CN105667623A - Wheel-leg gait adjustable amphibious robot convenient to seal - Google Patents
Wheel-leg gait adjustable amphibious robot convenient to seal Download PDFInfo
- Publication number
- CN105667623A CN105667623A CN201610119999.0A CN201610119999A CN105667623A CN 105667623 A CN105667623 A CN 105667623A CN 201610119999 A CN201610119999 A CN 201610119999A CN 105667623 A CN105667623 A CN 105667623A
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- wheel plate
- wheel
- plate
- drive motor
- gait
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a wheel-leg gait adjustable amphibious robot convenient to seal. The wheel-leg gait adjustable amphibious robot convenient to seal mainly comprises a robot body and 4 sets of walking sub system units, wherein the walking sub system units comprise front wheel plates, middle wheel plates and tail end wheel plates; 4 wheel-leg driving motors are symmetrically placed in a cavity of the robot body in a forward-backward direction; the robot body is connected with the front wheel plates through the wheel-leg driving motors; the middle wheel plates are mounted on the front wheel plates; the tail end wheel plates are mounted on the middle wheel plates; a robot body cover plate covers the whole cavity of the robot body; and a O-shaped sealing ring is formed between the robot body cover plate and the robot body to realize a sealing effect. Through adjusting the action of each driving motor, the wheel-leg gait adjustable amphibious robot convenient to seal is switched between a wheel type gait and a leg type gait and the diversity of the leg type gait is also adjusted. According to the invention, the gait adjusting compactedness of the amphibious robot walking system is enhanced and the adaptation of the amphibious robot to the unstructured environment is enhanced.
Description
Technical field
The present invention relates to a kind of wheel lower limb gait adjustable amphibious robot be easy to and seal, belong to robotics.
Background technology
Robot moves generally wheeled and articulated type two ways. Wheel lower limb serial-parallel machining robot integrates the advantage that wheeled gait motion efficiency height, good stability, manageable advantage and walking step state environmental suitability are strong, is the important branch in mobile robot technology research. Terrestrial environment and underwater environment are had certain adaptive capacity by amphibious robot, and wheel lower limb combination drive is the effective means that amphibious robot moves. During amphibious robot environmental movement under water, robot entirety requires have good sealing. Driving and sealing problem for amphibious robot, it is proposed to a kind of wheel lower limb gait adjustable amphibious robot being easy to seal.
Summary of the invention
It is an object of the invention to provide a kind of wheel lower limb gait adjustable amphibious robot be easy to and seal.
This invention address that the design of its technical problem is:
The present invention relates to a kind of based on becoming the amphibious robot that born of the same parents' thought realizes adjusting between wheel lower limb gait, and the power source of gait adjustment is placed in closed space, solves the sealing problem of drive system in amphibious people's walking mechanism. Symmetrical rotary 4 set walking subsystem element before and after robot body both sides, walking subsystem element can realize the switching between wheel-lower limb gait and the adjustment of multiple lower limb formula gait by the born of the same parents that become of structure. Robot body is connected with front wheel plate by drive motor, front wheel plate is connected respectively through drive motor with end wheel plate with middle wheel plate, middle wheel plate, by adjusting the action of each drive motor, it is achieved the switching of wheeled gait and lower limb formula gait and the multiformity adjustment of lower limb formula gait. The present invention improves the compactedness of amphibious robot running gear gait adjustment, enhances the amphibious robot adaptability to non-structure environment.
According to above-mentioned design, the present invention adopts the following technical scheme that
A kind of wheel lower limb gait adjustable amphibious robot being easy to seal, is mainly made up of body and 4 set walking subsystem element, and described walking subsystem element is made up of front wheel plate, middle wheel plate and end wheel plate;Symmetrically placed 4 wheel lower limb drive motors before and after in described engine cavity, body is connected with front wheel plate by taking turns lower limb drive motor, and described middle wheel plate is arranged on front wheel plate, and described end wheel plate is arranged on middle wheel plate; Body cover plate covers whole engine cavity, has O-ring seals between body cover plate and body, plays the effect of sealing.
