CN203511204U - Novel amphibious walking mechanism - Google Patents
Novel amphibious walking mechanism Download PDFInfo
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- CN203511204U CN203511204U CN201320634521.3U CN201320634521U CN203511204U CN 203511204 U CN203511204 U CN 203511204U CN 201320634521 U CN201320634521 U CN 201320634521U CN 203511204 U CN203511204 U CN 203511204U
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- bearing
- walking mechanism
- solid axle
- hollow shaft
- traveling gear
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Abstract
The utility model discloses a novel amphibious walking mechanism which can achieve a land moving mode and a water surface moving mode flexibly by only depending on two drives. The novel amphibious walking mechanism mainly comprises a land walking mechanism, a water propelling device, a switching mechanism, three control boxes, three dual-piston hydraulic cylinders, two sets of liquid level sensing control units, two sets of storage batteries, two motors, six sealing parts, two sets of transmission gear pairs, two V-shaped belts, six belt wheels and the like. The land walking mechanism comprises six wheels and two caterpillar tracks. The water propelling device comprises three sets of paddles and a chassis. The switching mechanism comprises a bearing, a shaft sleeve, a bearing clamping sleeve, a small screw, a flat key, a clamping sleeve guide rail, a friction device, a clutch, a hollow shaft and a solid shaft. The two V-shaped belts are used for driving other wheels to move. The novel amphibious walking mechanism can quickly sense the variation of the outside environment of a robot so that switching of the two moving conditions can be achieved, and a design basis is provided for research of amphibious robots in ocean engineering equipment.
Description
Technical field
The utility model relates to a kind of novel amphibious traveling gear that can work in the environment of two kinds, land and water.
Background technology
At present, a kind of amphibious robots of motion of can realizing in the environment such as shoal, beach, lake of needs such as the domestic and international exploitation for sea, river resource, utilization, detection, this robot need to possess simple in structure, compact, the feature that volume is little, yet traveling gear occupies important position in amphibious robot design, be an indispensable part during whole robot forms, there is 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, yet 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 new-type amphibious robot traveling gear, not only can be in water flexible motion also can be on land even in beach motion can depression in beach, this traveling gear only just can be realized the motion under the situation of two kinds, land and water with two drive motor.
Summary of the invention
For implementation structure is simple, compactness, the feature that volume is little, the novel amphibious traveling gear of designing in the utility model can meet many-sided demand, can provide good basis for the research and design of amphibious robot in marine engineering equipment system.The utility model adopts following technical scheme:
Novel amphibious traveling gear, comprise land walking mechanism, propelling unit in water, switching mechanism, three piston hydraulic cylinders, three control boxs, two groups of level sensing control units, two group storage batteries, two motors, six sealing elements, two groups of driving gear pairs, article two, V-type band and six belt wheels, it is characterized in that described land walking mechanism comprises six wheels and two crawler belts, in described water, propelling unit comprises three groups of blades and chassis, described switching mechanism comprises bearing, axle sleeve, bearing chuck, Screw, flat key, chuck guide rail, strigil, power-transfer clutch, hollow shaft and solid axle.
Described switching mechanism one has six, each piston hydraulic cylinder two ends connects respectively a switching mechanism, the equidistant top, domain that is placed in of described three control boxs, described piston hydraulic cylinder is fixed on control box top, the piston rod at described piston hydraulic cylinder two ends is connected by bearing frame cover by bearing with solid axle, bearing frame cover one end is connected by large screw with piston rod inner end, and piston rod circumferential part and outside race are welded to connect, bearing inner ring and solid axle interference fit.
Described wheel is connected with hollow shaft end, and described blade is connected with solid axle, and solid axle is through hollow shaft, at wheel outer end hollow shaft and solid axle place, is connected with sealing element.
Below described bearing chuck, there is a chuck guide rail to be fixed on chassis.
A described power-transfer clutch part is connected with the axle sleeve on hollow shaft by Screw, and another part is connected by flat key with solid axle, and a described strigil part is fixed on chassis, and another part is around solid axle.
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, signal is passed to three control boxs after corresponding signal being detected, 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, for designing novel amphibious robot pad, determined basis.
Accompanying drawing explanation
Fig. 1 is the novel amphibious traveling gear structural plan of the utility model.
Fig. 2 is the novel amphibious traveling gear partial interior structure cutaway view of the utility model.
Fig. 3 is the outside birds-eye view of the novel amphibious traveling gear of the utility model.
the specific embodiment:
By reference to the accompanying drawings the utility model is described further.
As shown in the figure: novel amphibious traveling gear, comprise land walking mechanism---six wheels 1 and two crawler belts 2, propelling unit in water---------six groups of blades 8 and chassis 12, switching mechanism---bearing 24, axle sleeve 19, bearing chuck 14, Screw 18, large screw 23, chuck guide rail 6, strigil 16, power-transfer clutch 17, flat key 22, hollow shaft 21 and solid axle 20, three control boxs 13, three piston hydraulic cylinders 7, two groups of level sensing control units 15, two group storage batteries 5, two motors 11, six sealing elements 9, two groups of driving gear pairs 10, for driving two V-type bands 3 and six belt wheels 4 of other wheel motion.
