CN103587605A - Double-foot amphibious robot - Google Patents

Double-foot amphibious robot Download PDF

Info

Publication number
CN103587605A
CN103587605A CN201210288334.4A CN201210288334A CN103587605A CN 103587605 A CN103587605 A CN 103587605A CN 201210288334 A CN201210288334 A CN 201210288334A CN 103587605 A CN103587605 A CN 103587605A
Authority
CN
China
Prior art keywords
robot
rod
biped
amphibious
amphibious robot
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.)
Pending
Application number
CN201210288334.4A
Other languages
Chinese (zh)
Inventor
徐林森
曹凯
施云高
魏鲜明
施翔
谢颖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei Institutes of Physical Science of CAS
Original Assignee
Hefei Institutes of Physical Science of CAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hefei Institutes of Physical Science of CAS filed Critical Hefei Institutes of Physical Science of CAS
Priority to CN201210288334.4A priority Critical patent/CN103587605A/en
Publication of CN103587605A publication Critical patent/CN103587605A/en
Pending legal-status Critical Current

Links

Abstract

The invention belongs to the technical field of robots and particularly relates to a double-foot amphibious robot capable of walking on water surface and land. The robot comprises a supporting body, a walking mechanism, a supporting wheel, a swinging mechanism, a direct-current motor and a transmission mechanism. The supporting body is connected with the walking mechanism, and the direct current motor is connected with the transmission mechanism. The double-foot amphibious robot has the advantages of being small in size and light in weight, adopting a method of driving double feet through one motor, being capable of walking fast on the water surface and the land. In addition, the double-foot amphibious robot is convenient to operate and use, low in construction cost and suitable for popularize and apply in relevant technical field.

Description

A kind of biped amphibious robot
Technical field
The invention belongs to Robotics field, specifically a kind of can be at a kind of biped amphibious robot of the water surface and land walking.
Background technology
Biped is waterborne, the amphibious robot of land walking is because of its peculair motion mode, good to landform adaptive faculty, and mobility strong, for the detection under flood and marshy area environment, is searched and rescue operation the fields such as water quality exploration.At present, can move on the ground and the amphibious robot that moves about of underwater more, but really can realize water surface walking and two kinds of functions of land walking biped robot actually rare.Therefore, need technical progress to realize the walking of the robot water surface and these two kinds of functions of land walking
Summary of the invention
The object of the invention is in order to solve deficiency of the prior art, provide a kind of can be at the amphibious robot of water surface walking and land walking.
An amphibious robot, comprises supporter, traveling gear, support wheel, swinging gear, DC machine, transmission device, and wherein, supporter connects traveling gear, and DC machine is connected with transmission device.
Traveling gear of the present invention comprises drive link, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, robot sole, and wherein, the 5th connecting rod is connected with robot sole.Robot sole is walked under the driving of DC machine.Robot sole is made by rubber mount material, and robot sole is rounded or oval.
The supporter of biped amphibious robot comprises robot frame, electric machine support; Swinging gear comprises steering wheel, blade; Transmission device comprises reductor, driving gear, driven gear, transmission shaft.
Robot frame of the present invention, electric machine support, drive link, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod are all to be made by makrolon material.This structure design can alleviate the own wt of robot.
Biped amphibious robot of the present invention has little, the lightweight feature of volume, and robot adopts single motor to drive the method for biped, can walk fast at the water surface and land.In addition, handled easily of the present invention is used, cost is not high, is adapted at applying in correlative technology field.
Accompanying drawing explanation
Fig. 1 is the front view of biped amphibious robot of the present invention;
Fig. 2 is the birds-eye view of biped amphibious robot of the present invention.
In figure: 1, robot frame; 2, drive link; 3, second connecting rod; 4, third connecting rod; 5, the 4th connecting rod; 6, the 5th connecting rod; 7, robot sole; 8, support wheel; 9, reductor; 10, DC machine; 11, steering wheel; 12, blade; 13, driving gear; 14, driven gear; 15, transmission shaft; 16, electric machine support.
The specific embodiment
For making technical scheme of the present invention and feature clearer, below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail.At this, following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1 and Figure 2, a kind of biped amphibious robot, comprises supporter, traveling gear, support wheel 8, swinging gear, DC machine 10, transmission device, and wherein supporter connects traveling gear, and DC machine 10 is connected with transmission device.
The supporter of biped amphibious robot comprises robot frame 1, electric machine support 16.The traveling gear of biped amphibious robot comprises drive link 2, second connecting rod 3, third connecting rod 4, the 4th connecting rod 5, the 5th connecting rod 6, robot sole 7.Robot sole 7 is made by rubber mount material, and robot sole 7 is rounded or oval.
Robot sole 7 bounces the water surface under the driving of DC machine 10, to underwater, move, form an air pocket, the water surface produces bearing force upwards and thrust forward to robot sole 7 like this, before air pocket disappears, robot sole 7 will leave the water surface, and then bounces, circulating motion, walks on the water surface thereby realize like this.When land walking, robot frame 1 relies on support wheel 8 to keep balance and support, and robot sole 7 produces friction force with ground under the driving of DC machine 10, and drive machines people travels forward.
The swinging gear of biped amphibious robot comprises steering wheel 11, blade 12; The transmission device of biped amphibious robot comprises reductor 9, driving gear 13, driven gear 14, transmission shaft 15.In addition, robot frame 1 of the present invention, electric machine support 16, drive link 2, second connecting rod 3, third connecting rod 4, the 4th connecting rod 5, the 5th connecting rod 6 are all to be made by makrolon material.This structure design can effectively alleviate the own wt of robot.
In traveling gear, drive link 2 one end and transmission shaft 15 by key be connected, the other end and the 4th connecting rod 5 stage casings are rotationally connected, the two ends of second connecting rod 3 are rotationally connected with the stage casing of third connecting rod 4, one end of the 5th connecting rod 6 respectively, third connecting rod 4 is rotationally connected with one end of robot frame 1, the 4th connecting rod 5, the 4th connecting rod 5 and the 5th connecting rod 6 are rotationally connected, and the 5th connecting rod 6 and the 4th connecting rod 5, second connecting rod 3 are rotationally connected.Robot sole 7 is connected with the 5th connecting rod 6.When DC machine 10, rotate, while driving drive link 2 to rotate, by the interlock between each connecting rod, will drive the 5th connecting rod 6 cyclical movements, the run trace of imitating out snake, lizard.
Support wheel 8 of the present invention is rotationally connected with robot frame 1, when ground running, play a supportive role, steering wheel 11 is fixed in robot frame 1, and blade 12 is connected with the mouth of steering wheel 11 by key, swings to keep the state of equilibrium of robot health while walking on the water.
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here cannot give all embodiments exhaustive.Every still row in protection scope of the present invention of apparent variation that technical scheme of the present invention extends out or change that belong to.

