CN106114093B - A kind of large area sewage purification machine people is with multiple degrees of freedom pedestal - Google Patents

A kind of large area sewage purification machine people is with multiple degrees of freedom pedestal Download PDF

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Publication number
CN106114093B
CN106114093B CN201610463851.9A CN201610463851A CN106114093B CN 106114093 B CN106114093 B CN 106114093B CN 201610463851 A CN201610463851 A CN 201610463851A CN 106114093 B CN106114093 B CN 106114093B
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walking
fixed
rod
water
lifting
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CN106114093A (en
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吴玮佳
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CHINA UNION ENGINEERING CO., LTD.
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Quanzhou Economic And Technological Development Zone Surplus Ruiheng Electromechanical Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007Arrangement of propulsion or steering means on amphibious vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007Arrangement of propulsion or steering means on amphibious vehicles
    • B60F3/0015Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor

Abstract

The present invention relates to a kind of large area sewage purification machine people with multiple degrees of freedom pedestal, including land walking device, water surface running gear, lifting gear and delta parallel institutions;The water surface running gear quantity is two, and water surface running gear is located at the left and right sides of land walking device respectively, water surface running gear is connected with land walking device, lifting gear is located at directly over land walking device, and lifting gear lower end is connected with land walking device upper end, delta parallel institutions are located at directly over lifting gear, and delta parallel institutions lower end is connected with lifting gear.The present invention has the function of that land walking, water surface walking and orientation angles are adjusted, and walk rapid and convenient, orientation angles are easy to adjust flexibly, solve the problems, such as existing sewage purification machine people's base motion very flexible, accommodation is narrow and stability is poor.

Description

A kind of large area sewage purification machine people is with multiple degrees of freedom pedestal
Technical field
The present invention relates to how free technical field of sewage, specifically a kind of large area sewage purification machine people's use is Spend pedestal.
Background technology
Water pollution is to cause the use value of water to reduce or lose by harmful chemical, pollutes the water of environment, in sewage The organic poison such as compound and benzene, dichloroethanes, ethylene glycol such as the acid, alkali, oxidant and the copper that contain, cadmium, mercury, arsenic, can poison Dead aquatile, influences drinking water source, scenic spot landscape;The oxygen in water is consumed when organic matter in sewage is decomposed by the microorganisms, The life of aquatile is influenced, after oxygen in water exhausts, organic matter carries out anaerobic digestion, and it is unpleasant to produce hydrogen sulfide, mercaptan etc. Gas, makes water quality further deteriorate.China is that shortage of water resources, a water disaster are frequently national, and gross amount of water resources occupies the world 6th, occupancy volume per person only has 2500 cubic metres, about the world per capita water 1/4, the 110th is arranged in the world, is joined Close state and be classified as one of 13 poor-water countries;For many years, water resources in china quality constantly declines, and water environment is continuous worsening, due to dirt Water shortage and accident caused by dye constantly occur, and not only make plant downtime, the agriculture underproduction or even have no harvest, but also cause undesirable Social influence and larger economic loss, have seriously threatened the sustainable development of society, have threatened the existence of the mankind.
The method for waste water control has Physical, chemical method and bioanalysis at present, and wherein chemical method improvement sewage is exactly Chemicals is launched into sewage, sewage is purified using chemical reaction or physics chemical action, at present for reservoir, lake, river The mode of the chemical method purification sewage on the ground such as stream, pond is all that chemicals is manually launched into sewage by ship, is so not only accounted for With substantial amounts of labour, dispensing efficiency is low, and has certain danger.In consideration of it, the present invention provides a kind of big face Contamination Water warfare robot multiple degrees of freedom pedestal.
The content of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of large area sewage purification machine people's multiple degrees of freedom Pedestal.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of large area sewage purification machine people with multiple degrees of freedom pedestal, including land walking device, water surface running gear, Lifting gear and delta parallel institutions;The water surface running gear quantity is two, and water surface running gear is located at land respectively The left and right sides of running gear, water surface running gear are connected with land walking device, and lifting gear is located at land walking device Surface, and lifting gear lower end is connected with land walking device upper end, delta parallel institutions be located at lifting gear just on Side, and delta parallel institutions lower end is connected with lifting gear.
As a further improvement on the present invention, the land walking device includes chassis, driving motor, drive shaft, OK Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking Belt wheel quantity is four;The chassis is in rectangular configuration, offers U-type groove, chassis rear and front end point at left and right sides of chassis respectively Mounting groove is not offered, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and drives motor same using twin shaft Output motor is walked, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and drives Moving axis and walking belt wheel between be fixed by tight locking button, traveling crawler both ends rotating around be sleeved on walking belt wheel on, and walk Semicircle tread plate is evenly arranged with the outside of crawler belt;By driving the rotation of motor to drive the rotation of walking belt wheel, so as to drive The movement of traveling crawler, land walking device is mainly used for walking, move and turning to for the present invention, and land walking device passes through Using the walking of track structure with easily facilitating hollow physical features condition so that applicability of the invention is stronger.
