CN109050841A - A kind of Wheel leg type walking device based on AUV - Google Patents
A kind of Wheel leg type walking device based on AUV Download PDFInfo
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- CN109050841A CN109050841A CN201811043031.XA CN201811043031A CN109050841A CN 109050841 A CN109050841 A CN 109050841A CN 201811043031 A CN201811043031 A CN 201811043031A CN 109050841 A CN109050841 A CN 109050841A
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- hatch door
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- 230000007246 mechanism Effects 0.000 claims abstract description 40
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 16
- 230000009467 reduction Effects 0.000 claims abstract description 16
- 239000000203 mixture Substances 0.000 claims abstract description 7
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 238000004064 recycling Methods 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 5
- 208000032364 Undersensing Diseases 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to running gear research fields, and in particular to a kind of Wheel leg type walking device based on AUV.By outer cover, motor, motor seal mechanism, take turns leg mechanism, switch, worm type of reduction gearing, hatch door rotary shaft, first key, sleeve, chain, first circlip, first shaft end ring, bearing, sprocket wheel, second screw, pedestal, first bolt, nut composition, main connection frame is mounted on the base by the first bolt, pedestal is fixed on the base by the second screw, hatch door rotary shaft is installed in the housing, sprocket wheel is positioned by sleeve and the shaft shoulder, sprocket wheel is mounted in hatch door rotary shaft by the first key, sleeve is mounted in hatch door rotary shaft, outer cover is mounted on shell, first shaft end ring is fixed in hatch door rotary shaft by the second screw, motor is fixed on the base, bearing and sleeve are mounted in hatch door rotary shaft.The recycling of travelling hour wheel leg mechanism can be achieved in the present invention, effectively reduces resistance when ocean navigation, effectively ensures stability when obstacle detouring.
Description
Technical field
The invention belongs to running gear research fields, and in particular to a kind of Wheel leg type walking device based on AUV.
Background technique
AUV type underwater robot is also referred to as unmanned submersible, it is military, seabed search, search and rescue, in terms of have emphatically
The effect wanted, it, which collects economy and safety and deposits, is bordering on all over the body.The operating condition of AUV operation has plenty of rugged bumps, has
Be then flat-satin plane, not only needed the leaping over obstacles when encountering obstacle when walking for unmanned submersible, but also need to exist
High speed, high efficiency when passing through flat surface, this just proposes demand to the deficiency of existing latent device.
The utility model patent of Publication No. CN204322084U disclose it is a kind of by shell and crawler belt form with swim,
The underwater robot for function of creeping, the crawler belt are mounted on the rotation of outer casing bottom and crawler belt by drive shaft on the shell is arranged
Driving, this state limit posture changing of crawler belt, makes the underwater robot can only adapt to single work surface.
The utility model patent of Publication No. CN202379073U discloses a kind of crawler belt and is mounted on underwater operation robot
Rise and fall the underwater operation robots of device two sides, and this structure causes lateral rotation of the robot in water under floating state ineffective
Living, robot manipulating task radius is big, and mobility is restricted.
The application for a patent for invention of Publication No. CN103303449A discloses a kind of wheeled underwater operation robot, operation work
Tool be mounted on the manipulator for the hollow structure being made of motor and gear, this wheeled construction to pressure-bearing not than low work surface
It adapts to very much.
The application for a patent for invention of Publication No. CN103818533A discloses a kind of is adopted under water by crawler type and body frame are fixed
Collect equipment, this structuring limits the posture changings of crawler belt.
In conclusion the problems such as narrow application range, device are not flexible, and mobility is bad exists in the prior art.
Summary of the invention
The purpose of the present invention is to provide a kind of Wheel leg type walking devices based on AUV.The running gear both may be implemented
Obstacle crossing function meets the needs of high-speed and high-efficiency again.To guarantee that fairing reduces resistance, this walking mechanism can also be realized
In submersible navigation, wheel leg can be recycled to inside submersible, can be stretched out from submersible in nearly bottom row time wheel leg, real
Existing obstacle detouring and the purpose efficiently walked.
