CN102059927B - Paddle-pedal plate hybrid driving-based amphibious robot - Google Patents
Paddle-pedal plate hybrid driving-based amphibious robot Download PDFInfo
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- CN102059927B CN102059927B CN 200910222487 CN200910222487A CN102059927B CN 102059927 B CN102059927 B CN 102059927B CN 200910222487 CN200910222487 CN 200910222487 CN 200910222487 A CN200910222487 A CN 200910222487A CN 102059927 B CN102059927 B CN 102059927B
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Abstract
The invention relates to an amphibious robot, in particular to a paddle-pedal plate hybrid driving-based amphibious robot, comprising a front buoy, a middle front buoy, a watertight electronic cabin, a middle rear buoy, a rear buoy, a frame, paddle driving modules and pedal plate driving modules, wherein the frame is sequentially provided with the front buoy, the middle front buoy, the watertightelectronic cabin, the middle rear buoy and the rear buoy, the two sides of the frame are symmetrically provided with a plurality of paddle driving modules, the pedal plate driving modules arranged onthe frame are arranged between adjacent paddle driving modules at the two sides; and each paddle driving module comprises a paddle direct driving joint and a rotary joint, and the paddle direct driving joint is rotatably connected with the rotary joint. In the robot provided by the invention, a paddle-pedal plate hybrid driving-based integration overall structure is adopted, the requirement of anamphibious crawling and floating multi-motion mode of the robot is met, and the stability, rapidity and coordination of the motion of the robot is guaranteed; and meanwhile, the robot provided by theinvention is flexible in motion and strong in environmental adaptability.
Description
Technical field
The present invention relates to amphibious robot, specifically a kind of amphibious robot based on wheel oar-pedal plate combination drive.
Background technology
Along with in-depth and the development of each ocean, world power to marine scientific research and ocean exploitation strategy, Very Shallow Water, breaker zone, surfzone and the beach area that flood and field is connected becomes that the aspects such as in recent years scientific research, environmental monitoring, investigation and sampling and military field are used and one of outline zone.The under-water robot of the outer research of Present Domestic mainly comprises floating type and creeping-type, but all there are some limitation in the operating area of these two kinds of under-water robots: at shallow water and deep water sea area, current under-water robot has certain operational capability, and Very Shallow Water, breaker zone and zone, seabeach operational capability a little less than, even can't operation; And the robot of land application is felt simply helpless especially to Very Shallow Water and breaker zone zone.Amphibious robot is a kind of extraordinary mobile robot who integrates special exercise in land and the water, different according to driver train and mode of motion, and existing amphibious robot roughly can be divided into single driving and combination flooding ejector half two large classes.No matter the amphibious robot of single drive mode is polypody, fluctuation-type, wheeled, crawler type etc., all is difficult to satisfy robot fully in water or the requirement of the aspect such as speed on land, obstacle detouring, manoevreability, stability.In order to realize amphibious robot respectively in water and the High Performance motion under the various modes of land, developing amphibious robot based on novel hybrid drive becomes one of the important research direction of amphibious robot in recent years and development tendency.
Summary of the invention
The object of the present invention is to provide a kind of amphibious robot based on wheel oar-pedal plate combination drive, it is single to have solved existing amphibious robot mode of motion under amphibious environment, operational capability a little less than, the problem of the aspect deficiencies such as rapidity, manoevreability and stability is for inshore ocean exploitation and utilization provide a kind of actv. hightech means.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes front floating drum, in front floating drum, watertight electronic compartment, in after floating drum, rear floating drum, framework, wheel oar driver module and pedal plate driver module, be equipped with successively on the described framework front floating drum, in front floating drum, watertight electronic compartment, in after floating drum and rear floating drum, bilateral symmetry at framework is provided with a plurality of oar driver modules of taking turns, and is provided with the pedal plate driver module that is installed on the framework between the adjacent wheel oar driver module in both sides; The described oar driver module of taking turns comprises the wheel direct driving joint of oar and revolute joint, and the direct driving joint of wheel oar is connected with revolute joint rotationally.
