine at the tail end of the peristaltic array is connected with a tail fin, one side of the tail fin is fixedly connected with the peristaltic spine at the tail end of the peristaltic array, and the tail fin is driven to swing through radial peristalsis of the peristaltic spine relative to a crankshaft;

the rubber sleeve is fixedly sleeved on the spinal rod connected between the bottom of the peristaltic spine of the peristaltic mechanism and the lower part of the peristaltic spine;

the inner sides of the two shell plates of the mounting shell are uniformly distributed with a plurality of groove-shaped projections, the inner sides of the shell plates are fixedly connected with a plurality of groove-containing supporting rods which are respectively arranged corresponding to the groove-shaped projections, the groove-containing supporting rods are arranged in empty grooves of the groove-shaped projections, the inner wall surfaces of the groove-shaped projections are tangent to the groove-containing supporting rods, the groove-shaped projections are connected with a peristaltic spine through bolts, and the peristaltic spine drives the groove-shaped projections to slide relative to the groove-containing supporting rods.

Furthermore, the first motor is arranged in a first motor placing box, the first motor placing box is supported by a supporting plate, the supporting plate is horizontally arranged below the connecting plate, and an output shaft of the first motor is sleeved with a driving gear;

backup pad one side is connected with runing rest, rotatory gyro wheel passes through gyro wheel support mounting, gyro wheel support mounting is in the below of connecting axle, the connecting axle vertically installs on runing rest through connecting bearing, the cover is equipped with driven gear on the connecting axle, driven gear and driving gear meshing set up, pass power to rotatory gyro wheel through first motor drive, drive rotatory gyro wheel and rotate.

Furthermore, the second motor is fixedly installed in the second motor placing box, the second motor placing box is installed at the bottom of the connecting plate of the installation shell, the second motor placing box is arranged on the side face of the rotating roller, and the second motor placing box and the driving cam are respectively arranged on two sides of the fixing plate.

Furthermore, grooves are respectively formed in the bottom of two sides of the fixing plate, the end parts of the peristalsis starting connecting pieces connected to the two sides of the fixing plate are respectively arranged in the grooves, and the peristalsis starting connecting pieces are hinged to the fixing plate.

Furthermore, the creeping spine is provided with a creeping spine main body and a double-lug structure, the double-lug structure comprises an upper spine arc and a lower spine arc, the double-lug structure and the creeping spine main body form a triangular structure, and the upper spine arc and the lower spine arc are respectively arranged above and below the creeping spine main body;

two adjacent peristaltic spines of each group of peristaltic spines are connected through a connecting block, the middle of the connecting block is of an arc structure, connecting lugs are arranged above and below one side of the arc structure respectively, the connecting block is hinged with one peristaltic spine through the arc structure, and the two connecting lugs of the connecting block are fixedly connected with an upper spine arc and a lower spine arc of the other peristaltic spine respectively, so that the two adjacent peristaltic spines are rotatably connected;

the peristalsis starting connecting piece is connected with a peristalsis spine at the head end of the peristalsis array through a connecting block, the connecting block is fixedly connected with the peristalsis spine at the head end of the peristalsis array, and an arc structure in the middle of the connecting block is hinged to one end, far away from the fixed plate, of the peristalsis starting connecting piece.

Further, the tail fin is a fan-shaped flexible body; the driving cam is eccentric.

Furthermore, the radial creep displacement value realized by the crankshaft driving the creep spine does not exceed the sine-like function interval value of the crankshaft projection.

Furthermore, an included angle between the upper arc of the vertebral column and the lower arc of the vertebral column of the peristaltic vertebral column is 101 degrees, and the upper arc of the vertebral column and the lower arc of the vertebral column are vertically symmetrical with each other according to an axial symmetry line of the peristaltic vertebral column; the included angle between the axial symmetry line between the connecting block and the peristaltic spine and the horizontal line is 10 degrees.

Further, the connection angle between the crankshaft and the drive cam is 60 °; the driving cam is in a small fan shape, the angle between the largest unfolded fan shape is 35.75 degrees, and the crankshaft is connected with the bottom of the driving cam in a welding mode.