A kind of Wheel leg type walking device based on AUV, by outer cover 1, motor 2, motor seal mechanism, wheel leg mechanism 3, switch
4, worm type of reduction gearing 5, hatch door rotary shaft 6, the first key 7, sleeve 8, chain 9, the first circlip 10, the first shaft end ring
11, bearing 12, sprocket wheel 13, the second screw 14, pedestal 15, the first bolt 16, nut 17 form, and main connection frame passes through the first bolt
16 are mounted on pedestal 15, and pedestal 15 is fixed on the base by the second screw 14, and hatch door rotary shaft 6 is installed in the housing, chain
Wheel 13 is positioned by sleeve 8 and the shaft shoulder, and sprocket wheel 13 is mounted in hatch door rotary shaft 6 by the first key 7, and sleeve 8 is mounted on hatch door
In rotary shaft 6, outer cover 1 is mounted on shell, and the first shaft end ring 11 is fixed in hatch door rotary shaft 6 by the second screw 14,
Motor 2 is fixed on the base, and bearing 12 and sleeve 8 are mounted in hatch door rotary shaft 6.
The motor seal mechanism by electric machine rotational axis 200, third screw 201, electric motor end cap 202, the first O-ring 203,
Stator cage 204, clamping cap 205, the first lattice enclose 206, first bearing 207, the 4th screw 208 composition, and electric motor end cap 202 is logical
It crosses third screw 201 to be fixed on stator cage 204, the first lattice are mounted on electric machine rotational axis 200 to enclose 206, the first O-ring
203 are fixed with electric motor end cap 202, and first bearing 207 is mounted on electric machine rotational axis 200, and clamping cap 205 is fixed on motor
On end cap 202.
The wheel leg mechanism 3 is by the second key 300, wheel 301, shaft coupling 302, wheel shaft 303, the 5th screw 304, first axle
Socket end lid 305, the second lattice enclose 306, second bearing 307, wheel seat 308, the second circlip 309, the 6th screw 310, the 2nd O
Type circle 311, third circlip 312,3rd bearing 313, second bearing end cap 314, bevel gear wheel 315, the second shaft end ring
316, the 7th screw 317, bevel pinion 318, transition piece 319, the second bolt 320, nut 321, dome 322, shank skeleton
323, wheel electrical machine 324, motor shaft 325, third key 326, third O-ring composition, 327 compositions, transition piece 319 are solid by screw
It is scheduled on motor housing, shank skeleton 323 is fixed together by the second bolt 320 with wheel seat 308, and wheel electrical machine 324 is installed
On wheel seat 308, dome 322 is mounted on wheel seat 308, and bevel pinion 318 is mounted on motor shaft 325 by third key 326,
On wheel shaft 303, first bearing end cap 305 is mounted on wheel seat 308 for second bearing 307 and 313 distributing installation of 3rd bearing, the
Two lattice are mounted on wheel seat 308 to enclose 306, and shaft coupling 302 is mounted on wheel shaft 303 by the second key 300.
The wheel leg mechanism 3 has four groups, is symmetrically installed on shell.
The beneficial effects of the present invention are:
The present invention realizes the compound motion that AUV underwater propeller promotes and underwater wheel leg type promotes, and wheel leg can stretch freely
Out with recycling, underwater robot had not only been improved to the adaptability of complicated landform, but also had ensured recycling when wheel leg mechanism is non-used,
Realize efficient streamlined travelling.Using static seal plus movable sealing structure, effective operation of motor can be effectively ensured；It realizes
Wheel leg is converted according to work condition environment, and structure is simple, conveniently；Using multi-joint multifreedom motion form, it can be achieved that travelling
The recycling of hour wheel leg mechanism effectively reduces resistance when ocean navigation.Using 4 wheel leg symmetrical mechanisms, can effectively ensure more
Stability when barrier.