As a further improvement on the present invention, the water surface running gear includes walking plate, walking hinge, angular adjustment Mechanism, walking turntable, walking telescopic rod, fixing bracket, jet cylinder, appendix and pulsometer;The walking plate is in stripe board Shape structure, walking plate medial extremity are connected by hinge of walking with the U-type groove madial wall on chassis, and angle adjusting mechanism quantity is Two, and angle adjusting mechanism is symmetrically arranged along the central transverse axis of walking plate, angle adjusting mechanism lower end and walking plate Mutually fixed, walking turntable is connected with walking turntable, walks positioned at walking plate lateral wall center position, walking telescopic rod one end The telescopic rod other end is connected with fixing bracket, and telescopic rod of walking is hollow cylinder shell structure, and fixing bracket rear end is set There is fixed link, fixing bracket front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixed link, the installation of jet cylinder In support bracket fastened Ω type frame, jet cylinder front end is cone-shaped structure, and jet tube rear end offers puff prot, appendix one end It is connected through walking telescopic rod with jet cylinder, the appendix other end is connected with pulsometer, and pulsometer is fixed on chassis upper end The center position in face;The angle adjusting mechanism includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis And adjusting bracket;The U-shaped structure of adjusting ear mount, adjusts ear mount and is fixed on walking plate, adjusting yoke lower end passes through the One adjustment axis is connected with adjusting ear mount, is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusts Pull rod is electric telescopic formula structure, and in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis adjusting bracket.Pass through Walking turntable can drive rotary motion of the jet cylinder on XZ vertical planes, so as to adjust the water surface walking inclination angle of jet cylinder, be easy to Walking movement of the present invention on the water surface different in flow rate;Jet cylinder can be driven on XY horizontal planes by telescopic rod of walking Side-to-side movement, so as to control extension elongation of the jet cylinder when walking mobile on the water surface;It can be controlled by angle adjusting mechanism Walking plate is rotated using hinge of walking as rotation axis, so as to drive rotation of the jet cylinder on YZ vertical planes, and then adjusts spray The inclination angle of inflator drinking water, i.e. draft amount of the invention, movement of walking easy to the present invention in the waters of different depth;Pass through air pressure Pump can control jet cylinder to spray the flow velocity of gas, so as to adjust the gait of march of the present invention;Water surface running gear can carry out one Translation two rotates the spatial movement of Three Degree Of Freedom altogether, its movement that can walk in the different in flow rate and waters of different depth, and row Walk speed and draft amount is adjustable, it is easy to adjust quick.
As a further improvement on the present invention, the lifting gear includes lifting push rod, lifting round platform and electric turntable; The lifting push rod quantity is four, and lifting push rod lifts push rod upper end and lifting round platform lower end below lifting round platform Face is connected, and electric turntable is fixed on lifting round platform upper surface center position.
As a further improvement on the present invention, the delta parallel institutions include fixed platform, moving platform, motor cabinet, simultaneously Join motor, first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring;Described determines Platform and moving platform structure in rounded shape, moving platform are located at directly over fixed platform, and the quantity of motor cabinet and rotating basis is Three, motor cabinet is fixed on fixed platform upper surface centered on the center of circle of fixed platform in positive triangle shape, and rotating basis is with dynamic flat It is arranged in centered on the center of circle of platform in positive triangle shape on moving platform lower face, and motor cabinet installation site and rotating basis installation Position corresponds respectively, and installation is fixed by motor cabinet in parallel-connected induction motors, and parallel-connected induction motors are exported using adjustable speed twin shaft Motor, first rotating shaft one end are connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, and first It is attached between connecting rod lower end and second connecting rod upper end using rotational pin, second connecting rod lower end is connected with second shaft one end Connect, the second shaft other end is installed on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is put down with dynamic Platform upper surface is mutually fixed, and rotating basis upper end is provided with and the matched double end sleeve of the second shaft, first connecting rod middle inside Respectively be provided with the first mounting base and the second mounting base with second connecting rod middle inside, limit spring be located at the first mounting base and Between second mounting base, and limit spring upper end is connected with the first mounting base, and limit spring lower end is connected with the second mounting base Connect;During specific works, the rotation of first rotating shaft, and first connecting rod and the coaxial phase of first rotating shaft are driven by the rotation of parallel-connected induction motors Connection, so as to drive the rotation of second connecting rod by the rotation of first connecting rod, and then drives the movement of moving platform, and by spacing Jitter when spring reduces the movement of delta parallel institutions, adds the stationarity of delta parallel institutions movement, and delta is in parallel Mechanism rigidity compared with serial mechanism is big, and movement is flexible, stable structure, and bearing capacity is strong and fine motion precision is high, delta parallel machines Structure can carry out the movement that three translations three rotate six-freedom degree direction altogether in space, and space is small, movement velocity is fast, fortune Dynamic flexibility is good, and delta parallel institutions are applied in the present invention, on the one hand play entirety orientation when feeding intake to charging device The effect of angular adjustment so that the present invention may be under various attitude angles the operation that feeds intake that carries out that can be comprehensive, and throw Expect that the convenient and efficient and scope that feeds intake is wide;On the other hand the damping performance of the present invention, the present invention are improved by delta parallel institutions When either walking on land in water even at jolt or nonequilibrium condition under when, charging device is all the time in horizontal flat Steady state, prevent charging device feed intake operation when because what jitter or the excessive operation that causes to feed intake of obliquity can not carry out asks Topic, further increase the present invention feed intake operation when stability and security.
