CN104097472A - Wheel-paddle-integrated amphibious robot - Google Patents
Wheel-paddle-integrated amphibious robot Download PDFInfo
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- CN104097472A CN104097472A CN201410329865.2A CN201410329865A CN104097472A CN 104097472 A CN104097472 A CN 104097472A CN 201410329865 A CN201410329865 A CN 201410329865A CN 104097472 A CN104097472 A CN 104097472A
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- wheel
- amphibious robot
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- motor fixing
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Abstract
The invention discloses a wheel-paddle-integrated amphibious robot. The amphibious robot which only needs one traveling mechanism to achieve a land moving mode and a water surface moving mode mainly comprises the traveling mechanism, a connecting constraint, a front shell, a rear shell, a GPS positioning module, a DSP control module, a wireless receiver, a first bearing, a second bearing, a first high-energy storage battery, two first motors, two first motor fixing seats, two radial retaining plates, three pinions, three bull gears, two radial retaining blocks, a first transmission shaft, a key, a bearing, a second high-energy storage battery, a control module, a second motor, a second motor fixing seat, radiating fins, a second transmission shaft, a bearing and the like. The amphibious robot can move on the land and in water without changing the travelling mechanism, design basis is provided for researches of amphibious robots in ocean engineering equipment, and carrier equipment is provided for ocean resource exploitation.
Description
Technical field
The present invention relates to a kind of can be in the environment of two kinds, land and water the one wheel oar one amphibious robot of working motion.
Background technology
It is exactly energy shortage that the whole world, the world today faces the most serious problem, and developing new forms of energy has become the urgent target of pursuing both at home and abroad.But for a kind of amphibious robots that can realize motion in the environment such as shoal, beach, lake of needs such as the exploitation of river sea resource, utilization, detections, this robot need to possess simple in structure, compact, the feature that volume is little, but traveling gear occupies important position in amphibious robot design, be an indispensable part during whole robot forms, have the relation of countless ties with the various key elements that form robot.According to the difference of amphibious robot driver train and mode of motion, existing amphibious robot roughly can be divided into the single driving and large class of combination flooding ejector half two, but the amphibious robot of single drive mode, no matter polypody, fluctuation-type, wheeled, crawler type etc., all be difficult to meet completely robot a lot of requirements in water or on land, composite driving mechanism becomes an emphasis of amphibious robot research in recent years.In order to realize the amphibious robot motion of the High Performance in water and under the various modes of land respectively, the present invention designs a kind of wheel oar integral type amphibious robot, it not only can be in water flexible motion also can land very in motion, thereby realize the motion under the situation of two kinds, land and water.
Summary of the invention
For implementation structure is simple, compactness, the feature that volume is little, the one of designing in the present invention wheel oar one amphibious robot can meet many-sided demand, can provide good basis for the research and design of amphibious robot in marine engineering equipment system.The present invention adopts following technical scheme.
A kind of wheel oar integral type amphibious robot, comprise traveling gear, connection constraints, front case, rear housing, GPS locating module, DSP control module, wireless receiver, No. 1 bearing, No. 2 bearings, high-energy battery one, two No. 1 motors, two No. 1 motor fixing seat, two baffle plates radially, three miniature gearss, three big gear wheels, two radial stops, No. 1 transmission shaft, key, high-energy battery two, control module, No. 2 motors, No. 2 motor fixing seat, radiating gill, No. 2 transmission shafts, described traveling gear comprises six paddle wheels and six blades, described connection constraints comprises front swivel mount, rear swivel mount, pin, external gyrorotor and interior gyro-rotor, described front case comprises upper cover one and lower casing one, described rear housing comprises upper cover two and lower casing two.
Described blade is welded on paddle wheel outside, and described connection constraints two ends connect respectively front case and rear housing, and described two No. 1 motor fixing seat are fixed on lower casing one, and two No. 1 motors embed and are arranged in No. 1 motor fixing seat.
Described motor one end connects miniature gears through radial stop, and described transmission shaft one end is fixed on radially on baffle plate by No. 2 bearings, and the other end is fixed on lower house one edge by a bearing, and described big gear wheel is connected to transmission shaft middle part by key.
Described No. 2 motor fixing seat are fixed on lower casing two, No. 2 motors embed and are arranged in No. 2 motor fixing seat, described No. 2 outside motors are provided with radiating gill, described No. 2 motor one end are connected with miniature gears, described miniature gears and big gear wheel engagement, described big gear wheel is connected with control conv by No. 2 transmission shafts.
Described interior gyro-rotor is connected with external gyrorotor, and described front turnplate is connected with external gyrorotor by pin, and described rear swivel mount is connected with interior gyro-rotor by pin.