Detailed description of the invention
Fig. 1 is wheel leg organization distribution structural schematic diagram of the invention；
Fig. 2 is wheel leg mechanism attachment structure schematic diagram of the invention；
Fig. 3 is wheel leg mechanism principle schematic diagram of the invention；
Fig. 4 is motor seal schematic illustration of the invention；
Fig. 5 is hatch door mechanism for opening/closing partial enlargement structural representation of the invention；
Fig. 6 is wheel power transmission partial enlargement structural representation of the invention.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
In Fig. 1: 1- outer cover, 2- motor, 3- take turns leg mechanism, and 4- is switched, 5- worm type of reduction gearing, 6- hatch door rotary shaft,
The first key of 7-, 8- sleeve, 9- chain, the first circlip of 10-, the first shaft end ring of 11-, 12- bearing, 13- sprocket wheel；
In Fig. 2: the second screw of 14-, 15- pedestal, the first bolt of 16-, 17- nut；
In Fig. 3: the second key of 300-, 301- wheel, 302- shaft coupling, 303- wheel shaft, the 5th screw of 304-, 305- first axle
Socket end lid, the second lattice of 306- enclose, 307- second bearing, 308- wheel seat, the second circlip of 309-, 310- the 6th screw,
311- third O-ring, 312- third circlip, 313- 3rd bearing, 314- second bearing end cap, 315- bevel gear wheel,
The second shaft end ring of 316-, the 7th screw of 317-, 318- bevel pinion, 319- transition piece, the second bolt of 320-, 321- nut,
322- dome, 323- shank skeleton, 324- wheel electrical machine, 325- motor shaft, 326- third key, 327- third O-ring；.
In Fig. 4: 200- electric machine rotational axis, 201- third screw, 202- electric motor end cap, the first O-ring of 203-, 204- stator
Casing, 205- clamping cap, the first lattice of 206- enclose, 207- first bearing, 208- the 4th screw；
In Fig. 5: 6- hatch door rotary shaft, the first key of 7-, 8- sleeve, the first circlip of 10-, the first shaft end ring of 11-,
12- bearing, 13- sprocket wheel；
In Fig. 6: 302- shaft coupling, 303- wheel shaft, the 5th screw of 304-, 305- first bearing end cap, the second lattice of 306- come
Circle, 307- second bearing, the second circlip of 309-, 311- third O-ring, 312- third circlip, 313- third axis
It holds, 315- bevel gear wheel, the second shaft end ring of 316-, the 7th screw of 317-, 318- bevel pinion, 327- third O-ring；.
The present invention relates to a kind of running gear, specifically a kind of Wheel leg type walking device based on AUV.
AUV type underwater robot is also referred to as unmanned submersible, it is military, seabed search, search and rescue, in terms of have emphatically
The effect wanted, it, which collects economy and safety and deposits, is bordering on all over the body.The operating condition of AUV operation has plenty of rugged bumps, has
Be then flat-satin plane, not only needed the leaping over obstacles when encountering obstacle when walking for unmanned submersible, but also need to exist
High speed, high efficiency when passing through flat surface, this just proposes demand to the deficiency of existing latent device.
The utility model patent of Publication No. CN204322084U disclose it is a kind of by shell and crawler belt form with swim,
The underwater robot for function of creeping, the crawler belt are mounted on the rotation of outer casing bottom and crawler belt by drive shaft on the shell is arranged
Driving, this state limit posture changing of crawler belt, makes the underwater robot can only adapt to single work surface.
The utility model patent of Publication No. CN202379073U discloses a kind of crawler belt and is mounted on underwater operation robot
Rise and fall the underwater operation robots of device two sides, and this structure causes lateral rotation of the robot in water under floating state ineffective
Living, robot manipulating task radius is big, and mobility is restricted.
The application for a patent for invention of Publication No. CN103303449A discloses a kind of wheeled underwater operation robot, operation work
Tool be mounted on the manipulator for the hollow structure being made of motor and gear, this wheeled construction to pressure-bearing not than low work surface
It adapts to very much.
The application for a patent for invention of Publication No. CN103818533A discloses a kind of is adopted under water by crawler type and body frame are fixed
Collect equipment, this structuring limits the posture changings of crawler belt.
That there are the speeds of service is low for existing running gear, operation and the series of problems such as power consumption is big when turning to.These are asked
Topic reduces working efficiency, increases cost, while also will affect obstacle climbing ability.