Claims (8)

1. a biped amphibious robot, comprise supporter, traveling gear, support wheel, swinging gear, DC machine, transmission device, wherein, supporter connects traveling gear, DC machine is connected with transmission device, it is characterized in that traveling gear comprises drive link, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, robot sole, robot sole is walked under the driving of DC machine.
2. a kind of biped amphibious robot according to claim 1, is characterized in that the 5th connecting rod is connected with robot sole.
3. a kind of biped amphibious robot according to claim 1, is characterized in that supporter comprises robot frame, electric machine support.
4. a kind of biped amphibious robot according to claim 1, is characterized in that swinging gear comprises steering wheel, blade.
5. a kind of biped amphibious robot according to claim 1, is characterized in that transmission device comprises reductor, driving gear, driven gear, transmission shaft.
6. a kind of biped amphibious robot according to claim 2, is characterized in that robot sole made by rubber mount material.
7. a kind of biped amphibious robot according to claim 2, is characterized in that robot sole is rounded or oval.
8. according to a kind of biped amphibious robot described in claim 1 or 3, it is characterized in that robot frame, electric machine support, drive link, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod are all to be made by makrolon material.
CN201210288334.4A 2012-08-14 2012-08-14 Double-foot amphibious robot Pending CN103587605A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210288334.4A CN103587605A (en) 2012-08-14 2012-08-14 Double-foot amphibious robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210288334.4A CN103587605A (en) 2012-08-14 2012-08-14 Double-foot amphibious robot

Publications (1)

Publication Number Publication Date
CN103587605A true CN103587605A (en) 2014-02-19

Family

ID=50077994

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210288334.4A Pending CN103587605A (en) 2012-08-14 2012-08-14 Double-foot amphibious robot

Country Status (1)