There are sealed groove in described upper cover one and upper cover two edges, and there are seal convexity in described lower casing one and lower casing two edges, and described upper cover one, lower casing one and upper cover two, lower casing two-way are crossed sealed groove, seal convexity and bolt installation and be connected.
Advantage of the present invention is, only need to rely on two drivings just can realize flexibly two kinds of mode of motion of land and the water surface, and motion that can be stable in beach or shoal, can depression not go down.This traveling gear simple and flexible, apply to two groups of level sensing control units and detected residing surrounding environment, after corresponding signal, signal is passed to three control boxs when detecting, thereby synchro control switching mechanism, realize the switching of state of kinematic motion in two kinds of environment of land and the water surface, there is simple and compact for structure and volume little, be convenient to the feature controlled, determined basis for designing novel amphibious robot pad.
Brief description of the drawings
Fig. 1 is a kind of wheel of the present invention oar one amphibious robot structural plan.
Fig. 2 is a kind of wheel of the present invention oar one amphibious robot lateral plan.
Fig. 3 is a kind of connection constraints of taking turns in oar one amphibious robot of the present invention.
Fig. 4 is a kind of wheel of the present invention oar one amphibious robot front case inner structure schematic diagram.
Fig. 5 is a kind of wheel of the present invention oar one amphibious robot upper shell 1 schematic diagram.
Fig. 6 is a kind of wheel of the present invention oar one amphibious robot rear housing inner structure schematic diagram.
Fig. 7 is a kind of wheel of the present invention oar one amphibious robot upper shell 2 schematic diagrams.
Detailed description of the invention
The present invention will be further described by reference to the accompanying drawings.
As shown in the figure: a kind of wheel oar one amphibious robot comprises traveling gear---four paddle wheels 2 and four blades 3, connection constraints 4---front swivel mount 43, rear swivel mount 40, pin 44, external gyrorotor 42 and interior gyro-rotor 41, front case 1---upper cover 1 and lower casing 1, rear housing 5---upper cover 2 502 and lower casing 2 501, GPS locating module 12, DSP control module 11, wireless receiver 13, No. 1 bearing 15, No. 2 bearings 16, high-energy battery 1, two No. 1 motors 7, two No. 1 motor fixing seat 6, two baffle plates 18 radially, three miniature gearss 17, three big gear wheels 14, two radial stops 9, No. 1 transmission shaft 10, key 8, high-energy battery 2 21, control module 23, No. 2 motors 24, No. 2 motor fixing seat 26, radiating gill 25, No. 2 transmission shafts 27, sealed groove 31, seal convexity 30 and bolt 44.
Operating process for the traveling gear of independently advancing at land and two kinds of environment of the water surface in the present invention is as follows: be that four paddle wheels 2 are as land walking mechanism when the amphibious machine of epicycle oar integral type moves on land, thereby issue an order and control to wireless receiver 13 by remote heating control center device, wherein GPS locating module 12 can pass to effector by the location information of robot, thereby further realizes half autonomous motion.After this robot enters in water, be mainly by paddle wheel 2 and blade 3 as propulsive mechanism motion in water, owing to there being the existence of front case 1 and rear housing 2, can ensure that this amphibious robot floats on the water surface to move.In front case 1, upper cover 1 and lower casing 1 link closely by sealed groove 31 and seal convexity 30, have ensured leak tightness.In rear housing 5, upper cover 2 502 and lower casing 2 501 are also to link closely by sealed groove 31 and seal convexity 30.
Claims (6)
1. a wheel oar one amphibious robot, comprise traveling gear, connection constraints, front case, rear housing, GPS locating module, DSP control module, wireless receiver, No. 1 bearing, No. 2 bearings, high-energy battery one, two No. 1 motors, two No. 1 motor fixing seat, two baffle plates radially, three miniature gearss, three big gear wheels, two radial stops, No. 1 transmission shaft, key, high-energy battery two, control module, No. 2 motors, No. 2 motor fixing seat, radiating gill, No. 2 transmission shafts, it is characterized in that described traveling gear comprises six paddle wheels and six blades, described connection constraints comprises front swivel mount, rear swivel mount, pin, external gyrorotor and interior gyro-rotor, described front case comprises upper cover one and lower casing one, described rear housing comprises upper cover two and lower casing two.
2. according to the one wheel oar one amphibious robot described in claim 1, it is characterized in that: described blade is welded on paddle wheel outside, described connection constraints two ends connect respectively front case and rear housing, described two No. 1 motor fixing seat are fixed on lower casing one, and two No. 1 motors embed and are arranged in No. 1 motor fixing seat.