Wherein: the described oar driver module of taking turns is two pairs, is symmetrically distributed in the forward and backward two ends of framework, and four wheel oar driver module structures are identical; Described pedal plate driver module is a pair of, is symmetrically distributed in the middle part of framework, and two pedal plate driver module structures are identical; The described direct driving joint of wheel oar of taking turns in the oar driver module comprises sealing cabin, direct-driving motor assembly, sealed module end cap, the first axle drive shaft, wheel oar composite structure and propeller hub, wherein the both sides of sealing cabin radially symmetry stretch out, the extension of one side is installed in rotation on the revolute joint, the extension of opposite side rotationally be fixed in framework on fixed support be connected; Described direct-driving motor assembly is fixed in the sealing cabin, be connected with the interior motor driver electrical component of watertight electronic compartment, the output shaft of direct-driving motor assembly is connected with an end of the first axle drive shaft, the other end of the first axle drive shaft is connected with the wheel oar composite structure with its interlock, and this outside of taking turns in the middle of the oar composite structure is provided with the propeller hub that is connected in the first axle drive shaft other end end; Be arranged with the sealed module end cap that is tightly connected with sealing cabin on described the first axle drive shaft; The sealed module end cap is set on the first axle drive shaft by backup bearing, and a side of backup bearing is provided with the first jam nut that is set on the first axle drive shaft, and the opposite side of backup bearing is provided with the first rotating seal that is set on the first axle drive shaft; Wheel oar composite structure comprises wheel rim, blade and wheel hub, and wheel rim is annular arrangement, and its inner wall even distribution has a plurality of blades affixed with wheel hub, and wheel hub is set on the first axle drive shaft; Described revolute joint of taking turns in the oar driver module comprises revolution cabin body, turning motor assembly, the first finishing bevel gear cuter, the second finishing bevel gear cuter, transition axis and the first cabling poted assemblies, described revolution cabin body is installed on the framework, the turning motor assembly is fixed on the inside of revolution cabin body, and the output shaft of turning motor assembly is connected with an end of transition axis; The described direct driving joint of oar of taking turns comprises sealing cabin, the both sides of sealing cabin radially symmetry stretch out, wherein the extension of a side is connected with revolution cabin body rotationally, be provided with the first finishing bevel gear cuter, be meshed with the second finishing bevel gear cuter on the extension that is installed in sealing cabin one side at transition axis, the direct driving joint of driven wheel oar rotates; Body is provided with the first cabling poted assemblies in the revolution cabin, and the cable of turning motor assembly is connected by the interior motor driver electrical component of the first cabling poted assemblies and watertight electronic compartment; Be connected with the turning motor seat in the body of revolution cabin, the turning motor assembly is installed on the turning motor seat; The other end of transition axis is provided with rotating potentiometer, and the cable of rotating potentiometer is connected by the interior motor driver electrical component of the first cabling poted assemblies and watertight electronic compartment; Described revolution cabin body is connected with the extension of sealing cabin one side by swivel bearing and the second rotating seal, the top of swivel bearing is provided with the second jam nut that is set on the extension, also is being provided with the captive nut that is enclosed within on the sealing cabin one side extension above the second finishing bevel gear cuter; Described pedal plate driver module comprises pedal plate composite structure, the second axle drive shaft, pedal plate hatchcover, coupler, pedal plate drive motor assembly and pedal plate cabin body, and wherein an end of pedal plate cabin body is installed on the framework, and the other end is sealedly connected with the pedal plate hatchcover; Described pedal plate drive motor assembly is fixed on the inside of pedal plate cabin body, and the output shaft of pedal plate drive motor assembly is connected with an end of the second axle drive shaft by coupler, and the other end of the second axle drive shaft is passed, is connected with the pedal plate composite structure by the pedal plate hatchcover; Be provided with the second cabling poted assemblies at pedal plate cabin body, the cable of pedal plate drive motor assembly is connected by the interior motor driver electrical component of the second cabling poted assemblies and watertight electronic compartment; Be provided with attachment flange in the body of pedal plate cabin, pedal plate drive motor assembly is installed on the attachment flange, coupler links to each other with attachment flange by clutch shaft bearing, also be provided with the magslip that is set on the second axle drive shaft in the body of pedal plate cabin, the cable of magslip is connected by the interior motor driver electrical component of the second cabling poted assemblies and watertight electronic compartment; The pedal plate composite structure comprises pedal plate skeleton and flexible body, and pedal plate skeleton and flexible body are flats, and an end of pedal plate skeleton is connected with the other end of the second axle drive shaft, and the other end of pedal plate skeleton is provided with flexible body.
Advantage of the present invention and good effect are:
1. the present invention adopts the integrated overall structure types based on wheel oar-pedal plate combination drive, take full advantage of wheel oar and pedal plate creep and the motion of swimming in double action, satisfy robot the creeping and the demand of the multi-locomotion mode that swims of amphibious condition, ensured simultaneously robot motion's stability, rapidity and harmony.
2. the present invention adopts the actuating device of two kinds of different motion mechanism, namely take turns oar actuating device and pedal plate actuating device, all can be considered the Combined moving mechanism with multiple efficacies from its principle of work angle, make robot when possessing diversified mode of motion and better integrated motion performance, ensure compactedness and the whole miniaturization of system architecture, alleviated the weight of robot carrier.
