CN100493937C - Amphibious two-purpose robot mechanism - Google Patents
Amphibious two-purpose robot mechanism Download PDFInfo
- Publication number
- CN100493937C CN100493937C CNB2006100113950A CN200610011395A CN100493937C CN 100493937 C CN100493937 C CN 100493937C CN B2006100113950 A CNB2006100113950 A CN B2006100113950A CN 200610011395 A CN200610011395 A CN 200610011395A CN 100493937 C CN100493937 C CN 100493937C
- Authority
- CN
- China
- Prior art keywords
- water
- axle
- robot
- land
- housing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
An amphibious (water and land) robot is composed of casing, camera head, GPS unit, two liquid level sensors, 8 infrared sensors, 4 wheels for running on land, two groups of propellers for advancing in water, two groups of high-energy batteries, two motors, speed reducer, two clutches, two brakes, etc.
Description
Technical field
The present invention relates to a kind ofly can in the two kinds of environment in land and water, advance, keep away barrier, and independently switch the amphibious robot mechanism of self attitude and the mode of advancing according to the variation of environment.
Background technology
20th century, the under-water robot technology was explored the main means of ocean as the mankind, and the deep-sea detecting robot has been subjected to people's common concern., this type of under-water robot structure function complexity, volume is big, quality is big, its research and development technology difficulty, expensive many, the lead time is long, and is inapplicable for environment such as rivers,lakes and seas.
Detection, exploitation, utilization for rivers sea lake water resource, the building etc. of large medium-size station, dam need an urgent demand a kind of can be in environment such as shoal, lake amphibious small scale robot of walking, this robot must possess compact conformation is arranged, characteristics such as volume is little, light weight.
For this reason, the creator among the present invention relies on it to be engaged in the experience and the practice of relevant industries for many years, develops one and only adopts two to drive the above demand of realization, based on the amphibious robot of bionics angle.
Summary of the invention
Main purpose of the present invention is to provide a kind of compact conformation, succinct autonomous type two-purpose robot mechanism with water and land, utilize this two-purpose robot mechanism with water and land can realize robot autonomous in the two kinds of varying environments in land and water advancing, keeping away barrier and by water to land with by the functions such as switching of land self attitude and mode of motion in the water.
Two-purpose robot mechanism with water and land among the present invention includes:
Housing, this housing are divided into up and down two parts, have a square sighthole in upper shell centre portion side, so that debugging, arch maintenance robot;
Be fixedly installed on a base plate of enclosure interior;
Be fixedly installed on two Hi cells on the base plate, two motors;
Ground propelling unit, the rotation by the front and back four wheels realize amphibious robot advancing on land;
Propelling unit in the water, this device is that three cross sections are about 1/3rd annular formations of L type, respectively with one end hinge on the wheel of the front of robot, the other end and rod hinge connection, on land, blade is closed into a circle, in the time of in water, blade becomes the open configuration drying, promotes robot and advances in water;
Driving device, two motors being narrated drive two wheel turns of fwd respectively, and two wheels in front drive two wheel turns of back by timing belt and belt wheel;
Control part is equipped with a source switch on the housing of robot, after the energising, robot is judged self residing environment by two level sensors of inlaying before and after the housing, feeds back to upper computer, independently finishes the switching of self attitude; Judge environment on every side by a camera and eight infrared pickoffs of being installed on the housing, realize automatic obstacle avoiding.
General leg formula that adopts or creeping motion type structure are compared in amphibious robot mechanism among the present invention and the correlative study at present both at home and abroad, its foot has adopted wheeled construction, only rely on two drivings, just carried out the motion of robot in water, the two kinds of environment in land simultaneously, this makes the amphibious robot structure simplify greatly, operates simple and easy.We know, amphibian is by feeling that different ambient signals switches on or off different neural control signals to change the athletic posture of body, set out thus, the design of this amphibious robot mechanism then is the variation that detects its residing environment by the level sensor sensation, reaches the purpose of the switching of realization self attitude and mode of motion.
Description of drawings
Fig. 1 be among the present invention two-purpose robot mechanism with water and land at ground-surface schematic perspective view;
Fig. 2 is the schematic perspective view of two-purpose robot mechanism with water and land in water among the present invention;
Fig. 3 is that the master of two-purpose robot mechanism with water and land looks scheme drawing among the present invention;
Fig. 4 is the schematic top plan view of two-purpose robot mechanism with water and land among the present invention;
Fig. 5 is that scheme drawing is looked on the left side of two-purpose robot mechanism with water and land among the present invention;
Fig. 6 is an amphibious robot internal mechanism schematic perspective view among the present invention;
Fig. 7 is the inner transmission principle scheme drawing of two-purpose robot mechanism with water and land among the present invention;
Fig. 8 is the schematic perspective view of foot wheeled construction drying in water among the present invention;
The specific embodiment
To shown in Figure 6, be used among the present invention that the two-purpose robot mechanism with water and land of independently advancing, keep away barrier at water, the two kinds of environment in land includes housing parts 1 and 2, base plate 24, is fixed on two groups of Hi cells 23 on the base plate, propelling unit, driving device, control setup in two motors 12, ground propelling unit, water as Fig. 1.