The rim faces of described front wheel plate, middle wheel plate and end wheel plate has identical radius r, and described front wheel plate, middle wheel plate and end wheel plate one side arc length are the 1/6 of girth 2 π r.
Described front wheel plate is made up of middle wheel plate drive motor, front-wheel plate body, front wheel plate lid, attachment screw and O-ring seals; The described entity that front-wheel plate body is hollow, equipped with middle wheel plate drive motor in the cavity of front-wheel plate body; Described middle wheel plate drive motor is connected with middle wheel plate by mechanical reduction gear, and under the driving of middle wheel plate drive motor, middle wheel plate can rotate relative to front wheel plate; Front wheel plate lid covers the cavity of front-wheel plate body by attachment screw, has O-ring seals, play the effect of sealing between front wheel plate lid and front-wheel plate body.
Described middle wheel plate is made up of end wheel plate drive motor, middle plate body, middle wheel plate lid, attachment screw and the O-ring seals of taking turns; Described middle wheel plate body is the entity of hollow, equipped with end wheel plate drive motor in the middle cavity taking turns plate body; Described end wheel plate drive motor is connected with end wheel plate by mechanical reduction gear, and under the driving of end wheel plate drive motor, end wheel plate can rotate relative to middle wheel plate; Middle wheel plate lid covers the middle cavity taking turns plate body by attachment screw, middle wheel plate lid and in take turns and between plate body, have O-ring seals, play the effect of sealing.
Described end wheel plate is taken turns plate body, end wheel plate lid, attachment screw and O-ring seals by end and is formed; Described end wheel plate body is the entity of hollow, and end wheel plate lid covers the cavity of end wheel plate body by attachment screw, has O-ring seals, play the effect of sealing between end wheel plate lid and end wheel plate body.
Described mechanical reduction gear is made up of little drive bevel gear, big drive bevel gear and gearing shaft; Described little drive bevel gear is connected with wheel plate drive motor, and little drive bevel gear is connected with the engagement of big drive bevel gear, and big drive bevel gear is connected with tooth wheel drive shaft.
After adopting said structure, the present invention takes turns lower limb drive motor and is connected with front wheel plate, drives whole walking subsystem element to rotate. During middle wheel plate drive motor drives, wheel plate makes middle wheel plate can rotate relative to front wheel plate. End wheel plate drive motor drives end wheel plate to make end wheel plate can rotate relative to middle wheel plate. Adjust the action of wheel lower limb drive motor, it is achieved drive the walking wheeled rotation of subsystem element or lower limb formula to swing; The action of wheel plate drive motor and end wheel board motor in adjustment, it is possible to make front wheel plate, middle wheel plate and mutually rotating between end wheel plate, it is achieved wheeled gait and the switching between lower limb formula gait. Cooperate between 4 set walking subsystem element, it is possible to achieve amphibious robot walks upright, the adjustment of the multiple lower limb formula gait such as creep.
The present invention has the beneficial effect that compared with background technology
1. the switching that amphibious robot realizes wheel lower limb gait by structure change born of the same parents, has wheel lower limb type of drive.
2. amphibious robot can adjust multiple lower limb formula gait, strengthens the adaptability to non-structure environment.
3. power source is in the cavity closed, and amphibious robot has good sealing.
4. improve the compactedness of amphibious robot running gear gait adjustment.
Accompanying drawing explanation
The structural representation of Fig. 1 amphibious robot of the present invention.
The wheeled gait view of Fig. 2 amphibious robot of the present invention.
Fig. 3 is the front view of Fig. 1.
The upright of Fig. 4 amphibious robot of the present invention swings oar and the gait view that walks upright.
The legged walking gait view of Fig. 5 amphibious robot of the present invention.
The integrally-built front view of Fig. 6 amphibious robot of the present invention.
The half sectional view of Fig. 7 amphibious robot of the present invention.
Fig. 8 amphibious robot mechanical reduction gear schematic diagram of the present invention.