3. the actuating device of robot of the present invention adopts modular design, and each takes turns the oar driver element and the pedal plate driver element is respectively independently modular construction, does not interfere with each other each other, is convenient to maintenance and the replacing of actuating device.
4. the present invention's campaign is flexible, and adaptive capacity to environment is strong.
Description of drawings
Fig. 1 is structure principle chart of the present invention;
Fig. 2 is structural representation of the present invention;
Fig. 3 is the upward view of Fig. 2;
Fig. 4 is the structural representation of wheel slurry driver module among Fig. 2;
Fig. 5 is the structural representation of pedal plate driver module among Fig. 2;
Fig. 6 is the structural representation of wheel oar composite structure among Fig. 4;
Fig. 7 is the structural representation of pedal plate composite structure among Fig. 5;
Fig. 8 a is that rectilinear creeping campaign of the present invention realizes schematic diagram;
Fig. 8 b is that the present invention turns to crawling exercises to realize schematic diagram;
Fig. 8 c is that the straight line of the present invention motion of swimming realizes schematic diagram;
Fig. 8 d is that the present invention turns to the motion of swimming to realize schematic diagram;
Wherein: 1 is front floating drum, 2 be in before floating drum, 3 is the watertight electronic compartment, 4 be in after floating drum, 5 is rear floating drum, 6 is framework, 7 are wheel oar driver module, and 8 are the direct driving joint of wheel oar, and 9 is revolute joint, 10 is the pedal plate driver module, and 11 is the motor driver assembly, and 12 is the secondary lithium battery group, 13 is the umbilical cable underwater electrical connector, and 14 is the GPS locating module, and 15 is wireless data transmission module, 16 are the navigation attitude sensor, 17 are the control computing machine, and 18 is depth transducer, and 19 is receiving wire, 20 is antenna, 21 is fixed support, and 22 is sealing cabin, and 23 is the direct-driving motor assembly, 24 is the first holding screw, 25 is the first jam nut, and 26 is backup bearing, and 27 is the first rotating seal, 28 is the sealed module end cap, 29 is the first axle drive shaft, and 30 is the first flat key, and 31 are wheel oar composite structure, 32 is propeller hub, 33 is the second rotating seal, and 34 is swivel bearing, and 35 is the second jam nut, 36 is rotating potentiometer, 37 is captive nut, and 38 is transition axis, and 39 is the first finishing bevel gear cuter, 40 is the second finishing bevel gear cuter, 41 is the second holding screw, and 42 is the turning motor seat, and 43 is the turning motor assembly, 44 are revolution cabin body, 45 is the first cabling poted assemblies, and 46 is the pedal plate composite structure, and 47 is the second flat key, 48 is the second axle drive shaft, 49 is the pedal plate hatchcover, and 50 is magslip, and 51 is attachment flange, 52 is coupler, 53 is pedal plate drive motor assembly, and 54 is pedal plate cabin body, and 55 is the second cabling poted assemblies, 56 is the 3rd flat key, 57 is clutch shaft bearing, and 58 is the second bearing, and 59 is the O RunddichtringO, 60 is the 3rd rotating seal, 61 is wheel rim, and 62 is blade, and 63 is wheel hub, 64 is the pedal plate skeleton, and 65 is flexible body.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Shown in Fig. 1～3, the present invention includes front floating drum 1, in front floating drum 2, watertight electronic compartment 3, in after floating drum 4, rear floating drum 5, framework 6, wheel oar driver module 7 and pedal plate driver module 10, wherein front floating drum 1, in front floating drum 2, watertight electronic compartment 3, in floating drum 4 and rear floating drum 5 are fixedly mounted on the framework 6 by screw successively afterwards; Bilateral symmetry at framework 6 is provided with a plurality of oar driver modules 7 of taking turns, and is provided with the pedal plate driver module 10 that is installed on the framework 6 between the adjacent wheel oar driver module 7 in both sides.Totally two pairs, four of the wheel oar driver modules 7 of present embodiment, be symmetrically distributed in the forward and backward two ends of framework 6, four wheel oar driver module 7 structures are identical, include the wheel direct driving joint 8 of oar and revolute joint 9, the wheel direct driving joint 8 of oar and revolute joint 9 are fixed by screws in respectively on the framework 6, and the direct driving joint 8 of wheel oar is connected with revolute joint 9 rotationally.The pedal plate driver module 10 of present embodiment be a pair of, two, be symmetrically distributed in the middle part of framework 6, two pedal plate driver module 10 structures are identical, are connected by screw and framework 6.
