CN104669961A - Wheel leg and tail fin combined driving bionic amphibious robot - Google Patents
Wheel leg and tail fin combined driving bionic amphibious robot Download PDFInfo
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- CN104669961A CN104669961A CN201310640085.5A CN201310640085A CN104669961A CN 104669961 A CN104669961 A CN 104669961A CN 201310640085 A CN201310640085 A CN 201310640085A CN 104669961 A CN104669961 A CN 104669961A
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- 238000011835 investigation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- MFRCZYUUKMFJQJ-UHFFFAOYSA-N 1,4-dioxane-2,5-dione;1,3-dioxan-2-one Chemical compound O=C1OCCCO1.O=C1COC(=O)CO1 MFRCZYUUKMFJQJ-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention relates to an amphibious robot, in particular to a wheel leg and tail fin combined driving bionic amphibious robot. The wheel leg and tail fin combined driving bionic amphibious robot comprises a bow, a body, a stern, wheel legs and a tail fin; the bow is mainly provided with a driving controller, a wheel leg driving unit and the wheel legs which are driven by the wheel leg driving unit; the body is mainly provided with a front swing joint, a steering engine, a main control unit, a battery pack, a management module for the battery pack and a rear swing joint; the stern is mainly provided with the tail fin, wheel leg driving controllers, the wheel leg driving unit and the wheel legs which are driven by the wheel leg driving unit; mechanical connection and fixation of the bow and the body is through the front swing joint; electrical connection of the bow and the body is through watertight cables; mechanical connection and fixation of the bow and the body is through the rear swing joint; electrical connection of the bow and the body is through the watertight cables. The wheel leg and tail fin combined driving bionic amphibious robot has the advantages of being compact in structure, flexible in movement, good in stability, allowing automatic switching between land and water movement modes, being strong in adaptive capacity to the environment and the like.
Description
Technical field
The present invention relates to amphibious robot, specifically a kind of bionical amphibious robot of taking turns foot-tail fin combination drive.
Background technology
In recent years, along with each ocean, world power is to the in-depth of marine scientific research and ocean exploitation strategy and development, the Very Shallow Water that flood and field is connected, breaker zone, surfzone and beach area become one of the aspect application such as scientific research in recent years, environmental monitoring, investigation and sampling and military field and key area of paying close attention to.Amphibious robot is a kind of extraordinary mobile robot that can realize special exercise or operation in land and water, can realize the job task that existing under-water robot and land robot cannot complete.By the inspiration of land and water amphibian movement mechanism and mode of motion, research has the extraordinary bio-robot adapting to amphibious integrated motion and operational capability, becomes a focus of mobile robot's technical study and development under current complicated amphibious environment.In order to expand the application of Robotics, meet the application demand of the operation of robot under the non-structure environments such as Very Shallow Water, Breakers and beach, investigation and monitoring etc., there is from bionic angle research the amphibious robot of shallow sea, mudflat operation ability, to the novel robot bionic movement mechanism of research and driving mechanism, there is important theory value and Practical significance.
Summary of the invention
In order to the deficiency overcoming existing amphibious robot mode of motion is single under amphibious environment, locomitivity is more weak and exist in rapidity, manoevreability and stability etc., the object of the present invention is to provide a kind of bionical amphibious robot of not only can creep on land but also the wheel foot-tail fin combination drive of swimming in water can be realized.This bionical amphibious robot uses for reference cube composition and the movement characteristic of typical amphibian giant salamander, adopt the combination drive of wheel foot-tail fin, compact conformation, there is creeping and swim multi-locomotion mode and good integrated motion performance, for inshore ocean exploitation and utilization provide a kind of actv. technological means.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes bow, trunk, stern, wheel foot and tail fin, wherein the two ends of trunk are connected with bow, stern respectively by front swinging joint and rear swinging joint, described bow and stern drive respectively by front swinging joint and rear swinging joint and swing, described tail fin is arranged on stern, swings with this stern; The both sides of described bow and stern are separately installed with wheel foot, and the wheel foot of bow both sides and the wheel foot of stern both sides rotate respectively by the wheel foot driver element be arranged in bow and the wheel foot drive unit drives be arranged in stern; Described front swinging joint and rear swinging joint structure identical, include steering wheel, connecting rod mechanism and oscillating axle, described steering wheel is arranged in trunk, the mouth of this steering wheel is connected with oscillating axle by described connecting rod mechanism, described oscillating axle is rotatably installed on trunk, described bow and stern are connected with the oscillating axle in forward and backward swinging joint respectively, are swung by the servo driving in forward and backward swinging joint.