Detailed description of the invention
The preferred embodiments of the present invention accompanying drawings is as follows:
As shown in Fig. 1, Fig. 6 to Fig. 8, a kind of wheel lower limb gait adjustable amphibious robot being easy to seal, mainly it is made up of body 1 and 4 set walking subsystem element I, described walking subsystem element I is made up of front wheel plate 2, middle wheel plate 3 and end wheel plate 4; Symmetrically placed 4 wheel lower limb drive motors 5 before and after in described body 1 cavity, body 1 is connected with front wheel plate 2 by taking turns lower limb drive motor 5, and described middle wheel plate 3 is arranged on front wheel plate 2, and described end wheel plate 4 is arranged on middle wheel plate 3; Body cover plate 14 covers whole body 1 cavity, has O-ring seals, play the effect of sealing between body cover plate 14 and body 1.
The rim faces of described front wheel plate 2, middle wheel plate 3 and end wheel plate 4 has identical radius r, and the unilateral arc length of described front wheel plate 2, middle wheel plate 3 and end wheel plate 4 is the 1/6 of girth 2 π r.
Described front wheel plate 2 is made up of middle wheel plate drive motor 6, front-wheel plate body 8, front wheel plate lid 11, attachment screw and O-ring seals; Described front-wheel plate body 8 is the entity of hollow, equipped with middle wheel plate drive motor 6 in the cavity of front-wheel plate body 8; Described middle wheel plate drive motor 6 is connected with middle wheel plate 3 by mechanical reduction gear II, and under the driving of middle wheel plate drive motor 6, middle wheel plate 3 can rotate relative to front wheel plate 2; Front wheel plate lid 11 covers the cavity of front-wheel plate body 8 by attachment screw, has O-ring seals, play the effect of sealing between front wheel plate lid 11 and front-wheel plate body 8.
Described middle wheel plate 3 is made up of end wheel plate drive motor 7, middle plate body 9, middle wheel plate lid 12, attachment screw and the O-ring seals of taking turns; Described middle wheel plate body 9 is the entity of hollow, equipped with end wheel plate drive motor 7 in the middle cavity taking turns plate body 9; Described end wheel plate drive motor 7 is connected with end wheel plate 4 by mechanical reduction gear II, and under the driving of end wheel plate drive motor 7, end wheel plate 4 can rotate relative to middle wheel plate 3; Middle wheel plate lid 12 covers the middle cavity taking turns plate body 9 by attachment screw, middle wheel plate lid 12 and in take turns and have O-ring seals between plate body 9, play the effect of sealing.
Described end wheel plate 4 is taken turns plate body 10, end wheel plate lid 13, attachment screw and O-ring seals by end and is formed; Described end wheel plate body 10 is the entity of hollow, and end wheel plate lid 13 covers the cavity of end wheel plate body 10 by attachment screw, has O-ring seals, play the effect of sealing between end wheel plate lid 13 and end wheel plate body 10.
Described mechanical reduction gear II is made up of little drive bevel gear 15, big drive bevel gear 16 and gearing shaft 17; Described little drive bevel gear 15 is connected with wheel plate drive motor, and little drive bevel gear 15 is connected with the engagement of big drive bevel gear 16, and big drive bevel gear 16 is connected with tooth wheel drive shaft 17.
The operation principle of the present embodiment wheel lower limb fighter toy structure is as follows:
As shown in Figure 2 and Figure 3, wheel lower limb gait adjustable amphibious robot does wheeled gait action. Wheel lower limb drive motor 5 drives walking subsystem element I, and front wheel plate 2 is relative to body 1 in a certain position, and during middle wheel plate drive motor 6 drives, wheel plate 3 rotates, and central wheel plate 3 becomes with the angle of front wheel plate 2Time, the middle wheel plate drive motor 6 in front wheel plate 2 quits work, and middle wheel plate 3 stops operating. End wheel plate in middle wheel plate 3 drives dynamo-electric machine 7 to drive end wheel plate 4 to rotate, when the angle with middle wheel plate 3 of end wheel plate 4 becomes, end wheel plate 4 becomes with the angle of front wheel plate 2Time, end wheel plate drive motor 7 quits work, and end wheel plate 4 stops operating. Whole walking subsystem element I shows as wheeled construction, and front wheel plate 2 all quits work with the wheel plate drive motor in middle wheel plate 3, and only wheel lower limb drive motor 5 drives walking subsystem element I to rotate, and amphibious robot moves with wheeled gait. Because the unilateral arc length of each wheel plate is girth 2 π r 1/6, so each wheel plate overlaps just in wheeled construction, it is ensured that amphibious robot is when wheeled gait and earth surface.