Extremely shown in Figure 5 as Fig. 1, a source switch 19, global positioning system 18 are installed on the housing 1, are used to gather the camera 28 of ambient condition information, eight infrared pickoffs 17, two level sensors 27 of judging robot environment of living in are installed on the housing 2, and housing 2 inside are equipped with base plate 24;
As shown in Figure 6, two groups of Hi cells 23 are fixed on the base plate 24, two motors 12 are fixed on the base plate 24 by support 31;
As Fig. 7, shown in Figure 8, preceding two wheels 25 of robot are installed in the mouth of axle sleeve 7, and two wheels 25 in back are installed on the mouth of axle 9, and its input end is equipped with a belt wheel 10;
As shown in Figure 8, be separately installed with three blades 29 on two wheels 25 of robot front portion, blade 29 is 1/3rd annulars that cut out by annulus, and its cross section is the L type, and wheel 25, blade 29, connecting rod 21 and flange 30 constitute four-bar linkage;
As shown in Figure 7, motor 12 mouths are equipped with a gear 11, be installed on the axle sleeve 7 with another gear 16 of its ingear, axle sleeve 7 is connected by screw with power-transfer clutch 15 parts, another part of power-transfer clutch 15 is installed on the axle 6 by flat key, in addition, a drg 14, belt wheel 13 are installed also on the axle, belt wheel is connected by timing belt 26 with belt wheel.
As shown in Figure 7, in robot motion's process, exist between axle 6 and axle sleeve 7, axle sleeve 7 supports 3, axle 9 and the support 33 to relatively rotate, must be separately installed with two groups of special seal circles 5,4,8.
The operating process of two-purpose robot mechanism with water and land that is used for independently advancing, keep away at water, the two kinds of environment in land barrier among the present invention is as follows:
1. energized at first, robot is judged self residing environment by two level sensors.
2. when robot is positioned at the land, the power-transfer clutch adhesive, drg disconnects.Axle 6 is connected with axle sleeve, the motor output speed is given gear by gear transmission, driving axle 6 and axle sleeve rotates together, be output as the rotation of front wheel, the other end of axle 6 passes motion to axle 9 by timing belt, axle 9 is output as the rotation of trailing wheel, and robot is achieved in the straightaway on land, and the variation that motor output turns to realizes that it moves ahead, setback.
3. when robot entered in the water by ground, power-transfer clutch disconnected, the drg adhesive.Axle 6 disconnections are connected with axle sleeve, with power-transfer clutch locking, thereby maintain static, and axle sleeve then rotates a predetermined angular under the driving of motor, and wheel rotates with sleeve, makes blade open by four-bar linkage, and robot has been realized the switching of self attitude.
4. after finishing to the switching of water by the land, the power-transfer clutch adhesive, drg disconnects, and blade is pass on wheel, and drying is advanced.The same by water to the switching in land, only need motor is oppositely exported a predetermined angular.
5. the time need to turn keeping away barrier when robot, at this moment, two motors will give 6 outputs of two axles of fwd different rotating speeds, and the differential by the right and left wheel rotates realizes its barrier avoiding function.
Claims (6)
1. can be only realize that with two drive motor it is advanced substantially in water, the two kinds of different environment in land, barrier avoiding function for one kind, and can autonomous classification water, the two kinds of varying environments in land and finish by water to the land and the amphibious robot mechanism of switching by land self attitude and mode of motion in the process of water, it is characterized in that including:
One housing, this housing are divided into two parts up and down, have a square sighthole at the upper shell centre portion, so that the debugging of robot running state and maintenance;
Be fixedly installed on a base plate of enclosure interior;
Be fixedly installed on two Hi cells on the base plate, two motors, two motor drivers;
Ground propelling unit, the rotation by the front and back four wheels realize amphibious robot advancing on land;
Propelling unit in the water, this device are that six cross sections are the blade formation of about 1/3rd annulars of L type, on land, per three blades of robot are closed into a circle, do not play a role, in the time of in water, the open-shaped attitude drying of each blade promotes robot and advances in water;
Driving device, two motors being narrated drive two wheel turns of fwd respectively, and two wheels in front pass motion to two wheels of back by timing belt and belt wheel;
Control setup, one source switch is installed on the housing of robot, after the energising, robot is judged self residing environment by two level sensors of inlaying before and after the housing, feed back to upper computer, independently finish the switching of self attitude,, realize automatic obstacle avoiding by being installed in a camera on the housing and eight infrared pickoffs environment around judging.