In order to solve the above technical problems, the purpose of the present invention is to provide a kind of Wheel leg type walking devices based on AUV.It should
Running gear not only may be implemented obstacle crossing function but also meet the needs of high-speed and high-efficiency.To guarantee that fairing reduces resistance, this
Walking mechanism can also realize submersible navigation when, wheel leg can be recycled to inside submersible, nearly bottom row time wheel leg can
To be stretched out from submersible, realization obstacle detouring and the purpose efficiently walked.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme: being by outer
Lid, motor seal mechanism, wheel leg mechanism, switch, worm type of reduction gearing, hatch door rotary shaft, key I, sleeve, chain, circlip,
Shaft end ring, bearing, sprocket wheel, screw, pedestal, bolt, nut form.Main connection frame is mounted on the base by bolt, bottom
Seat is fixed by screws on pedestal, and hatch door rotary shaft is installed in the housing, and sprocket wheel is positioned by sleeve and the shaft shoulder, is pacified by key
On axis, sleeve is mounted in hatch door rotary shaft, and outer cover is mounted on shell, and hatch door rotary shaft is positioned by shaft end ring,
Shaft end ring is fixed by screws on axis, and motor is fixed on the base, and bearing and sleeve are mounted in hatch door rotary shaft, bearing
It is positioned by shaft end ring and sleeve.
Wherein, motor seal mechanism is specifically, be by electric machine rotational axis, screw III, electric motor end cap, O-ring I, stator
Casing, clamping cap, lattice enclose I, bearing I, screw IV.Electric motor end cap is fixed on stator cage by screw III, and lattice enclose I peace
On electric machine rotational axis, O-ring I is compressed by electric motor end cap, and bearing I is positioned by electric motor end cap and the shaft shoulder, is mounted on electricity
In machine rotary shaft, clamping cap is fixed on electric motor end cap.
Wherein, take turns leg mechanism specifically, be by key II, wheel, shaft coupling, wheel shaft, screw V, bearing (ball) cover I, lattice Lai
Enclose II, bearing II, wheel seat, circlip II, screw VI, O-ring II, circlip III, bearing III, bearing (ball) cover II, auger
Gear, shaft end ring II, screw VII, bevel pinion, transition piece, bolt II, nut, dome, shank skeleton, wheel electrical machine, electricity
Arbor, key III, O-ring III form.Transition piece is fixed by screws on motor housing, and shank skeleton passes through bolt II and wheel
Seat is fixed, and wheel electrical machine is mounted on wheel seat, and dome is mounted on wheel seat together, and bevel pinion passes through shaft end ring II and the shaft shoulder
Positioning, is mounted on motor shaft by key III, and on wheel drive shaft, bearing utilizes elasticity for bearing II and III distributing installation of bearing
Retaining ring III and bearing (ball) cover II position, and bearing III is positioned by the shaft shoulder and bearing (ball) cover I, and bearing (ball) cover I is mounted on wheel seat, lattice
It is mounted on wheel shaft to enclose II, shaft coupling is mounted on wheel shaft by key II.
Further, the worm type of reduction gearing meets condition of self-locking, can after door-down switch sensor feedback
It realizes self-locking.
Further, the wheel leg mechanism has four groups, is symmetrically installed on shell.
Further, in the joint sealing mechanism, O-ring, Ge Laiquan, electric motor end cap are 2, on the rotary shaft
It is uniformly distributed.
Application method of the invention:
The AUV Wheel leg type walking device work when, motor, worm type of reduction gearing power transmission under, sprocket wheel drive
Chain rotation, realizes the unlatching of unmanned submersible's hatch door, under sensing of the door-down switch to predetermined position, worm type of reduction gearing
Realize that alignment is self-locking, hatch door reaches predetermined position.3 joint drive motor driven wheel legs are stretched over scheduled position of creeping, when
When by rugged bumps, wheel drive motors are locked, wheel finished to the end of leg structure, in 3 joint drive motors
Driving under, leg construct trans obstacle.When by gentle smooth surface, joint motor driving leg structure is pre-positioned to sliding
It sets, motor realizes that joint is locked, and wheel rotates under driving motor, transmits power through transmission mechanism, worm gear device plays
Self-locking.