After adopting the structure, the invention has the advantages that: the driving propeller moves through the wriggling of the wriggling mechanism, the direction is converted through the rotating mechanism, the wriggling mechanism can freely walk on the land, the tail fin of the wriggling mechanism can drive to swing under the radial wriggling of a wriggling spine relative to a crankshaft, the movement in water is realized, the garbage cleaning coast interaction of the amphibious cleaning robot is realized, the trouble of garbage cleaning between the water and the land by manpower is reduced, the requirement on a motor is not high, the structure is stable, the damage is not easy, the propelling effect in water is good, and the driving propeller is practical and economical;

the waves excited by the underwater motion of the peristaltic mechanism are small and are kept stable, so that the garbage can driven by the peristaltic mechanism to move keeps balance, the influence on underwater organisms is reduced, and the ecology is protected;

the driving propeller can adjust the speed and the rotating angle according to the corresponding environment, can walk on a flat road or a stepped road, and has high applicability.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a rotary mechanism of the present invention;

FIG. 3 is a schematic view of the arrangement of the rotating mechanism and the peristaltic mechanism of the present invention;

FIG. 4 is a schematic structural view of the peristaltic mechanism of the present invention;

FIG. 5 is a schematic view of the connection of the peristaltic spine of the present invention to a connector block;

fig. 6 is a schematic view of the connection of the drive cam to the crankshaft of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description. The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the scope of the embodiments described herein.

As shown in fig. 1, the following technical solutions are adopted in the present embodiment: including installation shell 3 and installation rotary mechanism 1 and peristaltic mechanism 2 on installation shell 3, the wriggle through peristaltic mechanism 2 produces the removal, carries out the conversion of direction through rotary mechanism 1, and the front end of installation shell 3 is the cavity bow form and is connected with rotary mechanism 1, and rotary mechanism 1 locates the head end, and rotary mechanism 1's rear is located to peristaltic mechanism 2.

The mounting housing 3 has two parallel shell plates 31, the shell plates 31 are connected and fixed by a connecting plate 32, and the connecting plate 32 is arranged perpendicular to the shell plates 31.

As shown in fig. 2, the rotating mechanism 1 has a first motor 11 and a rotating roller 19, the first motor 11 is installed on one side of a shell plate 31, the rotating roller 19 is driven by the first motor 11 to rotate by a corresponding angle to change the advancing direction of the rotating roller 19, the first motor 11 is installed in a first motor placing box 15, the first motor placing box 15 is supported by a supporting plate, the supporting plate is horizontally installed below a connecting plate 32, a driving gear 17 is sleeved on an output shaft of the first motor 11, a rotating bracket 12 is connected to one side of the supporting plate, the rotating roller 19 is installed by a roller bracket 18, the roller bracket 18 is installed below a connecting shaft 14, the connecting shaft 14 is longitudinally installed on the rotating bracket 12 by a connecting bearing 13, a driven gear 16 is sleeved on the connecting shaft 14, the driven gear 16 is engaged with the driving gear 17, the first motor 11 drives the driving gear 17 to rotate to drive the driven gear 16, thereby driving the connecting shaft 14 to rotate, the rotating bracket 12 is used as a support, the connecting shaft 14 rotates to drive the rotating roller 19 to rotate, and the power is transmitted to the rotating roller 19 through the driving of the first motor 11 to drive the rotating roller 19 to rotate.

As shown in fig. 3 and 4, the peristaltic mechanism 2 is disposed between two shell plates 31 of the mounting housing 3, the peristaltic mechanism 2 includes a second motor 21, a driving cam 23, a crankshaft 24, a peristaltic array 25 and a tail fin 28, the second motor 21 provides forward power for the peristaltic mechanism 2, the second motor 21 is fixedly mounted in a second motor placing box 22, the second motor placing box 22 is mounted at the bottom of a connecting plate 32 of the mounting housing 3, the second motor placing box 22 is disposed at a side of the rotating roller 19, an output shaft of the second motor 21 is fixedly connected with the driving cam 23, a fixing plate 51 perpendicular to the shell plates 31 is disposed between the two shell plates 31 of the mounting housing 3, an output shaft of the second motor 21 passes through the fixing plate 51, the second motor placing box 22 and the driving cam 23 are respectively disposed at two sides of the fixing plate 51, as shown in fig. 6, the crankshaft 24 linking an outer edge of the driving cam 23 is connected to an outer edge of the driving cam 23, the crankshaft 24 is welded to the bottom of the driving cam 23, and the crankshaft 24 is driven to rotate by the second motor 21.