2. according to the amphibious robot mechanism described in the claim 1, it is characterized in that: the housing of being narrated adopts glass-felt plastic to make, and appearance profile is the stream line pattern curved design, helps the resistance that reduces to advance in the water.
3. according to the amphibious robot mechanism described in the claim 1, it is characterized in that: propelling unit includes two axle and axle sleeves that can rotate mutually in the water of being narrated, on axle and axle sleeve, be connected with a flange respectively, the fwd wheel is fixed on the flange that is connected with axle, blade and flange are by a rod hinge connection, and the other end of blade and robot fwd wheel are hinged.
4. according to the amphibious robot mechanism described in the claim 3, it is characterized in that: fwd wheel, blade, connecting rod and flange constitute a four-bar linkage.
5. according to the amphibious robot mechanism of being narrated in the claim 3, it is characterized in that: the part of power-transfer clutch is connected with axle sleeve by screw, another part is connected with axle by flat key, and the part of drg is fixed on the base plate by support, and another part links to each other with axle by flat key; During energising, two parts adhesive of power-transfer clutch, axle rotates simultaneously with axle sleeve, the blade closure, during outage, two parts of power-transfer clutch separate, and drg at this moment, has only axle sleeve to rotate by keyway locking axle, and blade opens.
6. the amphibious robot mechanism of narrating according to claim 3, it is characterized in that: when amphibious robot mechanism is in the water, has adopted two groups of seal rings to solve it between axle and axle sleeve, axle sleeve and the robot housing and in water, switched and the dynamic seal problem when advancing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100113950A CN100493937C (en) | 2006-03-01 | 2006-03-01 | Amphibious two-purpose robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100113950A CN100493937C (en) | 2006-03-01 | 2006-03-01 | Amphibious two-purpose robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101028786A CN101028786A (en) | 2007-09-05 |
| CN100493937C true CN100493937C (en) | 2009-06-03 |
Family
ID=38714409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100113950A Expired - Fee Related CN100493937C (en) | 2006-03-01 | 2006-03-01 | Amphibious two-purpose robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100493937C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11332222B2 (en) | 2015-06-01 | 2022-05-17 | Zodiac Pool Systems Llc | Ramped pontoon for retrieving a pool cleaner |
Families Citing this family (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050162B (en) * | 2009-11-09 | 2012-11-07 | 中国科学院沈阳自动化研究所 | Amphibious robot with integrally-driven wheel paddle legs |
| CN102049983B (en) * | 2009-11-09 | 2012-10-24 | 中国科学院沈阳自动化研究所 | Footplate driving-type amphibious robot |
| CN102059927B (en) * | 2009-11-09 | 2013-03-13 | 中国科学院沈阳自动化研究所 | Paddle-pedal plate hybrid driving-based amphibious robot |
| CN102303492B (en) * | 2011-09-07 | 2013-11-06 | 北京航空航天大学 | Small-sized variable-structure propulsion device with amphibious function |
| CN102390454A (en) * | 2011-09-29 | 2012-03-28 | 长沙矿冶研究院有限责任公司 | Submarine all-terrain traveling vehicle |
| CN103832498A (en) * | 2012-11-27 | 2014-06-04 | 哈尔滨市三和佳美科技发展有限公司 | Amphibious inspection robot |
| CN103481736A (en) * | 2013-10-15 | 2014-01-01 | 上海海洋大学 | Novel amphibious travelling mechanism |
| CN103612678B (en) * | 2013-11-28 | 2015-11-18 | 上海合时智能科技有限公司 | Amphibious wheel-track combined robot moving platform |
| CN104149563A (en) * | 2014-07-30 | 2014-11-19 | 刘长武 | Amphibious vehicle |
| CN104828168B (en) * | 2015-05-15 | 2017-03-15 | 北京理工大学 | A kind of double-pendulum arms motion of amphibious frog board robot |
| 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 |
| CN106042800A (en) * | 2016-06-16 | 2016-10-26 | 姜忠昱 | Search and rescue device capable of being applied to sea, land and air areas |
| CN106114095B (en) * | 2016-06-27 | 2018-08-03 | 中国石油大学(华东) | A kind of amphibious sniffing robot |