As shown in Figure 4, wheel lower limb gait adjustable amphibious robot does upright swing oar action or the gait that walks upright. Front wheel plate 2 relative to body 1 in a certain position, during middle wheel plate drive motor in front wheel plate 2 drives, wheel plate 3 rotates, when the side of central wheel plate 3 side and front wheel plate 2 is parallel to each other, and middle wheel plate 3 is on front wheel plate 2 left side, middle wheel plate drive motor 6 in front wheel plate 2 quits work, and middle wheel plate 3 stops operating. End wheel plate drive motor 7 in middle wheel plate 3 drives end wheel plate 4 to rotate, when the side of end wheel plate 4 side Yu middle wheel plate 3 is parallel to each other, and the end wheel plate drive motor 7 that end wheel plate 4 is in the left side of middle wheel plate 3, middle wheel plate 3 quits work, end wheel plate 4 stops operating. Walking subsystem element I shows as rising structure, when amphibious robot moves in waters or land environment, front wheel plate 2 quits work with the wheel plate drive motor in middle wheel plate 3, only taking turns lower limb drive motor 5 drives walking subsystem element I to swing, and wheel lower limb gait adjustment is that amphibious robot does upright swing oar action or the gait that walks upright.
As it is shown in figure 5, wheel lower limb fighter toy legged walking gait action. Walking subsystem element I is walking articulation mechanism, and wheel lower limb drive motor 5 drives front wheel plate 2 to swing, and middle wheel plate 3 can swing arbitrarily angled relative to front wheel plate 2, and in like manner end wheel plate 4 can also swing arbitrarily angled relative to middle wheel plate 3. Cooperate between 4 rotation running gear unit I, it is possible to achieve amphibious robot multiple lower limb formula gait action, such as walking step state, Crawl gait etc.
Claims (6)
1. the wheel lower limb gait adjustable amphibious robot being easy to sealing, mainly it is made up of body (1) and 4 sets walking subsystem element (I), it is characterised in that: described walking subsystem element (I) is made up of front wheel plate (2), middle wheel plate (3) and end wheel plate (4); Symmetrically placed 4 wheels lower limb drive motor (5) before and after in described body (1) cavity, body (1) is connected with front wheel plate (2) by taking turns lower limb drive motor (5), described middle wheel plate (3) is arranged on front wheel plate (2), and described end wheel plate (4) is arranged on middle wheel plate (3); Body cover plate (14) covers whole body (1) cavity, has O-ring seals, play the effect of sealing between body cover plate (14) and body (1).
2. the wheel lower limb gait adjustable amphibious robot being easy to seal according to claim 1, it is characterized in that: the rim faces of described front wheel plate (2), middle wheel plate (3) and end wheel plate (4) has identical radius r, and the unilateral arc length of described front wheel plate (2), middle wheel plate (3) and end wheel plate (4) is the 1/6 of girth 2 π r.
3. the wheel lower limb gait adjustable amphibious robot being easy to seal according to claim 1, it is characterised in that: described front wheel plate (2) is made up of middle wheel plate drive motor (6), front-wheel plate body (8), front wheel plate lid (11), attachment screw and O-ring seals; The entity that described front-wheel plate body (8) is hollow, equipped with middle wheel plate drive motor (6) in the cavity of front-wheel plate body (8); Described middle wheel plate drive motor (6) is connected with middle wheel plate (3) by mechanical reduction gear (II), and under the driving of middle wheel plate drive motor (6), middle wheel plate (3) can rotate relative to front wheel plate (2); Front wheel plate lid (11) covers the cavity of front-wheel plate body (8) by attachment screw, has O-ring seals, play the effect of sealing between front wheel plate lid (11) and front-wheel plate body (8).