The design principle of the drive cam 23 is as follows: the law of the variation of the deployment radius of the driving cam 23 with the deployment angle, the corresponding radius range between 0 ° and 360 ° is 100mm to 160mm, the angle between the maximum deployment sectors is selected to be 35.75 ° according to the scaling of the peristaltic structure, the main advantages of this angle are as follows: the angle parameter meets the requirement of motion performance, the maximum allowable jump value of the cam profile of the angle is reduced, the minimum spring allowance value is increased to a reasonable range, the flexibility and the reliability of the mechanism are improved, and the angle is suitable for the strength of a medium-high speed power mechanism.

The crankshaft 24 is formed by connecting bent shafts in the same bending direction, the connection angle between the crankshaft 24 and the driving cam 23 is 60 degrees, the crankshaft 24 is smooth in appearance, the output of high-precision and special materials is highlighted, and the practicability of the crankshaft is promoted. 1, has better intensity and rigidity, high hardness of the crankshaft sheet, good wear resistance, poor hardness along the outside, easy abrasion in use and prolonged service life.

The peristaltic arrays 25 comprise two groups of peristaltic spines 26, each group of peristaltic spines 26 is provided with a plurality of peristaltic spines 26, adjacent peristaltic spines 26 in each group are sequentially connected in a rotating mode, the two groups of peristaltic spines 26 are connected through spinal rods 27 to form the peristaltic arrays 25, the two groups of peristaltic spines 26 are symmetrically arranged on two sides of the fixing plate 51, and the upper portions and the lower portions of the two corresponding peristaltic spines 26 are connected through the spinal rods 27 in the two groups of peristaltic spines 26.

As shown in fig. 5, the peristaltic spine 26 is provided with a peristaltic spine main body 263 and a binaural structure, the binaural structure includes an upper spine arc 261 and a lower spine arc 262, the binaural structure and the peristaltic spine main body 263 form a triangular structure, the upper spine arc 261 and the lower spine arc 262 are respectively arranged above and below the peristaltic spine main body 263, an included angle between the upper spine arc 261 and the lower spine arc 262 of the peristaltic spine 26 is 101 °, and the upper spine arc 261 and the lower spine arc 262 are vertically symmetrical with respect to an axial symmetry line of the peristaltic spine 26.

The included angle of circular arc 261 and circular arc 262 under the backbone is 101 on the backbone, use the central line as longitudinal symmetry, the material can obtain abundant utilization, thereby weight reduction, reduce cost, after finite element analysis tests, under the condition that same external force was applyed, the angle changes to 150 within ranges from 50, the deformation of formation increases earlier and reduces again, the whole deformation that receives under the operating mode of 101 only is the minimum, the local stress that receives is the minimum, the main benefit of this angle does, have the best atress performance under the condition of this angle, overall structure is stable under the symmetry condition, in addition still have the characteristics of make full use of space and material.

Connect through connecting block 29 between two adjacent wriggling spines 26 of every group wriggling backbone 26, be the arc structure in the middle of the connecting block 29, the top and the below of one side of arc structure are equipped with the engaging lug respectively, connecting block 29 is articulated with a wriggling backbone 26 through the arc structure, two engaging lugs of connecting block 29 are circular arc 261 and spinal column lower arc 262 fixed connection on respectively with the backbone of another wriggling backbone 26, realize the rotation between two adjacent wriggling spines 26 and connect, the contained angle is 10 between the axial symmetry line between connecting block 29 and the wriggling backbone 26 and the level line.