Operating process for the traveling gear of independently advancing at land and two kinds of environment of the water surface in the utility model is as follows: first, in this traveling gear motion process, by the residing environment of two groups of level sensing control units, 15 judgements before and after vehicle body self, when being positioned at land motion, level sensor control unit 15 can't detect signal, strigil 16 two parts are in separated position, power-transfer clutch 17 inhale and, power drives two motors 11 to rotate by two group storage batteries 5, then by two groups of driving gear pairs 10, make hollow shaft 21 and carry out axle 20 to drive wheel 2 and blade 8 to rotate simultaneously, in this while power, also will drive V-type bands pass to other parts by six belt wheels 4, thereby six wheels 1 will drive 2 motions of two crawler belts, thereby realized the motion of land.When traveling gear enters in water by land, two groups of residing environment of level sensing control unit 15 judgements self, experience and enter after water state, by three control box 13 synchro control, make power-transfer clutch 17 separately, thereby strigil 16 engagements clamp solid axle 20, make it to stop operating, then strigil 16 quits work, and the motion on chuck guide rail 6 pushs out specific distance by solid axle 20 by bearing chuck 14 to make piston hydraulic cylinder 7, thereby three groups of blades 8 will stretch out, then power-transfer clutch 17 meshes again, so just can realize the switching of the two kinds of state of kinematic motions in land and water, and at hollow shaft 21 and solid axle 20 ends, sealing element 9 is installed, thereby guarantee the dynamic airtightness of solid axle 20 and hollow shaft 21 in handoff procedure.
Claims (5)
1. novel amphibious traveling gear, comprise land walking mechanism, propelling unit in water, switching mechanism, three piston hydraulic cylinders, three control boxs, two groups of level sensing control units, two group storage batteries, two motors, six sealing elements, two groups of driving gear pairs, article two, V-type band and six belt wheels, it is characterized in that described land walking mechanism comprises six wheels and two crawler belts, in described water, propelling unit comprises three groups of blades and chassis, described switching mechanism comprises bearing, axle sleeve, bearing chuck, Screw, flat key, chuck guide rail, strigil, power-transfer clutch, hollow shaft and solid axle.
2. according to the novel amphibious traveling gear described in claim 1, it is characterized in that: described switching mechanism one has six, each piston hydraulic cylinder two ends connects respectively a switching mechanism, the equidistant top, domain that is placed in of described three control boxs, described piston hydraulic cylinder is fixed on control box top, the piston rod at described piston hydraulic cylinder two ends is connected by bearing frame cover by bearing with solid axle, bearing frame cover one end is connected by large screw with piston rod inner end, piston rod circumferential part and outside race are welded to connect, bearing inner ring and solid axle interference fit.
3. according to the novel amphibious traveling gear described in claim 1, it is characterized in that: described wheel is connected with hollow shaft end, described blade is connected with solid axle, and solid axle is through hollow shaft, at wheel outer end hollow shaft and solid axle place, is connected with sealing element.
4. according to the novel amphibious traveling gear described in claim 1, it is characterized in that: below described bearing chuck, have a chuck guide rail to be fixed on chassis.
5. according to the novel amphibious traveling gear described in claim 1, it is characterized in that: a described power-transfer clutch part is connected with the axle sleeve on hollow shaft by Screw, another part is connected by flat key with solid axle, a described strigil part is fixed on chassis, and another part is around solid axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320634521.3U CN203511204U (en) | 2013-10-15 | 2013-10-15 | Novel amphibious walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320634521.3U CN203511204U (en) | 2013-10-15 | 2013-10-15 | Novel amphibious walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203511204U true CN203511204U (en) | 2014-04-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320634521.3U Expired - Fee Related CN203511204U (en) | 2013-10-15 | 2013-10-15 | Novel amphibious walking mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN203511204U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481736A (en) * | 2013-10-15 | 2014-01-01 | 上海海洋大学 | Novel amphibious travelling mechanism |
| CN105974074A (en) * | 2016-05-03 | 2016-09-28 | 中国水产科学研究院渔业机械仪器研究所 | Amphibious water quality monitoring robot |
| CN110614889A (en) * | 2019-09-11 | 2019-12-27 | 哈尔滨工程大学 | Pendulum-caterpillar integrated bionic amphibious propelling device |
-
2013
- 2013-10-15 CN CN201320634521.3U patent/CN203511204U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481736A (en) * | 2013-10-15 | 2014-01-01 | 上海海洋大学 | Novel amphibious travelling mechanism |
| CN105974074A (en) * | 2016-05-03 | 2016-09-28 | 中国水产科学研究院渔业机械仪器研究所 | Amphibious water quality monitoring robot |
| CN110614889A (en) * | 2019-09-11 | 2019-12-27 | 哈尔滨工程大学 | Pendulum-caterpillar integrated bionic amphibious propelling device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140402 Termination date: 20141015 |
|
| EXPY | Termination of patent right or utility model |