Watertight electronic compartment 3 of the present invention is prior art, comprise motor driver assembly 11, secondary lithium battery group 12, umbilical cable underwater electrical connector 13, GPS locating module 14, wireless data transmission module 15, navigation attitude sensor 16, control computing machine 17 and depth transducer 18, wherein secondary lithium battery group 12 is positioned at the middle part of watertight electronic compartment 3, is used for keeping the balance of robot integral body; Umbilical cable underwater electrical connector 13 is connected on the cover plate of watertight electronic compartment 3; Navigation attitude sensor 16 levels are installed on the base plate of watertight electronic compartment 3; Depth transducer 18 is positioned at the leading flank of watertight electronic compartment 3, processes being connected on the side plate of watertight electronic compartment 3 by watertight; Motor driver assembly 11, GPS locating module 14 and wireless data transmission module 15 are separately positioned in the watertight electronic compartment 3.In before the top of floating drum 2 receiving wire 19 of GPS locating module 14 is installed, in after the top of floating drum 4 antenna 20 of wireless data transmission module 15 is installed.The collection signal input end of control computing machine 17 gathers navigation attitude data and keel depth data by navigation attitude sensor 16 and depth transducer 18, and the satellite-signal input end is by GPS locating module 14 and receiving wire 19 receiving satellite positioning signals thereof; The control output end of control computing machine 17 is connected to the control loop of motor driver assembly 11, and signal output part carries out wireless telecommunications by wireless data transmission module 15 and antenna 20 thereof with upper computer.
, model is 4QEC DECV 50/5 motor driver assembly 11 of the present invention is commercial product, purchases (the manufacturer: in Suzhou an ancient unit of weight and servo Science and Technology Ltd. Switzerland Maxon company); Secondary lithium battery group 12 is commercial product, and purchasing in Weifang Wina Environmental Protection Power Co., Ltd., model is WA3610; , model is GARMINGPS15 GPS locating module 14 is commercial product, purchases in the Hezhong Sizhuang Science and Technology Co. Ltd., Beijing (manufacturer: U.S. GARMIN company); Wireless data transmission module 15 is commercial product, purchase in Shenzhen friend fastly reach the development in science and technology Co., Ltd, model is FC-203/SA; Control computing machine 17 is commercial product, and purchasing in Guangzhou Zhou Ligong micro controller system Co., Ltd, model is ARM7 LPC2294.
As shown in Figure 4, the direct driving joint 8 of wheel oar in the wheel oar driver module 7 comprises sealing cabin 22, direct-driving motor assembly 23, the first jam nut 25, backup bearing 26, the first rotating seal 27, sealed module end cap 28, the first axle drive shaft 29, wheel oar composite structure 31 and propeller hub 32, wherein sealing cabin 22 is the cylinder-like structure of hollow, its both sides radially symmetry stretch out, the centerline collineation of both sides extension, the extension of one side is hollow circuit cylinder, be installed in rotation on the revolute joint 9, the extension of opposite side is connected with fixed support 21 on being fixed in framework 6 by bearing.Direct-driving motor assembly 23 is fixed in the sealing cabin 22, be electrically connected with the interior motor driver assembly 11 of watertight electronic compartment 3, one end of the output shaft of direct-driving motor assembly 23 and the first axle drive shaft 29 is affixed by the first holding screw 24, the other end of the first axle drive shaft 29 is realized being connected with wheel oar composite structure 31 by the first flat key 30, this outside of taking turns in the middle of the oar composite structure 31 is provided with propeller hub 32, and wheel oar composite structure 31 is anchored on the end of the first axle drive shaft 29 other ends under the effect that screws screw by propeller hub 32.Be provided with sealed module end cap 28 at sealing cabin 22 near an end of taking turns oar composite structure 31, sealed module end cap 28 is connected by screw the fixing of realization and sealing cabin 22; Sealed module end cap 28 is set on the first axle drive shaft 29 by backup bearing 26, one side of backup bearing 26 is provided with the first jam nut 25 that is set on the first axle drive shaft 29, the axial restraint that is used for backup bearing 26 is spacing, the opposite side of backup bearing 26 is provided with the first rotating seal 27 that is set on the first axle drive shaft 29, the first rotating seal 27 outsides are compressed by gland, and gland is fixed by screw and sealed module end cap.When 23 work of direct-driving motor assembly, can drive the first axle drive shaft 29 and rotate, and then driven wheel oar composite structure rotates., model is MAXON EC32 direct-driving motor assembly 23 is commercial product, purchases (the manufacturer: in Suzhou an ancient unit of weight and servo Science and Technology Ltd. Switzerland Maxon company).