4. the wheel lower limb gait adjustable amphibious robot being easy to seal according to claim 1, it is characterised in that: described middle wheel plate (3) is made up of end wheel plate drive motor (7), middle plate body (9), middle wheel plate lid (12), attachment screw and the O-ring seals of taking turns; The entity that described middle wheel plate body (9) is hollow, equipped with end wheel plate drive motor (7) in the middle cavity taking turns plate body (9); Described end wheel plate drive motor (7) is connected with end wheel plate (4) by mechanical reduction gear (II), and under the driving of end wheel plate drive motor (7), end wheel plate (4) can rotate relative to middle wheel plate (3); Middle wheel plate lid (12) covers the middle cavity taking turns plate body (9) by attachment screw, middle wheel plate lid (12) and in take turns and have O-ring seals between plate body (9), play the effect of sealing.
5. the wheel lower limb gait adjustable amphibious robot being easy to seal according to claim 1, it is characterised in that: described end wheel plate (4) is taken turns plate body (10), end wheel plate lid (13), attachment screw and O-ring seals by end and is formed; The entity that described end wheel plate body (10) is hollow, end wheel plate lid (13) covers the cavity of end wheel plate body (10) by attachment screw, has O-ring seals, play the effect of sealing between end wheel plate lid (13) and end wheel plate body (10).
6. the wheel lower limb gait adjustable amphibious robot being easy to seal according to claim 3 or 4, it is characterised in that: described mechanical reduction gear (II) is made up of little drive bevel gear (15), big drive bevel gear (16) and gearing shaft (17); Described little drive bevel gear (15) is connected with wheel plate drive motor, and little drive bevel gear (15) is connected with big drive bevel gear (16) engagement, and big drive bevel gear (16) is connected with tooth wheel drive shaft (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119999.0A CN105667623A (en) | 2016-03-03 | 2016-03-03 | Wheel-leg gait adjustable amphibious robot convenient to seal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119999.0A CN105667623A (en) | 2016-03-03 | 2016-03-03 | Wheel-leg gait adjustable amphibious robot convenient to seal |
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| Publication Number | Publication Date |
|---|---|
| CN105667623A true CN105667623A (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610119999.0A Pending CN105667623A (en) | 2016-03-03 | 2016-03-03 | Wheel-leg gait adjustable amphibious robot convenient to seal |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7017687B1 (en) * | 2002-11-21 | 2006-03-28 | Sarcos Investments Lc | Reconfigurable articulated leg and wheel |
| US20100090426A1 (en) * | 2004-10-01 | 2010-04-15 | Mark Setrakian | Bimodal conveyance mechanism |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN202806269U (en) * | 2012-08-02 | 2013-03-20 | 中国科学技术大学 | Amphibious robot based on deformable foot-web composite propelling mechanism |
| CN104085458A (en) * | 2014-07-03 | 2014-10-08 | 电子科技大学 | Leg-wheel type quadruped robot |
-
2016
- 2016-03-03 CN CN201610119999.0A patent/CN105667623A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7017687B1 (en) * | 2002-11-21 | 2006-03-28 | Sarcos Investments Lc | Reconfigurable articulated leg and wheel |
| US20100090426A1 (en) * | 2004-10-01 | 2010-04-15 | Mark Setrakian | Bimodal conveyance mechanism |
| CN102390457A (en) * | 2011-12-30 | 2012-03-28 | 上海大学 | Leg mechanism for four-legged robots |
| CN202806269U (en) * | 2012-08-02 | 2013-03-20 | 中国科学技术大学 | Amphibious robot based on deformable foot-web composite propelling mechanism |
| CN104085458A (en) * | 2014-07-03 | 2014-10-08 | 电子科技大学 | Leg-wheel type quadruped robot |
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Application publication date: 20160615 |
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