When the AUV Wheel leg type walking device does not work, under the driving of 3 joint motors, leg structure is recycled to by desired trajectory
Inside submersible, motor, worm type of reduction gearing power transmission under, sprocket wheel drive chain rotation, realize unmanned submersible
The closing of hatch door, under sensing of the door-down switch to predetermined position, worm type of reduction gearing realizes that alignment is self-locking, and hatch door reaches pre-
Positioning is set.
Compared with prior art, the beneficial effects of the present invention are:
The present invention realizes the compound motion that AUV underwater propeller promotes and underwater wheel leg type promotes, and wheel leg can stretch freely
Out with recycling, underwater robot had not only been improved to the adaptability of complicated landform, but also had ensured recycling when wheel leg mechanism is non-used,
Realize efficient streamlined travelling.Using static seal plus movable sealing structure, effective operation of motor can be effectively ensured；It realizes
Wheel leg is converted according to work condition environment, and structure is simple, conveniently；Using multi-joint multifreedom motion form, it can be achieved that travelling
The recycling of hour wheel leg mechanism effectively reduces resistance when ocean navigation.Using 4 wheel leg symmetrical mechanisms, can effectively ensure more
Stability when barrier.
Fig. 1 is wheel leg organization distribution structural schematic diagram of the invention.
Fig. 2 is wheel leg mechanism attachment structure schematic diagram of the invention.
Fig. 3 is wheel leg mechanism principle schematic diagram of the invention.
Fig. 4 is motor seal schematic illustration of the invention.
Fig. 5 is hatch door mechanism for opening/closing partial enlargement structural representation of the invention.
Fig. 6 is that wheel power of the invention is driven partial enlargement structural representation.
In figure, 1, outer cover, 2, motor, 3, wheel leg, 4, switch, 5, worm type of reduction gearing, 6, hatch door rotary shaft, 7, key I,
8, sleeve, 9, chain, 10, circlip I, 11, shaft end ring I, 12, bearing, 13, sprocket wheel, 14, screw II, 15, pedestal, 16, spiral shell
Bolt I, 17, nut, 200, electric machine rotational axis, 201, screw III, 202, electric motor end cap, 203, O-ring I, 204, stator cage,
205, clamping cap, 206, lattice enclose I, 207, bearing I, 208, screw IV, 300, key II, 301, wheel, 302, shaft coupling, 303,
Wheel shaft, 304, screw V, 305, bearing (ball) cover I, 306, lattice enclose II, 307, bearing II, 308, wheel seat, 309, circlip
II, 310, screw VI, 311, O-ring III, 312, circlip III, 313, bearing III, 314, bearing (ball) cover II, 315, auger tooth
Wheel, 316, shaft end ring II, 317, screw VII, 318, bevel pinion, 319, transition piece, 320, bolt II, 321, nut, 322,
Dome, 323, shank skeleton, 324, wheel electrical machine, 325, motor shaft, 326, key III, 327, O-ring III.
Structure as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, be by outer cover 1, motor seal mechanism 2, wheel leg mechanism 3,
Switch 4, worm type of reduction gearing 5, hatch door rotary shaft 6, key I 7, sleeve 8, chain 9, circlip 10, shaft end ring 11, bearing
12, sprocket wheel 13, screw 14, pedestal 15, bolt 16, nut 17 form.Main connection frame is mounted on pedestal 15 by bolt 16,
Pedestal 15 is fixed on the base by screw 14, and hatch door rotary shaft 6 is installed in the housing, and sprocket wheel 13 is fixed by sleeve 8 and the shaft shoulder
Position, is mounted on axis 6, sleeve 8 is mounted in hatch door rotary shaft 6, and outer cover 1 is mounted on shell, hatch door rotary shaft 6 by key 7
It is positioned by shaft end ring 11, shaft end ring 11 is fixed by screws on axis 6, and motor 2 is fixed on the base, bearing 12 and set
Cylinder 8 is mounted in hatch door rotary shaft 6, and bearing 12 is positioned by shaft end ring 11 and sleeve 8.