As shown in Figure 6, wheel oar composite structure 31 integrates drive wheel and screw propeller movement characteristic and function, comprise wheel rim 61, blade 62 and wheel hub 63, wheel rim 61 is annular arrangement, its inner wall even distribution has the affixed blade 62 of a plurality of and wheel hub 63, have through hole in the middle of the wheel hub 63, be set on the first axle drive shaft 29, by the first flat key 30 and the first axle drive shaft 29 interlocks; Rotary screw on the propeller hub 32 penetrates, is threaded connection in the end of the first axle drive shaft 29 by described through hole, to wheel oar composite structure axial location.
As shown in Figure 4, revolute joint 9 in the wheel oar driver module 7 comprises revolution cabin body 44, turning motor assembly 43, the first finishing bevel gear cuter 39, the second finishing bevel gear cuter 40, transition axis 38, the first cabling poted assemblies 45, captive nut 37, rotating potentiometer 36, the second jam nut 35, swivel bearing 34 and the second rotating seal 33, described revolution cabin body 44 is fixed on the framework 6, be fixed with turning motor seat 42 by screw in the revolution cabin body 44, turning motor assembly 43 is fixed on the turning motor seat 42, be arranged with the first finishing bevel gear cuter 39 on the transition axis 38, the second holding screw 41 is connected in the first finishing bevel gear cuter 39 on the output shaft of turning motor assembly 43 in the lump with transition axis 38, the other end of transition axis 38 is installed on the turning motor seat 42 by bearing, and passed by turning motor seat 42, then link to each other with rotating potentiometer 36, rotating potentiometer 36 also is connected on the turning motor seat 42.The extension (as axis of revolution) of sealing cabin 22 1 sides passes turning motor seat 42, also realizes by swivel bearing 34 and turns round being connected of cabin body 44 by turning round 44 insertions of cabin body; The below of swivel bearing 34 is provided with the second rotating seal 33 that is enclosed within on this extension, the top is provided with the second jam nut 35 that is enclosed within on this extension, turning motor seat 42 and the second jam nut 35 make respectively the inside and outside delineation position of swivel bearing 34, and realize jointly by swivel bearing 34, the second jam nut 35 and turning motor seat 42 the vertical location of sealing cabin 22.The top that this extension is provided with the second finishing bevel gear cuter 40, the second finishing bevel gear cuters 40 be provided with also that captive nut 37, the second finishing bevel gear cuters 40 are connected on this extension by captive nut 37 and with 39 engagements of the first finishing bevel gear cuter, realize the direct driving joint 8 revolution commutations of wheel oar; Be provided with the first cabling poted assemblies 45 at revolution cabin body 44, the cable of direct-driving motor assembly 23, rotating potentiometer 36 and turning motor assembly 43 is electrically connected by the first cabling poted assemblies 45 and watertight electronic compartment 3 interior motor driver assemblies 11.Turning motor assembly 43 work drives transition axis 38 and rotates, and transition axis 38 drives the whole direct driving joint 8 revolution commutations of oar of taking turns by first and second finishing bevel gear cuter 39,40 engagement.Rotating potentiometer 36 is commercial product, purchases in Shanghai (the manufacturer: NOVOTECHNIK), model is WAL300 of auspicious tree Ou Mao mechanical ﹠ electronic equipment corporation, Ltd; , model is MAXON EC max 30 turning motor assembly 43 is commercial product, purchases (the manufacturer: in Suzhou an ancient unit of weight and servo Science and Technology Ltd. Switzerland Maxon company).
As shown in Figure 5, pedal plate driver module 10 comprises pedal plate composite structure 46, the second axle drive shaft 48, pedal plate hatchcover 49, magslip 50, attachment flange 51, coupler 52, pedal plate drive motor assembly 53, pedal plate cabin body 54 and the second cabling poted assemblies 55, wherein pedal plate cabin body 54 is hollow circuit cylinder, the one end is fixed on the framework 6, the other end is sealedly connected with pedal plate hatchcover 49 by screw, is provided with O RunddichtringO 59 between pedal plate hatchcover 49 and pedal plate cabin body 54 contact surfaces; Be provided with the attachment flange 51 that is fixed in by screw on the pedal plate hatchcover 49 in pedal plate cabin body 54, magslip 50 is installed in the cavity of attachment flange 51; Pedal plate drive motor assembly 53 is connected on the attachment flange 51 by screw, the output shaft of pedal plate drive motor assembly 53 is realized being connected with an end of the second axle drive shaft 48 under 56 transmissions of two the 3rd flat keys by coupler 52, the other end of the second axle drive shaft 48 passes the interior ring of magslip 50, is passed, is connected by the second flat key 47 with pedal plate composite structure 46 by pedal plate hatchcover 49 again, and the rotor of magslip 50 and the second axle drive shaft 48 rotate jointly; Coupler 52 links to each other with attachment flange 51 by clutch shaft bearing 57, and realizes spacing by the seam of coupler outside face and the seam of attachment flange inwall; Be arranged with the second bearing 58 and the 3rd rotating seal 60 that are positioned at pedal plate hatchcover 49 inner chambers on the second axle drive shaft 48, dynamic seal between the second axle drive shaft 48 and the pedal plate hatchcover 49 realizes that by the 3rd rotating seal 60 static seal between pedal plate hatchcover 49 and the pedal plate cabin body 54 is realized by O RunddichtringO 59.Be provided with the second cabling poted assemblies 55 at pedal plate cabin body 54, the cable of magslip 50 and pedal plate drive motor assembly 53 is electrically connected by the second cabling poted assemblies 55 and watertight electronic compartment 3 interior motor driver assemblies 11.Magslip 50 is commercial product, and purchase in Shenyang Ai Ruite automation equipment Co., Ltd (manufacturer: Japan rub river), model is TS2640N321E64 more; , model is MAXON EC 40 pedal plate drive motor assembly 52 is commercial product, purchases (the manufacturer: in Suzhou an ancient unit of weight and servo Science and Technology Ltd. Switzerland Maxon company).