The peristaltic array 25 is arranged outside the crankshaft 24 in a penetrating mode, the peristaltic spines 26 are evenly distributed on the crankshaft 24, the crankshaft 24 is located between spinal rods 27 above and below, the driving cam 23 is an eccentric wheel, the crankshaft 24 fixedly connected with the driving cam 23 is driven to rotate through rotation of the driving cam 23, friction force is generated between the crankshaft and the spinal rods 27 in the peristaltic array 25, the peristaltic spines 26 are driven to swing up and down along with the spinal rods 27 following the crankshaft 24, the peristaltic spines 26 swing up and down along with spiral motion of the crankshaft 24, peristaltic mechanical motion is achieved, motion power is provided, and radial peristaltic displacement values achieved by the peristaltic spines 26 driven by the crankshaft 24 are not larger than sine-like function interval values projected by the crankshaft 24.

The two sides of the fixed plate 51 are respectively connected with a peristalsis starting connecting piece 52, the peristalsis starting connecting piece 52 is rotatably connected with the fixed plate 51, grooves are respectively arranged at the bottom of the two sides of the fixed plate 51, the end parts of the peristalsis starting connecting pieces 52 connected with the two sides of the fixed plate 51 are respectively arranged in the grooves, and the peristalsis starting connecting pieces 52 are hinged with the fixed plate 51.

The peristalsis starting connecting piece 52 is connected with the peristalsis spine 26 at the head end of the peristalsis array 25 through the connecting block 29, the connecting block 29 is fixedly connected with the peristalsis spine 26 at the head end of the peristalsis array 25, and the arc-shaped structure in the middle of the connecting block 29 is hinged to one end, far away from the fixing plate 51, of the peristalsis starting connecting piece 52.

One end of the peristaltic starting connecting piece 52, which is far away from the fixing plate 51, is rotatably connected with the peristaltic spine 26 at the head end of the peristaltic array 25, the peristaltic spine 26 at the tail end of the peristaltic array 25 is connected with the tail fin 28, one side of the tail fin 28 is fixedly connected with the peristaltic spine 26 at the tail end of the peristaltic array 25, the tail fin 28 is driven to swing through the radial peristalsis of the peristaltic spine 26 relative to the crankshaft 24, the advance in water is realized, and the tail fin 28 is a sector flexible body.

The rubber sleeve 33 is fixedly sleeved on the spinal rod 27 connected between the bottom of the peristaltic spinal column 26 of the peristaltic mechanism 2 and the lower part of the peristaltic spinal column 26, and the rubber sleeve 33 is fixedly sleeved outside the peristaltic mechanism 2 to form a similar sealing body.

A plurality of groove-shaped projections 35 are uniformly distributed on the inner sides of two shell plates 31 for mounting the shell 3, groove-containing supporting rods 34 which are respectively arranged corresponding to the groove-shaped projections 35 are fixedly connected to the inner sides of the shell plates 31, the groove-containing supporting rods 34 are arranged in empty grooves of the groove-shaped projections 35, the inner wall surfaces of the groove-shaped projections 35 are tangent to the groove-containing supporting rods 34, the groove-shaped projections 35 are connected with the peristaltic spine 26 through bolts, the peristaltic spine 26 drives the groove-shaped projections 35 to slide relative to the groove-containing supporting rods 34, and the groove-shaped projections 35 are sleeved with bearings which play a role in reducing friction and supporting when connected with the groove-containing supporting rods 34.

The working principle is as follows: the driving propeller moves by the wriggling of the wriggling mechanism 2, the direction is converted by the rotating mechanism 1, the wriggling mechanism 2 can freely walk on the land, the tail fin 28 of the wriggling mechanism 2 can drive to swing under the radial wriggling of the wriggling spine 26 relative to the crankshaft 24, the movement in water is realized, the garbage cleaning coast interaction of the amphibious cleaning robot is realized, the trouble of garbage cleaning between the water and the land by manpower is reduced, the requirement on a motor is not high, the structure is stable, the damage is not easy, the propelling effect in water is good, and the driving propeller is practical and economical; the peristaltic mechanism 2 is small in wave excited by underwater motion and stable in maintenance, so that the dustbin driven by the peristaltic mechanism to move keeps balance, influence on underwater organisms is reduced, and ecology is protected; the output rotating speeds of the first motor 11 and the second motor 21 are adjustable, the driving propeller can adjust the speed and the rotating angle according to corresponding environments, and therefore the walking vehicle can walk on flat roads and step roads and is high in applicability.

The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.