Wherein: described bow comprises bow cabin body, bow hatchcover and takes turns sufficient driver element, this bow hatchcover and bow cabin body are tightly connected, and are connected with the oscillating axle in described front swinging joint; Describedly take turns sufficient driver element and be placed in the confined space that surrounded by bow hatchcover and bow cabin body, comprise drive motor and axis of revolution, described drive motor is arranged in the body of bow cabin, the wheel foot of bow both sides is connected with drive motor respectively by axis of revolution, is driven the wheel foot synchronous axial system of both sides by a drive motor simultaneously; The both sides inwall of described bow cabin body is separately installed with support sleeve, and one end of every one rotating shaft is connected with described drive motor respectively, and the other end of every one rotating shaft is passed by support sleeve and passes the sidewall of described bow cabin body, takes turns sufficient connection with described; The antifriction-bearing box be set on axis of revolution is installed in described support sleeve; Described drive motor is arranged on the body of bow cabin by electric machine support, this drive motor is two ends shaft form, is connected with one end of two one rotating shafts respectively by two coupler, and described coupler is provided with the holding screw realizing coupler and axis of revolution and the radial location of drive motor output shaft; Dynamic seal is realized by O-ring seals between described axis of revolution and bow cabin body sidewall; The bow packing seal for static seal is provided with between described bow hatchcover and bow cabin body;
Described trunk comprises trunk cabin body, trunk hatchcover and forward and backward swinging joint, and this trunk hatchcover and trunk cabin body are tightly connected, and described forward and backward swinging joint is arranged in the body of trunk cabin respectively; Described connecting rod mechanism comprises steering wheel crank, connecting rod and balance staff crank, and wherein steering wheel crank is connected with the axle drive shaft of steering wheel, and one end of described connecting rod is connected with steering wheel crank, and the other end is connected with balance staff crank, described balance staff crank and oscillating axle affixed; The two ends up and down of described oscillating axle are connected with trunk cabin body respectively by axle sleeve, and realize the axial location of described axle sleeve by the spacing back-up ring be stuck in described oscillating axle draw-in groove; Realize dynamic seal by O-ring seals between described oscillating axle and trunk cabin body, the upper end of this oscillating axle is passed by trunk cabin body, is connected with bow or stern; The trunk packing seal for static seal is provided with between described trunk hatchcover and trunk cabin body;
Described stern comprises stern cabin body, stern hatchcover and takes turns sufficient driver element, and this stern hatchcover and stern cabin body are tightly connected, and are connected with the oscillating axle in described rear swinging joint; Describedly take turns sufficient driver element and be placed in the confined space that surrounded by stern hatchcover and stern cabin body, comprise drive motor and axis of revolution, described drive motor is arranged in the body of stern cabin, the wheel foot of stern both sides is connected with drive motor respectively by axis of revolution, is driven the wheel foot synchronous axial system of both sides by a drive motor simultaneously; Described tail fin is arranged on the body of stern cabin, with stern interlock; The both sides inwall of described stern cabin body is separately installed with support sleeve, and one end of every one rotating shaft is connected with described drive motor respectively, and the other end of every one rotating shaft is passed by support sleeve and passes the sidewall of described stern cabin body, takes turns sufficient connection with described; The antifriction-bearing box be set on axis of revolution is installed in described support sleeve; One end that described tail fin and stern cabin body connect is respectively equipped with seam, hole slot, and the seam end of tail fin is embedded in the described hole slot of stern cabin body, and affixed by fastening rivet; Described drive motor is arranged on the body of stern cabin by electric machine support, this drive motor is two ends shaft form, is connected with one end of two one rotating shafts respectively by two coupler, and described coupler is provided with the holding screw realizing coupler and axis of revolution and the radial location of drive motor output shaft; Dynamic seal is realized by O-ring seals between described axis of revolution and stern cabin body sidewall; The stern packing seal for static seal is provided with between described stern hatchcover and stern cabin body;
Phase difference between described bow two side wheel foot and the phase difference between stern two side wheel foot are 90 °, and bow left side wheels foot is identical with the phase place of stern right-hand wheel foot, and bow right-hand wheel foot is identical with the phase place of stern left side wheels foot.