Country Link
CN (1) CN103587605A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106114093A (en) * 2016-06-23 2016-11-16 安徽扫宝智能科技有限公司 A kind of large area sewage purification machine people uses multiple degrees of freedom pedestal
CN106114094A (en) * 2016-06-23 2016-11-16 安徽扫宝智能科技有限公司 A kind of four-degree-of-freedom reservoir fish and shrimp feeding operation intelligent robot pedestal

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1537703A (en) * 2003-10-23 2004-10-20 上海交通大学 Amphibious biotic robot fortoise
US20080300722A1 (en) * 2006-08-02 2008-12-04 Gregory Dudek Amphibious robotic device
CN101337494A (en) * 2008-08-12 2009-01-07 北京大学 Amphibious bionics robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1537703A (en) * 2003-10-23 2004-10-20 上海交通大学 Amphibious biotic robot fortoise
US20080300722A1 (en) * 2006-08-02 2008-12-04 Gregory Dudek Amphibious robotic device
CN101337494A (en) * 2008-08-12 2009-01-07 北京大学 Amphibious bionics robot

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
HYUN SOO PARK 等: "Compliant Footpad Design Analysis for a Bio-Inspired Quadruped Amphibious Robot", 《THE 2009 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS,ST. LOUIS,USA》 *
STEVEN FLOYD 等: "Design and Development of the Lifting and Propulsion Mechanism for a Biologically Inspired Water Runner Robot", 《IEEE TRANSACTIONS ON ROBOTICS》 *
STEVEN FLOYD等: "A Novel Water Running Robot Inspired by Basilisk Lizards", 《PROCEEDINGS OF THE IEEE/RSJ INTELLIGENT ROBOTIC SYSTEMS CONFERENCE,BEIJING,CHINA,OCT.2006》 *
李冰等: "仿王蜥机器人驱动机构涉及及动力学仿真", 《机械设计》 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106114093A (en) * 2016-06-23 2016-11-16 安徽扫宝智能科技有限公司 A kind of large area sewage purification machine people uses multiple degrees of freedom pedestal
CN106114094A (en) * 2016-06-23 2016-11-16 安徽扫宝智能科技有限公司 A kind of four-degree-of-freedom reservoir fish and shrimp feeding operation intelligent robot pedestal
CN106114093B (en) * 2016-06-23 2018-05-08 泉州经济技术开发区盈瑞恒机电有限公司 A kind of large area sewage purification machine people is with multiple degrees of freedom pedestal
CN106114094B (en) * 2016-06-23 2018-05-11 王兴民 A kind of four-degree-of-freedom reservoir fishes and shrimps feeding operation intelligent robot pedestal

Similar Documents

Publication Publication Date Title
CN103056876B (en) Variable rigidity parallel joint snake-shaped robot mechanism
CN103707952B (en) Narrow sufficient passive walking device and control method thereof
CN103112515B (en) Wheel leg combined type robot
CN104648515B (en) Telescopic-leg energy-saving 2D under-actuated traveling device and control method thereof
CN203332264U (en) Mobile robot driving wheel supporting mechanism
CN105539036A (en) Amphibious robot capable of moving on flat ground with wheels and surmounting obstacles with legs and working method of amphibious robot
CN202242837U (en) Robot electric running gear with independent suspension
CN103587605A (en) Double-foot amphibious robot
CN202491863U (en) Track running device of rice combine
CN203740002U (en) Swing arm type tracked robot
CN105946995B (en) A kind of walking mechanism for taking turns caterpillar structure-variable mobile robot
CN104477268A (en) Under-actuated tracked mobile obstacle crossing platform
CN107399376A (en) Suitable for the robot running gear of full landform
CN104527829A (en) Combined ladder climbing robot
CN102795068B (en) Compound driven jellyfish-like amphibious robot
CN202935467U (en) Biped amphibious robot
CN103043201A (en) Bionic biped water walking robot
CN203528633U (en) Pneumatic six-foot creeping device
CN205131426U (en) Can climb dolly of step
CN102826136B (en) Belt rope type obstacle crossing robot
CN104669961A (en) Wheel leg and tail fin combined driving bionic amphibious robot
CN203511204U (en) Novel amphibious walking mechanism
CN203557925U (en) Bionic amphibious robot under combined drive of wheel feet and tail fin
CN205220850U (en) Multi -functional robot that hinders more
CN103144754A (en) Bionic water surface moving device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
C02 Deemed withdrawal of patent application after publication (patent law 2001)
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20140219