Compared with prior art, the present invention has the following advantages:
(1) present invention has the function of that land walking, water surface walking and orientation angles are adjusted, and walk rapid and convenient, side Parallactic angle degree is easy to adjust flexibly, and it is narrow and steady to solve existing sewage purification machine people's base motion very flexible, accommodation The problem of qualitative difference.
(2) land walking device of the invention and water surface running gear coordinate conversion to use, and conversion is convenient and efficient, can fit It should walk in land walking and the water surface, reach the effect of amphibious walking, and water surface running gear can carry out a translation two and rotate The spatial movement of Three Degree Of Freedom altogether, its movement that can walk in the different in flow rate and waters of different depth, and the speed of travel and eat Water is adjustable, easy to adjust quick.
(3) delta parallel institutions of the invention can carry out three translations three in space and rotate common six-freedom degree direction Movement, and space is small, movement velocity is fast, kinematic dexterity is good, and delta parallel institutions are applied in the present invention, a side Entirety orientation angles are adjusted when face plays the role of feeding intake to charging device so that the present invention may be at various attitude angles Down can be comprehensive carry out the operation that feeds intake, the convenient and efficient and scope that feeds intake that feeds intake is wide;On the other hand delta parallel machines are passed through Structure improves the damping performance of the present invention, even at jolting or non-equilibrium when the present invention either walks in water on land When under state, charging device is in horizontal plateau all the time, prevent charging device feed intake operation when because of jitter or inclination Property the excessive operation that causes to feed intake the problem of can not carrying out, further increase the present invention feed intake operation when stability and safety Property.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention;
Fig. 2 is dimensional structure diagram when land walking device, water surface running gear and lifting gear of the present invention coordinate;
Fig. 3 is dimensional structure diagram when land walking device and water surface running gear of the present invention coordinate;
Fig. 4 is the dimensional structure diagram of delta parallel institutions of the present invention.
Embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, tie below Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 4, a kind of large area sewage purification machine people is filled with multiple degrees of freedom pedestal, including land walking Put 1, water surface running gear 2, lifting gear 3 and delta parallel institutions 4;2 quantity of water surface running gear is two, and water Face running gear 2 is located at the left and right sides of land walking device 1 respectively, and water surface running gear 2 is connected with land walking device 1 Connecing, lifting gear 3 is located at directly over land walking device 1, and 3 lower end of lifting gear is connected with 1 upper end of land walking device, Delta parallel institutions 4 are located at directly over lifting gear 3, and 4 lower end of delta parallel institutions is connected with lifting gear 3.
As shown in Figures 2 and 3, the land walking device 1 includes chassis 11, driving motor 12, drive shaft 13, walking Belt wheel 14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, is driven Moving axis 13 and 14 quantity of walking belt wheel are four;The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers peace respectively Tankage, driving motor 12 are separately fixed in the mounting groove of 11 front and rear sides of chassis, and drive motor 12 defeated using Biaxial synchronous Going out motor, 13 one end of drive shaft is connected with driving 12 output shaft of motor, and 13 other end of drive shaft is connected with walking belt wheel 14, And be fixed between drive shaft 13 and walking belt wheel 14 by tight locking button 15,16 both ends of traveling crawler are rotating around being sleeved on treads On wheel 14, and the outside of traveling crawler 16 is evenly arranged with semicircle tread plate;Rotation by driving motor 12 drives treads The rotation of wheel 14, so as to drive the movement of traveling crawler 16, land walking device 1 be mainly used for the walking of the present invention, it is mobile and Turn to, and land walking device 1 is by using the walking of track structure with easily facilitating hollow physical features condition so that of the invention Applicability is stronger.