Advantage of the present invention and good effect are:
1. amphibious robot of the present invention adopts the integrated overall version based on the combination drive of wheel foot-tail fin, control and implementation method in conjunction with bionic motion, meet robot creeping and the demand of the multi-locomotion mode that swims under amphibious condition, ensure the compactedness of system architecture and the miniaturization of robot entirety simultaneously.
2. amphibious robot of the present invention adopts the actuating device of the sufficient driver train of wheel and tail fin propulsive mechanism two kinds of different motion mechanism, the Combined moving mechanism with multiple efficacies is all can be considered from its principle of work angle, make robot while possessing diversified mode of motion, ensure the stability of robot motion, rapidity and harmony.
3. amphibious robot of the present invention is taken turns sufficient driver train and is had wheeled and feature that is Tui Shi travel mechanism, auxiliary in conjunction with swing joint, can ensure that amphibious robot of the present invention has motion flexibly, the features such as adaptive capacity to environment is strong.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 A be rectilinear creeping campaign of the present invention realize schematic diagram;
Fig. 2 B be the present invention turn to crawling exercises realize schematic diagram;
Fig. 2 C be the present invention sail through to swim motion realize schematic diagram;
Fig. 2 D be the present invention turn to swim motion realize schematic diagram;
Fig. 3 is structural front view of the present invention;
Fig. 4 is vertical view cutaway drawing of the present invention;
Fig. 5 is the structural representation that the present invention takes turns sufficient driver element;
Fig. 6 is the structural representation of the forward and backward swinging joint of the present invention;
Fig. 7 is the structural representation that tail fin of the present invention is connected with stern;
Wherein: 1 is bow, 2 is trunk, 3 is stern, 4 is wheel foot, 5 is front swinging joint, 6 is rear swinging joint, 7 is tail fin, 8 is the sufficient driving governor of wheel, 9 is the sufficient driver element of wheel, 10 is watertight cable, 11 is steering wheel, 12 is main control unit, 13 is battery pack and administration module thereof, 14 is axis of revolution, 15 is O-ring seals, 16 is antifriction-bearing box, 17 is support sleeve, 18 is circlip for shaft, 19 is coupler, 20 is holding screw, 21 is electric machine support, 22 is drive motor, 23 is bow cabin body, 24 is bow hatchcover, 25 is bow packing seal, 26 is trunk cabin body, 27 is trunk packing seal, 28 is trunk hatchcover, 29 is oscillating axle, 30 is O-ring seals, 31 is large shaft sleeve, 32 is spacing back-up ring, 33 is steering wheel support, 34 is jam nut, 35 is steering wheel crank, 36 is connecting rod, 37 is balance staff crank, 38 is little axle sleeve, 39 is lock screw, 40 is stern hatchcover, 41 is stern packing seal, 42 is stern cabin body, 43 is fastening rivet.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Fig. 1, Fig. 3 and Fig. 4, bionical amphibious robot of the present invention adopts the integrated overall version based on the combination drive of wheel foot-tail fin, comprise bow 1, trunk 2, stern 3, wheel foot 4 and tail fin 7, wherein bow 1 forms confined space by the bow cabin body 23 that is tightly connected and bow hatchcover 24, and in this confined space, be equipped with the sufficient driving governor 8 of wheel, take turns sufficient driver element 9; The both sides of bow 1 are provided with can the wheel foot 4 of continuous rotary, and the wheel foot 4 of both sides is taken turns sufficient driver element 9 driven by same.Stern 3 forms confined space by the stern cabin body 42 that is tightly connected and stern hatchcover 40, and in this confined space, be equipped with the sufficient driving governor 8 of wheel, takes turns sufficient driver element 9; The both sides of stern 3 are provided with can the wheel foot 4 of continuous rotary, and the wheel foot 4 of both sides is taken turns sufficient driver element 9 driven by same, and the rear end of stern 3 connects tail fin 7.