As shown in Figure 7, pedal plate composite structure 46 integrates creeps leg and swings fin movement characteristic and function, comprise pedal plate skeleton 64 and flexible body 65, pedal plate skeleton 64 and flexible body 65 are flats, one end of pedal plate skeleton 64 is affixed by the other end of the second flat key 47 and the second axle drive shaft 48, the other end of pedal plate skeleton 64 is provided with flexible body 65, and flexible body 65 can be made by rubber.
Principle of work of the present invention is:
Amphibious robot of the present invention can be realized swimming or two kinds of patterns of water-bed crawling exercises in land crawling exercises under the amphibious environment and the water.
Crawling exercises pattern: under the crawling exercises pattern, robot of the present invention can carry out the rectilinear creeping campaign shown in Fig. 8 a or turn to crawling exercises shown in Fig. 8 b, 23 work of direct-driving motor assembly, drive 29 rotations of the first axle drive shaft, again by the rotation of the first axle drive shaft 29 driven wheel oar composite structures 31, realize the straight ahead of robot or retreat; When robot need to turn to, turning motor assembly 43 work, drive transition axis 38 and on 39 rotations of the first finishing bevel gear cuter, again by first and second finishing bevel gear cuter 39,40 engagement, drive the whole direct driving joint 8 of oar of taking turns and rotate around the line of centers of extension, realize turning to; Under the crawling exercises pattern, the function of wheel oar composite structure 31 main performance drive wheels ensures that the machine human motion possesses rapidity and controllability.And pedal plate driver module 10 can be creeped by auxiliary wheel, 53 work of pedal plate drive motor assembly, driving the second axle drive shaft 48 rotates, drive pedal plate composite structure 46 by the second axle drive shaft 48 and swing, the effect of performance support and balance robot carrier under the periodicity circle swing of pedal plate drive motor assembly 53.
Swim in the water or water-bed crawling exercises pattern: in water, by adjusting buoyancy, robot can be realized respectively swimming in the water and move and water-bed crawling exercises, and water-bed crawling exercises is creeped with land and had identical principle of work; Driving by revolute joint 9 in the wheel oar driver module 7, robot can be realized the direct route shown in Fig. 8 c swim motion or the motion of swimming of turning to shown in Fig. 8 d, under the mode of motion that swims, 43 work of turning motor assembly, wheel oar composite structure 31 is rotated, until the first axle drive shaft 29 is vertical with transition axis 38, under the driving of direct-driving motor assembly 23, produce thrust, simultaneously pedal plate drive motor assembly 53 work, make pedal plate composite structure 46 take horizontal surface as the plane of symmetry, do periodic swing with certain amplitude of oscillation, can produce the robot required thrust of advancing, be implemented in direct route in the water motion of swimming, the effects of wheel oar composite structure 31 main performance screw propellers; When needing to turn in water, the blade rotation direction in the wheel oar composite structure 31 of framework 6 both sides is opposite, and pedal plate composite structure 46 swaying directions in the pedal plate driver module 10 of both sides are opposite, can realize the motion of swimming of robot turning in water.
Amphibious robot of the present invention can realize creeping in land and water in the two kinds of mode of motioies that swim, and need not to change the autonomous switching that actuating device can be realized two kinds of mode of motioies.Creep under the state, the wheel oar is mainly brought into play the characteristics of wheel type mobile mechanism, and pedal plate then can be considered the leg formula travel mechanism with single degree of freedom; When swimming, the wheel oar uses as screw propeller, and pedal plate can be brought into play the function that swings fin; By the direct driving joint 8 of wheel oar in the wheel oar driver module 7 and the coordinated movement of various economic factors of revolute joint 9 and pedal plate driver module 10, can realize the multi-locomotion mode under the amphibious environment in robot land and water.