As shown in Figures 2 and 3, the water surface running gear 2 includes walking plate 21, walking hinge 22, angular adjustment machine Structure 23, walking turntable 24, walking telescopic rod 25, fixing bracket 26, jet cylinder 27, appendix 28 and pulsometer 29;The row Limp 21 is in bar shaped platy structure, and walking 21 medial extremity of plate is connected by hinge 22 of walking with the U-type groove madial wall on chassis 11, 23 quantity of angle adjusting mechanism is two, and angle adjusting mechanism 23 is symmetrically arranged along the central transverse axis of walking plate 21, 23 lower end of angle adjusting mechanism is fixed with walking 21 phase of plate, and walking turntable 24 is located at walking 21 lateral wall center position of plate, OK Walk 25 one end of telescopic rod with walking turntable 24 to be connected, walking 25 other end of telescopic rod is connected with fixing bracket 26, and walks Telescopic rod 25 is hollow cylinder shell structure, and 26 rear end of fixing bracket is provided with fixed link, and 26 front end of fixing bracket is provided with Ω Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder 27 is installed in the Ω type frame of fixing bracket 26, jet 27 front ends of cylinder be cone-shaped structure, and 27 rear end of jet cylinder offers puff prot, 28 one end of appendix through walking telescopic rod 25 and Jet cylinder 27 is connected, and 28 other end of appendix is connected with pulsometer 29, and pulsometer 29 is fixed in 11 upper surface of chassis At heart position;The angle adjusting mechanism 23 includes adjusting ear mount 231, the first adjustment axis 232, the tune of adjusting yoke 233, second Nodal axisn 234 and adjusting bracket 235;The 231 U-shaped structure of adjusting ear mount, adjusts ear mount 231 and is fixed on walking plate 21, 233 lower end of adjusting yoke is connected by the first adjustment axis 232 with adjusting ear mount 231,233 upper end of adjusting yoke and adjusting bracket It is connected between 235 by the second adjustment axis 234, adjusting yoke 233 is electric telescopic formula structure, and adjusting bracket 235 is in Vertical y-type structure, 235 lower end of adjusting bracket are fixed on chassis 11.By walking, turntable 24 can drive jet cylinder 27 to hang down in XZ The rotary motion faced directly, so that the water surface walking inclination angle of jet cylinder 27 is adjusted, easy to the present invention on the water surface different in flow rate Walking movement;Side-to-side movement of the jet cylinder 27 on XY horizontal planes can be driven by telescopic rod 25 of walking, so as to control spray Extension elongation of the inflator 27 when walking mobile on the water surface;Walking plate 21 can be controlled with hinge of walking by angle adjusting mechanism 23 Chain 22 is rotated for rotation axis, so as to drive rotation of the jet cylinder 27 on YZ vertical planes, and then is adjusted jet cylinder 27 and is absorbed water Inclination angle, i.e., draft amount of the invention, movement of walking easy to the present invention in the waters of different depth;Can be with by pulsometer 29 Jet cylinder 27 is controlled to spray the flow velocity of gas, so as to adjust the gait of march of the present invention;Water surface running gear 2 can carry out a translation Two rotate the spatial movement of Three Degree Of Freedom altogether, its movement that can walk in the different in flow rate and waters of different depth, and speed of walking Degree and draft amount are adjustable, easy to adjust quick.
As shown in figure 3, the lifting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33;Described It is four to lift 31 quantity of push rod, and lifting push rod 31 lifts 31 upper end of push rod and lifting round platform 32 positioned at 32 lower section of lifting round platform Lower face is connected, and electric turntable 33 is fixed on lifting 32 upper surface center position of round platform.