Trunk 2 forms confined space by the trunk cabin body 26 that is tightly connected and trunk hatchcover 28, and front swinging joint 5, rear swinging joint 6, main control unit 12 and battery pack and administration module 13 thereof have been carried in the rear and front end in this confined space.Wheel foot driver element 9 in bow 1 and stern 3 is controlled by respective wheel foot driving governor 8, wheel foot driving governor 8 in bow 1 and stern 3 is electrically connected with the main control unit 12 in trunk 2 respectively by watertight cable 10, and battery pack and administration module 13 thereof provide power for amphibious robot.
The mechanical connection of bow of the present invention 1 and trunk 2 and fixingly to be realized by front swinging joint 5, is electrically connected and is realized by watertight cable 10; The mechanical connection of stern 3 and trunk 2 and fixingly to be realized by rear swinging joint 6, is electrically connected and is realized by watertight cable 10.
The radical function of taking turns sufficient driver element 9 is drive wheel foots 4, realizes the crawling exercises of amphibious robot of the present invention.Amphibious robot of the present invention adopts two to wheel foot 4, lay respectively at the left and right sides of bow 1 and stern 3, phase difference between bow 1 liang of side wheel foot 4 and the phase difference between stern 1 liang of side wheel foot 4 are 90 °, and bow 1 left side wheels foot is identical with the phase place of stern 3 right-hand wheel foot, bow 1 right-hand wheel foot is identical with the phase place of stern 3 left side wheels foot.The foot 4 of taking turns for a pair of taking turns for a pair on bow 1 on foot 4 and stern 3 all adopts structure and forms identical wheel foot driver element 9 as type of drive, be described for the wheel foot driver element on bow 1, as shown in Figure 5, the continuous rotation taking turns sufficient driver train 4 is by drive motor 22 (commercial, purchase in Maxon company of Switzerland, model be EC-i40) drive axis of revolution 14 to realize, drive motor 22 is two ends shaft forms, synchronously can drive two, left and right wheel foot 4; Drive motor 22 is fixed on electric machine support 21, and electric machine support 21 is realized and being connected of bow cabin body 23 by screw; Each foot 4 of taking turns all is connected with drive motor 22 by an one rotating shaft 14, one end of every one rotating shaft 14 realizes being connected by coupler 19 with the output shaft of drive motor 22, and coupler 19 is realized by the holding screw 20 be arranged on coupler 19 with the radial location of axis of revolution 14 and drive motor 22 output shaft; The both sides inwall of bow cabin body 23 is connected with support sleeve 17 respectively by screw, and the other end of every one rotating shaft 14 is passed by support sleeve 17 and passes the sidewall of bow cabin body 23, is connected with wheel foot 4; Axis of revolution 14 is supported by the antifriction-bearing box 16 that two that are positioned at support sleeve 17 are enclosed within axis of revolution 14, and realizes relatively rotating of axis of revolution 14; Circlip for shaft 18 is stuck in the draw-in groove of axis of revolution 14, and the end face by antifriction-bearing box 16 realizes the axial location to axis of revolution 14; Dynamic seal between axis of revolution 14 and bow cabin body 23 is realized by O-ring seals 15; Bow packing seal 25 for static seal is housed between bow cabin body 23 and bow hatchcover 24, be connected by screw and can realize bow hatchcover 24, bow packing seal 25 fixing on bow cabin body 23, and sealing forms the sealed module form of watertight, ensure that the components and parts carried in the body of bow 1 cabin normally work.
