CN105150787B - Amphibious multi-environment Work robot - Google Patents
Amphibious multi-environment Work robot Download PDFInfo
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- CN105150787B CN105150787B CN201510693793.4A CN201510693793A CN105150787B CN 105150787 B CN105150787 B CN 105150787B CN 201510693793 A CN201510693793 A CN 201510693793A CN 105150787 B CN105150787 B CN 105150787B
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- robot
- amphibious
- belt
- power set
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Abstract
The present invention relates to the amphibious a variety of environment work robots of one kind, the robot it is main by robot body, propeller, amphibious power set, mechanical arm, image first-class constitute.Robot body is provided with two propellers, when robot works in open waters, and amphibious power set lift away from the water surface, and two propellers provide power, and robot has the higher speed of a ship or plane, mobility and maneuverability.When debris is more in waters, amphibious kinetic energy apparatus provides power, enables to robot normal work, in addition, by amphibious power set, robot can operate at the complex environments such as marshland, snowfield, sandy beach, rock patch, meadow.
Description
Technical field
The present invention relates to the amphibious a variety of environment work robots of one kind, more particularly to one kind is by propeller or amphibious power
Device provides power, can operate at various complicated, the sniffing robot with higher mobility, maneuverability.
Background technology
Application No. CN200920258994.1 entitled " amphibious robot based on wheel oar-pedal plate combination drive "
Utility model patent, the both sides of its framework are arranged with multiple wheel oar drive modules, the adjacent wheel oar drive module in both sides it
Between be provided be arranged on framework on pedal plate drive module, amphibious motion is realized using pedal plate and wheel, obstacle climbing ability is poor, it is impossible to
Worked in complex environment.Application No. CN200610011395.0 entitled " two-purpose robot mechanism with water and land " patent of invention,
The propulsion plant that land is advanced is four wheels, and propulsion plant is the bottom plate of two groups of blades and inside, is fixed on bottom in water
Two anterior wheels of control machine people, complicated, poor reliability, the amphibious poor performance in water route on plate.Application No.
CN201210489959.7 entitled " amphibious procuratorial work robot " patent of invention, poor structural reliability, amphibious poor performance.
The content of the invention
For the deficiency of above technology, the present invention provide a kind of structure it is reliable, with stronger carrying ability, being capable of operation
In the robot of amphibious a variety of environment.
To achieve the above object, the present invention is adopted the following technical scheme that：Robot has two sets of dynamical systems, respectively spiral shell
Oar and amphibious power set are revolved, when robot is worked in open open water, amphibious power set lift away from the water surface, to reduce
Resistance, propeller provides power, and robot possesses the higher speed of a ship or plane, mobility.Robot works in the waters of barrier, natural pond
Moorland, meadow, snowfield, rock patch etc. in complex environment when, amphibious power set provide power, a variety of environment rows of ingehious design
Walking wheel causes robot to keep preferable mobility and obstacle climbing ability.Mechanical arm, camera, energy are installed on robot body
Enough carry out information gathering, environment detection etc..
The main feature of the present invention is as follows.
1. can in water, meadow, snowfield, rock patch etc. smoothly work in a variety of environment.
2. with certain carrying ability.
3. being provided with camera, information gathering and object detection etc. can be carried out.
4. mechanical arm can be captured to object, exclusion of barrier etc..
Brief description of the drawings
Fig. 1 is robot overall structure diagram.
Fig. 2 is schematic diagram when robot works in accessible open waters.
Fig. 3 is amphibious power set schematic diagram.
Fig. 4 is robot body's schematic diagram.
Wherein 1 is upper brace, and 2 be support, and 3 be mechanical arm, and 4 be lower floating body, and 5 be a variety of environment road wheels, and 6 be spiral
Oar, 7 be little gear, and 8 be reducing motor, and 9 be servomotor, and 10 be camera, and 11 be rack, and 12 be belt pulley, and 13 be belt,
14 be belt wheel.
Embodiment
The present invention is described in more detail below in conjunction with the accompanying drawings.
Fig. 1 is overall structure diagram of the invention, and propeller 6 is installed on the lower afterbody of floating body 4, each one of left and right.Top
The scouting for being all around provided with four cameras 10, realizing to robot surrounding of platform 1.Mechanical arm 3 is installed on upper flat
The left and right sides of platform 1, realizes the crawl of object, removal of obstacle.Reducing motor 8 is installed on upper brace 1, passes through little gear 7
Rack 11 is driven, moving up and down for amphibious power set is realized.Fig. 2 is signal when robot works in accessible open waters
Figure, reducing motor 8 drives rack 11 by little gear 7, realizes that amphibious power set lift away from the water surface, propeller 6 provides power, machine
Device people possesses the higher speed of a ship or plane, mobility.Fig. 3 is amphibious power set schematic diagram, and servomotor 9 is installed on support 2, passed through
Belt pulley 12 drives belt 13 to operate, and belt 13 realizes the operating of a variety of environment road wheels 5 by belt wheel 14, and then is robot
Power is provided, realize robot marshland, snowfield, rock patch etc. normally travel in complex environment.