3. according to the one wheel oar one amphibious robot described in claim 1, it is characterized in that: described motor one end connects miniature gears through radial stop, described transmission shaft one end is fixed on radially on baffle plate by No. 2 bearings, the other end is fixed on lower house one edge by a bearing, and described big gear wheel is connected to transmission shaft middle part by key.
4. according to the one wheel oar one amphibious robot described in claim 1, it is characterized in that: described No. 2 motor fixing seat are fixed on lower casing two, No. 2 motors embed and are arranged in No. 2 motor fixing seat, described No. 2 outside motors are provided with radiating gill, described No. 2 motor one end are connected with miniature gears, described miniature gears and big gear wheel engagement, described big gear wheel is connected with control conv by No. 2 transmission shafts.
5. according to the one wheel oar one amphibious robot described in claim 1, it is characterized in that: described interior gyro-rotor is connected with external gyrorotor, described front turnplate is connected with external gyrorotor by pin, and described rear swivel mount is connected with interior gyro-rotor by pin.
6. according to the one wheel oar one amphibious robot described in claim 1, it is characterized in that: there are sealed groove in described upper cover one and upper cover two edges, there are seal convexity in described lower casing one and lower casing two edges, and described upper cover one, lower casing one and upper cover two, lower casing two-way are crossed sealed groove, seal convexity and bolt installation and be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410329865.2A CN104097472A (en) | 2014-07-11 | 2014-07-11 | Wheel-paddle-integrated amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410329865.2A CN104097472A (en) | 2014-07-11 | 2014-07-11 | Wheel-paddle-integrated amphibious robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104097472A true CN104097472A (en) | 2014-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410329865.2A Pending CN104097472A (en) | 2014-07-11 | 2014-07-11 | Wheel-paddle-integrated amphibious robot |
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| CN (1) | CN104097472A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842726A (en) * | 2015-05-12 | 2015-08-19 | 西北工业大学 | Water-land amphibious barrel-shaped robot |
| CN105666462A (en) * | 2016-04-14 | 2016-06-15 | 小煷伴（深圳）智能科技有限公司 | Multifunctional robot |
| CN105666460A (en) * | 2016-04-14 | 2016-06-15 | 小煷伴（深圳）智能科技有限公司 | Robot with indoor positioning and recognition functions |
| CN105666461A (en) * | 2016-04-14 | 2016-06-15 | 小煷伴（深圳）智能科技有限公司 | Robot with satellite positioning function |
| CN106827988A (en) * | 2017-02-08 | 2017-06-13 | 哈尔滨工程大学 | A kind of new and effective amphibious ROV |
| CN107147410A (en) * | 2017-04-06 | 2017-09-08 | 无锡职业技术学院 | A kind of underwater robot communication means |
| CN110341919A (en) * | 2019-07-29 | 2019-10-18 | 谌薏冰 | A kind of amphibious intelligent traveler |
| CN115871384A (en) * | 2023-02-21 | 2023-03-31 | 天津大学 | Multi-mode cross-amphibious motion bionic amphibious robot |
| CN115871384B (en) * | 2023-02-21 | 2024-07-30 | 天津大学 | Multimode amphibious robot capable of performing amphibious motion |
-
2014
- 2014-07-11 CN CN201410329865.2A patent/CN104097472A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842726A (en) * | 2015-05-12 | 2015-08-19 | 西北工业大学 | Water-land amphibious barrel-shaped robot |
| CN105666462A (en) * | 2016-04-14 | 2016-06-15 | 小煷伴（深圳）智能科技有限公司 | Multifunctional robot |
| CN105666460A (en) * | 2016-04-14 | 2016-06-15 | 小煷伴（深圳）智能科技有限公司 | Robot with indoor positioning and recognition functions |
| CN105666461A (en) * | 2016-04-14 | 2016-06-15 | 小煷伴（深圳）智能科技有限公司 | Robot with satellite positioning function |
| CN105666461B (en) * | 2016-04-14 | 2017-11-21 | 小煷伴（深圳）智能科技有限公司 | Robot with satellite positioning functions |
| CN106827988A (en) * | 2017-02-08 | 2017-06-13 | 哈尔滨工程大学 | A kind of new and effective amphibious ROV |
| CN107147410A (en) * | 2017-04-06 | 2017-09-08 | 无锡职业技术学院 | A kind of underwater robot communication means |
| CN110341919A (en) * | 2019-07-29 | 2019-10-18 | 谌薏冰 | A kind of amphibious intelligent traveler |
| CN115871384A (en) * | 2023-02-21 | 2023-03-31 | 天津大学 | Multi-mode cross-amphibious motion bionic amphibious robot |
| CN115871384B (en) * | 2023-02-21 | 2024-07-30 | 天津大学 | Multimode amphibious robot capable of performing amphibious motion |
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Application publication date: 20141015 |