The forward and backward swinging joint 5,6 of trunk 2 rear and front end of the present invention adopts identical components and parts and structural implementations, swinging joint 5 was described for example in the past, as shown in Figure 6, steering wheel 11 drives oscillating axle 29 by the connecting rod mechanism be made up of steering wheel crank 35, connecting rod 36 and balance staff crank 37, realizes the oscillating function in joint; Steering wheel 11 is fixed by screws on steering wheel support 33, and steering wheel support 33 is fixed by screws on the inwall of trunk cabin body 26; Steering wheel crank 35 is fixed by screws on the axle drive shaft of steering wheel 11, and one end of connecting rod 36 through the unthreaded hole on steering wheel crank 35, and realizes connecting by jam nut 34 and spacing; The other end of connecting rod 36 through the unthreaded hole on balance staff crank 37, and realizes connecting by jam nut 34 and spacing; Balance staff crank 37 is realized and being connected of oscillating axle 29 by lock screw 39; The lower end of oscillating axle 29 is sleeved in little axle sleeve 38, and little axle sleeve 38 is embedded in the bottom unthreaded hole of trunk cabin body 26, and utilizes the spacing back-up ring 32 be stuck in oscillating axle 29 draw-in groove to realize axial location; The top of oscillating axle 29 is sleeved in large shaft sleeve 31, and large shaft sleeve 31 is embedded in the top unthreaded hole of trunk cabin body 26, and utilizes the spacing back-up ring 32 be stuck in oscillating axle 29 draw-in groove to realize axial location; The top of oscillating axle 29 is passed by trunk cabin body 26, is connected with bow hatchcover 24, and then drives bow 1 to swing by steering wheel 11; Dynamic seal between oscillating axle 29 and trunk cabin body 26 is realized by O-ring seals 30; Trunk packing seal 27 for static seal is housed between trunk cabin body 26 and trunk hatchcover 28, be connected by screw and can realize trunk hatchcover 28, trunk packing seal 27 fixing on trunk cabin body 26, and sealing forms the sealed module form of watertight, ensure that the components and parts carried in the body of trunk 2 cabin normally work.
As shown in Figure 7, tail fin 7 under the driving of rear swinging joint 6, can swing with stern 3, realizes the swim motion of amphibious robot of the present invention in water.The seam end of tail fin 7 is embedded in the hole slot at body 42 rear portion, stern cabin, and utilizes being connected of both four fastening rivet 43 realizations; Stern packing seal 41 for static seal is housed between stern cabin body 42 and stern hatchcover 40, be connected by screw and can realize stern hatchcover 40, stern packing seal 41 fixing on stern cabin body 42, and sealing forms the sealed module form of watertight, ensure that the components and parts carried in the body of stern 3 cabin normally work.
Principle of work of the present invention is:
Bionical amphibious robot of the present invention can realize land and creep and the two kinds of mode of motioies that swim in water, and can realize the autonomous switching of two kinds of mode of motioies without the need to changing actuating device.As shown in Figure 2 A and 2 B, under state of creeping, wheel foot 4 drives continuous rotary by the sufficient driver element 9 of wheel, the feature of main performance wheeled locomotion mechanism, by taking turns the continuous rotary of foot 4, and can front swinging joint 5 auxiliary under, realize the straight line of land or turn to crawling exercises.As shown in Fig. 2 C and Fig. 2 D, swim in water motion time, under the driving of rear swinging joint 6, stern 3 swings together with tail fin 7, the motion of simulation fish tail fin produces the thrust of advancing, and can front swinging joint 5 auxiliary under, realize the direct route in water or turn to.
Claims (10)
1. take turns the bionical amphibious robot of foot-tail fin combination drive for one kind, it is characterized in that: comprise bow (1), trunk (2), stern (3), wheel foot (4) and tail fin (7), wherein the two ends of trunk (2) are connected with bow (1), stern (3) respectively by front swinging joint (5) and rear swinging joint (6), described bow (1) and stern (3) drive respectively by front swinging joint (5) and rear swinging joint (6) and swing, described tail fin (7) is arranged on stern (3), swings with this stern (3); The both sides of described bow (1) and stern (3) are separately installed with wheel foot (4), and wheel foot (4) of bow (1) both sides and wheel foot (4) of stern (3) both sides drive respectively by wheel foot driver element (9) be arranged in bow (1) and wheel foot driver element (9) be arranged in stern (3) and rotate; Described front swinging joint (5) and rear swinging joint (6) structure identical, include steering wheel (11), connecting rod mechanism and oscillating axle (29), described steering wheel (11) is arranged in trunk (2), the mouth of this steering wheel (11) is connected with oscillating axle (29) by described connecting rod mechanism, described oscillating axle (29) is rotatably installed on trunk (2), described bow (1) and stern (3) are connected with the oscillating axle (29) in forward and backward swinging joint (5,6) respectively, driven swing by the steering wheel (11) in forward and backward swinging joint (5,6).
2. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 1, it is characterized in that: described bow (1) comprises bow cabin body (23), bow hatchcover (24) and takes turns sufficient driver element (9), this bow hatchcover (24) and bow cabin body (23) are tightly connected, and are connected with the oscillating axle (29) in described front swinging joint (5); Described sufficient driver element (9) of taking turns is placed in the confined space that surrounded by bow hatchcover (24) and bow cabin body (23), comprise drive motor (22) and axis of revolution (14), described drive motor (22) is arranged in bow cabin body (23), wheel foot (4) of bow (1) both sides is connected with drive motor (22) respectively by axis of revolution (14), is driven wheel foot (4) synchronous axial system of both sides by a drive motor (22) simultaneously.
3. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 2, it is characterized in that: the both sides inwall of described bow cabin body (23) is separately installed with support sleeve (17), one end of every one rotating shaft (14) is connected with described drive motor (22) respectively, the other end of every one rotating shaft (14) is passed by support sleeve (17) and passes the sidewall of described bow cabin body (23), is connected with described foot (4) of taking turns; The antifriction-bearing box (16) be set on axis of revolution (14) is installed in described support sleeve (17).
4. by the bionical amphibious robot of wheel foot-tail fin combination drive described in Claims 2 or 3, it is characterized in that: described drive motor (22) is arranged on bow cabin body (23) by electric machine support (21), this drive motor (22) is two ends shaft form, is connected with one end of two one rotating shafts (14) respectively by two coupler (19), and described coupler (19) is provided with the holding screw (20) realizing coupler (19) and axis of revolution (14) and drive motor (22) output shaft radial location; Dynamic seal is realized by O-ring seals (15) between described axis of revolution (14) and bow cabin body (23) sidewall; The bow packing seal (25) for static seal is provided with between described bow hatchcover (24) and bow cabin body (23).
5. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 1, it is characterized in that: described trunk (2) comprises trunk cabin body (26), trunk hatchcover (28) and forward and backward swinging joint (5,6), this trunk hatchcover (28) and trunk cabin body (26) are tightly connected, and described forward and backward swinging joint (5,6) is arranged in trunk cabin body (26) respectively; Described connecting rod mechanism comprises steering wheel crank (35), connecting rod (36) and balance staff crank (37), wherein steering wheel crank (35) is connected with the axle drive shaft of steering wheel (11), one end of described connecting rod (36) is connected with steering wheel crank (35), the other end is connected with balance staff crank (37), and described balance staff crank (37) is affixed with oscillating axle (29).
6. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 5, it is characterized in that: the two ends up and down of described oscillating axle (29) are connected with trunk cabin body (26) respectively by axle sleeve, and realize the axial location of described axle sleeve by the spacing back-up ring (32) be stuck in described oscillating axle (29) draw-in groove; Realize dynamic seal by O-ring seals (30) between described oscillating axle (29) and trunk cabin body (26), the upper end of this oscillating axle (29) is passed by trunk cabin body (26), is connected with bow (1) or stern (3); The trunk packing seal (27) for static seal is provided with between described trunk hatchcover (28) and trunk cabin body (26).
7. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 1, it is characterized in that: described stern (3) comprises stern cabin body (42), stern hatchcover (40) and takes turns sufficient driver element (9), this stern hatchcover (40) and stern cabin body (42) are tightly connected, and are connected with the oscillating axle (29) in described rear swinging joint (6); Described sufficient driver element (9) of taking turns is placed in the confined space that surrounded by stern hatchcover (40) and stern cabin body (42), comprise drive motor (22) and axis of revolution (14), described drive motor (22) is arranged in stern cabin body (42), wheel foot (4) of stern (3) both sides is connected with drive motor (22) respectively by axis of revolution (14), is driven wheel foot (4) synchronous axial system of both sides by a drive motor (22) simultaneously; Described tail fin (7) is arranged on stern cabin body (42), with stern (3) interlock.
8. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 7, it is characterized in that: the both sides inwall of described stern cabin body (42) is separately installed with support sleeve (17), one end of every one rotating shaft (14) is connected with described drive motor (22) respectively, the other end of every one rotating shaft (14) is passed by support sleeve (17) and passes the sidewall of described stern cabin body (42), is connected with described foot (4) of taking turns; The antifriction-bearing box (16) be set on axis of revolution (14) is installed in described support sleeve (17); One end that described tail fin (7) and stern cabin body (42) connect is respectively equipped with seam, hole slot, and the seam end of tail fin (7) is embedded in the described hole slot in stern cabin body (42), and affixed by fastening rivet (43).
9. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 7 or 8, it is characterized in that: described drive motor (22) is arranged on stern cabin body (42) by electric machine support (21), this drive motor (22) is two ends shaft form, is connected with one end of two one rotating shafts (14) respectively by two coupler (19), and described coupler (19) is provided with the holding screw (20) realizing coupler (19) and axis of revolution (14) and drive motor (22) output shaft radial location; Dynamic seal is realized by O-ring seals (15) between described axis of revolution (14) and stern cabin body (42) sidewall; The stern packing seal (41) for static seal is provided with between described stern hatchcover (40) and stern cabin body (42).
10. by the bionical amphibious robot of wheel foot-tail fin combination drive described in claim 1, it is characterized in that: the phase difference between described bow (1) two side wheel foot (4) and the phase difference between stern (3) two side wheel foot (4) are 90 °, and bow (1) left side wheels foot is identical with the phase place of stern (3) right-hand wheel foot, bow (1) right-hand wheel foot is identical with the phase place of stern (3) left side wheels foot.
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| CN109334798A (en) * | 2018-09-13 | 2019-02-15 | 南京航空航天大学 | Robot and its movement techniques of dwelling of dry adhesion hook four-wheel foot paddle driving more |
| CN111959209A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Amphibious robot with wheel fin structure |
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| CN108438186B (en) * | 2018-02-27 | 2020-03-27 | 北京理工大学 | Multi-joint movement mechanism of amphibious frog board robot |
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| CN102795069B (en) * | 2012-08-03 | 2014-08-13 | 南京航空航天大学 | Moving method for hybrid-driven jellyfish-simulating amphibious robot |
| CN103318287B (en) * | 2013-05-14 | 2016-06-01 | 北京航空航天大学 | Bionical lizard amphibious robot |
| CN203557925U (en) * | 2013-11-30 | 2014-04-23 | 中国科学院沈阳自动化研究所 | Bionic amphibious robot under combined drive of wheel feet and tail fin |
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2013
- 2013-11-30 CN CN201310640085.5A patent/CN104669961B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108656884A (en) * | 2018-06-27 | 2018-10-16 | 西北工业大学 | A kind of Amphibious bionics robot |
| CN108656884B (en) * | 2018-06-27 | 2024-01-30 | 西北工业大学 | Amphibious bionic robot |
| CN109334797A (en) * | 2018-09-13 | 2019-02-15 | 南京航空航天大学 | Dry adhesion four-footed in conjunction with hook is dwelt robot and its bionic movement method more |
| CN109334798A (en) * | 2018-09-13 | 2019-02-15 | 南京航空航天大学 | Robot and its movement techniques of dwelling of dry adhesion hook four-wheel foot paddle driving more |
| CN109334798B (en) * | 2018-09-13 | 2020-12-01 | 南京航空航天大学 | Multi-purpose robot driven by dry adhesion claw four-wheel foot paddle and movement method thereof |
| CN111959209A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Amphibious robot with wheel fin structure |
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