| CN106310668A (en) * | 2016-08-26 | 2017-01-11 | 广东信宇科技股份有限公司 | Amphibious vehicle and wheels thereof |
| CN106335055A (en) * | 2016-10-31 | 2017-01-18 | 上海未来伙伴机器人有限公司 | Robot steering engine assembly and robot |
| CN107187283B (en) * | 2017-05-26 | 2019-02-12 | 赵汉武 | A kind of amphibious recreational vehicle |
| CN107116980B (en) * | 2017-06-27 | 2023-02-03 | 西南科技大学 | Amphibious robot and amphibious detection system |
| CN108227744B (en) * | 2018-01-17 | 2020-07-31 | 中国农业大学 | Underwater robot positioning navigation system and positioning navigation method |
| CN110614890B (en) * | 2019-09-11 | 2022-10-25 | 哈尔滨工程大学 | Wheel-spraying integrated amphibious propeller |
| CN112009189B (en) * | 2020-08-18 | 2022-06-24 | 武汉理工大学 | Whale tailwheel amphibious propulsion integrated aircraft |
| CN112327860B (en) * | 2020-11-16 | 2023-12-12 | 西安应用光学研究所 | Amphibious bionic robot self-adaptive motion control system |
| CN112407220B (en) * | 2020-11-19 | 2022-04-22 | 上海崟冠智能科技有限公司 | Hybrid power transmission of amphibious vehicle and amphibious vehicle thereof |
| CN112406430B (en) * | 2020-11-23 | 2022-03-04 | 武汉理工大学 | Multifunctional spherical driving wheel for amphibious vehicle |
| CN112575723A (en) * | 2020-12-10 | 2021-03-30 | 台州学院 | Amphibious cleaning robot |
| CN112857869A (en) * | 2021-01-12 | 2021-05-28 | 路迈 | Marshland plant protection sample collection system |
| CN112874253B (en) * | 2021-02-25 | 2022-10-25 | 郑州宇通重工有限公司 | Maneuvering carrying equipment and hydraulic crawler lifting mechanism thereof |
| CN117087366B (en) * | 2023-10-18 | 2024-01-05 | 青岛海洋科技中心 | Amphibious robot for underwater geological exploration and motion control method thereof |
-
2006
- 2006-03-01 CN CNB2006100113950A patent/CN100493937C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11332222B2 (en) | 2015-06-01 | 2022-05-17 | Zodiac Pool Systems Llc | Ramped pontoon for retrieving a pool cleaner |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101028786A (en) | 2007-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100493937C (en) | Amphibious two-purpose robot mechanism | |
| CN107116980B (en) | Amphibious robot and amphibious detection system | |
| CN101337494B (en) | Amphibious bionics robot | |
| CN105775082A (en) | Bionic robotic dolphin for water quality monitoring | |
| CN110920334B (en) | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method | |
| CN102039994B (en) | Bionic ribbonfish for exploration | |
| CN108146167B (en) | Wheel leg type composite driving mechanism for amphibious spherical robot | |
| CN101767642A (en) | Underwater biomimetic robotic fish | |
| CN104760680B (en) | Novel water course clears up the amphibious walking mechanism of ship | |
| CN103600821A (en) | Omni-directional floating and wall-climbing underwater robot | |
| CN108394539A (en) | A kind of underwater operation robot system | |
| CN110203359A (en) | Imitative leopard triangular bream Fu fish underwater robot | |
| CN112009189B (en) | Whale tailwheel amphibious propulsion integrated aircraft | |
| CN103466063A (en) | Under-actuated spherical underwater robot with flexible movement | |
| CN106864712A (en) | Bionic mechanical dolphin | |
| CN201849550U (en) | Composite adsorption wall-crawling mechanism for underwater ship body | |
| CN102059927B (en) | Paddle-pedal plate hybrid driving-based amphibious robot | |
| CN107161308A (en) | A kind of modified propulsive mechanism of imitative case Molidae machine fish pectoral fin | |
| CN105857557A (en) | Double-freedom-degree bionic pectoral fin propelling mechanism based on ostraciidae fishes | |
| CN103832565A (en) | Pendulum type three-propeller underwater spherical robot | |
| CN110466296B (en) | Amphibious intelligent mobile chassis with double driving sources and working method thereof | |
| CN208181383U (en) | A kind of underwater operation robot system | |
| CN205396543U (en) | Four amphibious rotors navigation ware | |
| CN208051920U (en) | Float snake-shaped robot | |
| CN107985536B (en) | Submersible vehicle with space parallel mechanism vector propeller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090603 Termination date: 20100301 |