Specific work process of the present invention is as follows：When robot works in open open water, as shown in Fig. 2 the electricity that slows down
Machine 8 drives rack 11 by little gear 7, and amphibious power set lift away from the water surface, to reduce resistance, and propeller 6 works, and robot can
To advance at utmost speed, pivot stud, retreat etc..
Robot work in the waters of obstacle, marsh, snowfield, rock patch etc. in complex environment when, as shown in figure 1, watching
Take motor 9 drives belt 13 to operate by belt pulley 12, and belt 13 realizes the operating of a variety of environment road wheels 5 by belt wheel 14.
Former and later two a variety of environment road wheels 5 on the left of the driving of left side servomotor 9 robot, the driving of right side servomotor 9 robot is right
Former and later two a variety of environment road wheels 5 of side, realize that robot advances, retreats, turned to.
In the robot course of work, upper brace 1 all around to robot detect by four cameras 10
Examine, the mechanical arm 3 of left and right two can carry out the work such as sample collection.
Claims (1)
1. a kind of amphibious a variety of environment work robots, it is characterized in that：Mainly by robot body, amphibious power set, small tooth
Wheel and reducing motor composition；Robot body includes upper brace（1）, mechanical arm（3）, lower floating body（4）, propeller（6）With take the photograph
As head（10）, propeller（6）It is installed on lower floating body（4）Afterbody, each one of left and right, upper brace（1）Be all around provided with
Four cameras（10）, mechanical arm（3）It is installed on upper brace（1）The left and right sides；Amphibious power set include support（2）, it is many
Plant environment road wheel（5）, servomotor（9）, rack（11）, belt pulley（12）, belt（13）And belt wheel（14）, servomotor
（9）It is installed on support（2）On, pass through belt pulley（12）Drive belt（13）Operating, belt（13）Pass through belt wheel（14）Realize many
Plant environment road wheel（5）Operating；Reducing motor（8）It is installed on upper brace（1）, pass through little gear（7）Drive rack
（11）, realize moving up and down for amphibious power set；When robot works in open open water, reducing motor（8）Pass through
Little gear（7）Drive rack（11）, amphibious power set lift away from two propellers on the water surface, robot body（6）Work；Machine
Device people work in the waters of obstacle, marsh, snowfield, rock patch in complex environment when, servomotor（9）Pass through belt pulley（12）
Drive belt（13）Operating, belt（13）Pass through belt wheel（14）Realize a variety of environment road wheels（5）Operating, left side servomotor
（9）Drive former and later two a variety of environment road wheels on the left of robot（5）, right side servomotor（ 9 ）Before driving on the right side of robot
Latter two a variety of environment road wheel（5）, realize that robot advances, retreats, turned to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510693793.4A CN105150787B (en) | 2015-10-24 | 2015-10-24 | Amphibious multi-environment Work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510693793.4A CN105150787B (en) | 2015-10-24 | 2015-10-24 | Amphibious multi-environment Work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105150787A CN105150787A (en) | 2015-12-16 |
| CN105150787B true CN105150787B (en) | 2017-11-07 |
Family
ID=54791961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510693793.4A Expired - Fee Related CN105150787B (en) | 2015-10-24 | 2015-10-24 | Amphibious multi-environment Work robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105150787B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161948B (en) * | 2016-06-23 | 2021-09-21 | 南京紫江电子技术有限公司 | Robot |
| CN108010281A (en) * | 2017-12-13 | 2018-05-08 | 南京晓庄学院 | A kind of smart water quality detection warning device and its method |
| CN108081884A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | The drive mechanism of amphibious machine people |
| CN110682749A (en) * | 2019-09-29 | 2020-01-14 | 哈尔滨工程大学 | Wheel integrated with wheel and paddle and amphibious carrier |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2723243Y (en) * | 2004-07-02 | 2005-09-07 | 徐长胜 | Electric amphibious vehicle-boat |
| CN201235912Y (en) * | 2007-11-02 | 2009-05-13 | 山东理工大学 | Amphibian garbage cleaning robot |
| CN103009947A (en) * | 2013-01-07 | 2013-04-03 | 重庆理工大学 | Amphibious vehicle vessel |
| CN104527352A (en) * | 2014-12-24 | 2015-04-22 | 天津理工大学 | Novel spherical amphibious robot and working method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090083317A (en) * | 2009-07-13 | 2009-08-03 | 장홍기 | The pedal type amphibious boat |
-
2015
- 2015-10-24 CN CN201510693793.4A patent/CN105150787B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2723243Y (en) * | 2004-07-02 | 2005-09-07 | 徐长胜 | Electric amphibious vehicle-boat |
| CN201235912Y (en) * | 2007-11-02 | 2009-05-13 | 山东理工大学 | Amphibian garbage cleaning robot |
| CN103009947A (en) * | 2013-01-07 | 2013-04-03 | 重庆理工大学 | Amphibious vehicle vessel |
| CN104527352A (en) * | 2014-12-24 | 2015-04-22 | 天津理工大学 | Novel spherical amphibious robot and working method thereof |
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| Publication number | Publication date |
|---|---|
| CN105150787A (en) | 2015-12-16 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171107 Termination date: 20181024 |
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| CF01 | Termination of patent right due to non-payment of annual fee |