Claims (9)
- One kind based on the wheel oar-pedal plate combination drive amphibious robot, it is characterized in that: comprise front floating drum (1), in before floating drum (2), watertight electronic compartment (3), in after floating drum (4), rear floating drum (5), framework (6), wheel oar driver module (7) and pedal plate driver module (10), front floating drum (1) is installed on the described framework (6) successively, in before floating drum (2), watertight electronic compartment (3), in after floating drum (4) and rear floating drum (5), bilateral symmetry at framework (6) is provided with a plurality of oar driver modules (7) of taking turns, and is provided with the pedal plate driver module (10) that is installed on the framework (6) between the adjacent wheel oar driver module (7) in both sides; The described oar driver module (7) of taking turns comprises the wheel direct driving joint of oar (8) and revolute joint (9), and the wheel direct driving joint of oar (8) is connected with revolute joint (9) rotationally;The described direct driving joint of wheel oar (8) of taking turns in the oar driver module (7) comprises sealing cabin (22), direct-driving motor assembly (23), sealed module end cap (28), the first axle drive shaft (29), wheel oar composite structure (31) and propeller hub (32), wherein the both sides of sealing cabin (22) radially symmetry stretch out, the extension of one side is installed in rotation on the revolute joint (9), the extension of opposite side rotationally be fixed in framework (6) on fixed support (21) be connected; Described direct-driving motor assembly (23) is fixed in the sealing cabin (22), be electrically connected with the interior motor driver assembly (11) of watertight electronic compartment (3), the output shaft of direct-driving motor assembly (23) is connected with an end of the first axle drive shaft (29), the other end of the first axle drive shaft (29) is connected with the wheel oar composite structure (31) with its interlock, and this outside of taking turns in the middle of the oar composite structure (31) is provided with the propeller hub (32) that is connected in the first axle drive shaft (29) other end end; Be arranged with the sealed module end cap (28) that is tightly connected with sealing cabin (22) on described the first axle drive shaft (29).
- 2. by the described amphibious robot based on wheel oar-pedal plate combination drive of claim 1, it is characterized in that: the described oar driver module (7) of taking turns is two pairs, be symmetrically distributed in the forward and backward two ends of framework (6), four wheel oar driver modules (7) structure is identical; Described pedal plate driver module (10) is a pair of, is symmetrically distributed in the middle part of framework (6), and two pedal plate driver modules (10) structure is identical.
- 3. by the described amphibious robot based on wheel oar-pedal plate combination drive of claim 1, it is characterized in that: described sealed module end cap (28) is set on the first axle drive shaft (29) by backup bearing (26), one side of backup bearing (26) is provided with the first jam nut (25) that is set on the first axle drive shaft (29), and the opposite side of backup bearing (26) is provided with the first rotating seal (27) that is set on the first axle drive shaft (29).
- 4. by the described amphibious robot based on wheel oar-pedal plate combination drive of claim 1, it is characterized in that: the described oar composite structure (31) of taking turns comprises wheel rim (61), blade (62) and wheel hub (63), wheel rim (61) is annular arrangement, its inner wall even distribution has a plurality of blades (62) affixed with wheel hub (63), and wheel hub (63) is set on the first axle drive shaft (29).
- 5. by claim 1 or 2 described amphibious robots based on wheel oar-pedal plate combination drive, it is characterized in that: described revolute joint (9) of taking turns in the oar driver module (7) comprises revolution cabin body (44), turning motor assembly (43), the first finishing bevel gear cuter (39), the second finishing bevel gear cuter (40), transition axis (38) and the first cabling poted assemblies (45), described revolution cabin body (44) is installed on the framework (6), turning motor assembly (43) is fixed on the inside of revolution cabin body (44), and the output shaft of turning motor assembly (43) is connected with an end of transition axis (38); The extension of described sealing cabin (22) one sides is connected with revolution cabin body (44) rotationally, be provided with the first finishing bevel gear cuter (39), be meshed with the second finishing bevel gear cuter (40) on the extension that is installed in sealing cabin (22) one sides at transition axis (38), the direct driving joint of driven wheel oar (8) rotates; Be provided with the first cabling poted assemblies (45) at revolution cabin body (44), the cable of turning motor assembly (43) is electrically connected by the interior motor driver assembly (11) of the first cabling poted assemblies (45) and watertight electronic compartment (3).