Wherein, motor seal mechanism 2 is specifically, be by electric machine rotational axis 200, screw III 201, electric motor end cap 202, O
Type circle I 203, stator cage 204, clamping cap 205, lattice enclose I 206, bearing I 207, screw IV 208.Electric motor end cap 202 passes through
Screw III 201 is fixed on stator cage 204, and lattice are mounted on electric machine rotational axis 200 to enclose I 206, and O-ring I 203 passes through electricity
Generator terminal lid 202 compresses, and bearing I 207 is positioned by electric motor end cap 202 and the shaft shoulder, is mounted on electric machine rotational axis 200, clamping cap
205 are fixed on electric motor end cap 202.
Wherein, wheel leg mechanism 3 is specifically, be by key II 300, wheel 301, shaft coupling 302, wheel shaft 303, screw V
304, bearing (ball) cover I 305, lattice enclose II 306, bearing II 307, wheel seat 308, circlip II 309, screw VI 310, O-ring
II 311, circlip III 312, bearing III 313, bearing (ball) cover II 314, bevel gear wheel 315, shaft end ring II 316, screw VII
317, bevel pinion 318, transition piece 319, bolt II 320, nut 321, dome 322, shank skeleton 323, wheel electrical machine 324,
Motor shaft 325, key III 326, O-ring III 327 form.Transition piece 319 is fixed by screws on motor housing, shank skeleton
323 is fixed together with wheel seat 308 by bolt II 320, and wheel electrical machine 324 is mounted on wheel seat 308, and dome 322 is mounted on wheel
On seat 308, bevel pinion 318 is positioned by shaft end ring II 316 and the shaft shoulder, is mounted on motor shaft 325 by key III 326,
On wheel drive shaft 303, bearing 307 utilizes circlip III 312 and bearing for bearing II 307 and III 313 distributing installation of bearing
End cap II 314 positions, and bearing III 313 is positioned by the shaft shoulder and bearing (ball) cover I 305, and bearing (ball) cover I 305 is mounted on wheel seat 308
On, lattice are mounted on wheel shaft 303 to enclose II 306, and shaft coupling 302 is mounted on wheel shaft 303 by key II 300.
Further, the worm type of reduction gearing 5 meets condition of self-locking, after 4 sensor feedback of door-down switch, energy
It enough realizes self-locking.
Further, the wheel leg mechanism 3 has four groups, is symmetrically installed on shell.
Further, in the motor seal mechanism 2, O-ring 203, lattice come to enclose 206, electric motor end cap 202 be 2,
It is uniformly distributed on electric machine rotational axis 200.
The AUV Wheel leg type walking device work when, motor 2, worm type of reduction gearing 5 power transmission under, sprocket wheel 13
It drives chain 9 to rotate, realizes the unlatching of unmanned submersible's hatch door, under sensing of the door-down switch 4 to predetermined position, worm and gear
Retarder 5 realizes that alignment is self-locking, and hatch door reaches predetermined position.3 joint drive motor driven wheel legs 3 be stretched over creep it is scheduled
Position, when by rugged concave-convex, wheel drive motors are locked, and wheel 301 is finished to the end of leg structure 3, close 3
Under the driving for saving driving motor, 3 leaping over obstacles of leg structure.When by gentle smooth surface, joint motor driving leg structure 3 is arrived
Predetermined position is slided, motor realizes that joint is locked, and wheel 301 rotates under driving motor 324, transmits power through wheel shaft 303, real
Now slide.
When the AUV Wheel leg type walking device does not work, under the driving of 3 joint motors, leg structure 3 is recycled to by desired trajectory
Inside submersible, motor 2, worm type of reduction gearing 5 power transmission under, sprocket wheel 13 drives chain 9 to rotate, and realizes that nobody is latent
The closing of hydrophone hatch door, under sensing of the door-down switch 4 to predetermined position, worm type of reduction gearing 5, which is realized, is directed at self-locking, hatch door
Reach predetermined position.
Finally it should be noted that the above enumerated are only specific embodiments of the present invention.It is clear that the invention is not restricted to
Above embodiments can also have many variations.For example, sealing ring can be other kinds of sealing ring；Also may be used between each part
Using other connection types except screw.The common technology people of this field can directly export from present disclosure
Protection scope of the present invention is considered with all deformations associated.
Claims (4)
1. a kind of Wheel leg type walking device based on AUV, by outer cover (1), motor (2), motor seal mechanism, wheel leg mechanism (3),
Switch (4), worm type of reduction gearing (5), hatch door rotary shaft (6), the first key (7), sleeve (8), chain (9), the first circlip
(10), the first shaft end ring (11), bearing (12), sprocket wheel (13), the second screw (14), pedestal (15), the first bolt (16), spiral shell
Female (17) composition, it is characterised in that: main connection frame is mounted on pedestal (15) by the first bolt (16), and pedestal (15) passes through the
Two screws (14) are fixed on the base, and hatch door rotary shaft (6) is installed in the housing, and sprocket wheel (13) is fixed by sleeve (8) and the shaft shoulder
Position, sprocket wheel (13) are mounted on hatch door rotary shaft (6) by the first key (7), and sleeve (8) is mounted on hatch door rotary shaft (6), outside
Lid (1) is mounted on shell, and the first shaft end ring (11) is fixed on hatch door rotary shaft (6) by the second screw (14), motor
(2) it fixes on the base, bearing (12) and sleeve (8) are mounted on hatch door rotary shaft (6).
2. a kind of Wheel leg type walking device based on AUV according to claim 1, which is characterized in that the motor seal
Mechanism is by electric machine rotational axis (200), third screw (201), electric motor end cap (202), the first O-ring (203), stator cage
(204), clamping cap (205), the first lattice come enclose (206), first bearing (207), the 4th screw (208) composition, electric motor end cap
(202) it is fixed on stator cage (204) by third screw (201), the first lattice are mounted on electric machine rotational axis to enclose (206)
(200) on, the first O-ring (203) is fixed with electric motor end cap (202), and first bearing (207) is mounted on electric machine rotational axis
(200) on, clamping cap (205) is fixed on electric motor end cap (202).
3. according to a kind of Wheel leg type walking device based on AUV described in claim 1, which is characterized in that the wheel leg mechanism (3)
By the second key (300), wheel (301), shaft coupling (302), wheel shaft (303), the 5th screw (304), first bearing end cap
(305), the second lattice enclose (306), second bearing (307), wheel seat (308), the second circlip (309), the 6th screw
(310), the second O-ring (311), third circlip (312), 3rd bearing (313), second bearing end cap (314), auger tooth
Take turns (315), the second shaft end ring (316), the 7th screw (317), bevel pinion (318), transition piece (319), the second bolt
(320), nut (321), dome (322), shank skeleton (323), wheel electrical machine (324), motor shaft (325), third key
(326), third O-ring forms, and (327) composition, transition piece (319) is fixed by screws on motor housing, shank skeleton
(323) it is fixed together by the second bolt (320) with wheel seat (308), wheel electrical machine (324) is mounted on wheel seat (308), circle
Lid (322) is mounted on wheel seat (308), and bevel pinion (318) is mounted on motor shaft (325) by third key (326), and second
On wheel shaft (303), first bearing end cap (305) is mounted on wheel seat for bearing (307) and 3rd bearing (313) distributing installation
(308) on, the second lattice are mounted on wheel seat (308) to enclose (306), and shaft coupling (302) is mounted on wheel shaft by the second key (300)
(303) on.
4. a kind of Wheel leg type walking device based on AUV according to claim 1 or 3, which is characterized in that the wheel leg machine
Structure (3) has four groups, is symmetrically installed on shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043031.XA CN109050841B (en) | 2018-09-05 | Wheel leg type walking device based on AUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811043031.XA CN109050841B (en) | 2018-09-05 | Wheel leg type walking device based on AUV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109050841A true CN109050841A (en) | 2018-12-21 |
| CN109050841B CN109050841B (en) | 2024-06-28 |
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