- 6. by the described amphibious robot based on wheel oar-pedal plate combination drive of claim 5, it is characterized in that: be connected with turning motor seat (42) in the described revolution cabin body (44), turning motor assembly (43) is installed on the turning motor seat (42); The other end of transition axis (38) is provided with rotating potentiometer (36), and the cable of rotating potentiometer (36) is electrically connected by the interior motor driver assembly (11) of the first cabling poted assemblies (45) and watertight electronic compartment (3); Described revolution cabin body (44) is connected with the extension of sealing cabin (22) one sides by swivel bearing (34) and the second rotating seal (33), the top of swivel bearing (34) is provided with the second jam nut (35) that is set on the extension, also is provided with the captive nut (37) that is enclosed within on sealing cabin (22) the one side extensions in the top of the second finishing bevel gear cuter (40).
- 7. by claim 1 or 2 described amphibious robots based on wheel oar-pedal plate combination drive, it is characterized in that: described pedal plate driver module (10) comprises pedal plate composite structure (46), the second axle drive shaft (48), pedal plate hatchcover (49), coupler (52), pedal plate drive motor assembly (53) and pedal plate cabin body (54), wherein an end of pedal plate cabin body (54) is installed on the framework (6), and the other end is sealedly connected with pedal plate hatchcover (49); Described pedal plate drive motor assembly (53) is fixed on the inside of pedal plate cabin body (54), the output shaft of pedal plate drive motor assembly (53) is connected by the end of coupler (52) with the second axle drive shaft (48), and the other end of the second axle drive shaft (48) is passed, is connected with pedal plate composite structure (46) by pedal plate hatchcover (49); Be provided with the second cabling poted assemblies (55) at pedal plate cabin body (54), the cable of pedal plate drive motor assembly (53) is electrically connected by the interior motor driver assembly (11) of the second cabling poted assemblies (55) and watertight electronic compartment (3).
- 8. by the described amphibious robot based on wheel oar-pedal plate combination drive of claim 7, it is characterized in that: be provided with attachment flange (51) in the described pedal plate cabin body (54), pedal plate drive motor assembly (53) is installed on the attachment flange (51), coupler (52) links to each other with attachment flange (51) by clutch shaft bearing (57), also be provided with the magslip (50) that is set on the second axle drive shaft (48) in the pedal plate cabin body (54), the cable of magslip (50) is electrically connected by the interior motor driver assembly (11) of the second cabling poted assemblies (55) and watertight electronic compartment (3).
- 9. by the described amphibious robot based on wheel oar-pedal plate combination drive of claim 7, it is characterized in that: described pedal plate composite structure (46) comprises pedal plate skeleton (64) and flexible body (65), pedal plate skeleton (64) and flexible body (65) are flats, one end of pedal plate skeleton (64) is connected with the other end of the second axle drive shaft (48), and the other end of pedal plate skeleton (64) is provided with flexible body (65).
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| CN 200910222487 CN102059927B (en) | 2009-11-09 | 2009-11-09 | Paddle-pedal plate hybrid driving-based amphibious robot |
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| CN 200910222487 CN102059927B (en) | 2009-11-09 | 2009-11-09 | Paddle-pedal plate hybrid driving-based amphibious robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303491A (en) * | 2011-06-16 | 2012-01-04 | 哈尔滨工程大学 | Rotary foot type amphibious mine disaster search and rescue robot |
| CN104648504B (en) * | 2013-11-15 | 2016-09-28 | 中国科学院沈阳自动化研究所 | A kind of bionical amphibious robot spring wheel foot crawling device |
| CN104626902A (en) * | 2015-02-03 | 2015-05-20 | 北京理工大学 | Multi-degree-of-freedom amphibious spherical robot |
| CN105882339B (en) * | 2016-05-06 | 2018-06-29 | 重庆大学 | Become cell type pedipulator |
| CN105946483B (en) * | 2016-05-06 | 2018-01-30 | 重庆大学 | With the amphibious multi-foot robot for becoming cell type pedipulator |
| CN106193268B (en) * | 2016-07-13 | 2019-02-05 | 长安大学 | Amphibious multiple-unit wheeled pipe robot examination and repair system |
| CN112575723A (en) * | 2020-12-10 | 2021-03-30 | 台州学院 | Amphibious cleaning robot |
| CN113291111A (en) * | 2021-06-01 | 2021-08-24 | 中国北方车辆研究所 | Wheel-fin-paddle composite amphibious robot |
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| CN201580464U (en) * | 2009-11-09 | 2010-09-15 | 中国科学院沈阳自动化研究所 | Amphibious robot based on wheel propeller-foot plate combination drive |
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| FR2281241B2 (en) * | 1974-02-08 | 1978-03-24 | Paret Paul | |
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| CN201580464U (en) * | 2009-11-09 | 2010-09-15 | 中国科学院沈阳自动化研究所 | Amphibious robot based on wheel propeller-foot plate combination drive |
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