As shown in Figure 1 and Figure 4, the delta parallel institutions 4 include fixed platform 41, moving platform 42, motor cabinet 43, simultaneously Join motor 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod 48, the second shaft 49, rotating basis 410 and limit Position spring 411;Fixed platform 41 and moving platform 42 structure in rounded shape, moving platform 42 are located at directly over fixed platform 41, The quantity of motor cabinet 43 and rotating basis 410 is three, and motor cabinet 43 is in positive triangle shape centered on the center of circle of fixed platform 41 It is fixed on 41 upper surface of fixed platform, rotating basis 410 is arranged in dynamic centered on the center of circle of moving platform 42 in positive triangle shape On 42 lower face of platform, and 43 installation site of motor cabinet and 410 installation site of rotating basis correspond respectively, parallel-connected induction motors 44 Installation is fixed by motor cabinet 43, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, 45 one end of first rotating shaft with 44 main shaft of parallel-connected induction motors is connected, and 45 other end of first rotating shaft is connected with 46 upper end of first connecting rod, 46 lower end of first connecting rod with It is attached between 48 upper end of second connecting rod using rotational pin 47,48 lower end of second connecting rod is connected with 49 one end of the second shaft, Second shaft, 49 other end is installed on rotating basis 410, and 410 lower end of rotating basis is provided with swivel bearing, and swivel bearing Mutually fixed with 42 upper surface of moving platform, 410 upper end of rotating basis be provided with 49 matched double end sleeve of the second shaft, first 46 middle inside of connecting rod and 48 middle inside of second connecting rod are respectively provided with the first mounting base and the second mounting base, limit spring 411 between the first mounting base and the second mounting base, and 411 upper end of limit spring is connected with the first mounting base, spacing bullet 411 lower end of spring is connected with the second mounting base;During specific works, the rotation of first rotating shaft 45 is driven by the rotation of parallel-connected induction motors 44 Turn, and first connecting rod 46 is coaxially connected with first rotating shaft 45, so as to drive second connecting rod 48 by the rotation of first connecting rod 46 Rotation, and then drive moving platform 42 movement, and by limit spring 411 reduce delta parallel institutions 4 move when shake Property, the stationarity of the movement of delta parallel institutions 4 is added, the rigidity compared with serial mechanism of delta parallel institutions 4 is big, movement spirit Living, stable structure, bearing capacity is strong and fine motion precision is high, and delta parallel institutions 4 can carry out three translations three in space and rotate altogether The movement in six-freedom degree direction, and space is small, movement velocity is fast, kinematic dexterity is good;Should by delta parallel institutions 4 Use in the present invention, entirety orientation angles are adjusted when on the one hand playing the role of feeding intake to charging device 5 so that the present invention can With can be comprehensive under various attitude angles carry out the operation that feeds intake, the convenient and efficient and scope that feeds intake that feeds intake is wide;It is another Aspect improves the damping performance of the present invention by delta parallel institutions 4, when the present invention walks on land or in water, i.e., Make in jolt or nonequilibrium condition under when, charging device 5 is in horizontal plateau all the time, prevents charging device 5 from feeding intake The problem of can not being carried out because of jitter or the excessive operation that causes to feed intake of obliquity during operation, further increase the present invention and feed intake Stability and security during operation.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent Define.

Claims (3)

1. a kind of large area sewage purification machine people is with multiple degrees of freedom pedestal, including land walking device, water surface running gear, rise Falling unit and delta parallel institutions;It is characterized in that:The water surface running gear quantity is two, and water surface running gear point Not Wei Yu land walking device the left and right sides, water surface running gear is connected with land walking device, and lifting gear is located at land Directly over ground running gear, and lifting gear lower end is connected with land walking device upper end, and delta parallel institutions are positioned at lifting Directly over device, and delta parallel institutions lower end is connected with lifting gear;Wherein:
The land walking device includes chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives The quantity of dynamic motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four;The chassis is rectangular Structure, the chassis left and right sides offer U-type groove respectively, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively It is scheduled in the mounting groove of chassis front and rear sides, and drives motor to use Biaxial synchronous output motor, drive shaft one end and driving electricity Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding on the outside of traveling crawler rotating around being sleeved on walking belt wheel Bar;
The water surface running gear includes walking plate, walking hinge, angle adjusting mechanism, walking turntable, walking telescopic rod, solid Fixed rack, jet cylinder, appendix and pulsometer;The walking plate is in bar shaped platy structure, and walking plate medial extremity passes through walking Hinge is connected with the U-type groove madial wall on chassis, and angle adjusting mechanism quantity is two, and horizontal stroke of the angle adjusting mechanism along walking plate It is symmetrically arranged to central axis, angle adjusting mechanism lower end is mutually fixed with walking plate, and walking turntable is on the outside of walking plate Wall center position, walking telescopic rod one end are connected with walking turntable, and the walking telescopic rod other end is connected with fixing bracket, And walking telescopic rod is hollow cylinder shell structure, fixing bracket rear end is provided with fixed link, and fixing bracket front end is provided with Ω Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder is installed in support bracket fastened Ω type frame, before jet cylinder To hold and offer puff prot for cone-shaped structure, jet tube rear end, appendix one end is connected through walking telescopic rod with jet cylinder, The appendix other end is connected with pulsometer, and pulsometer is fixed on the center position of chassis upper surface;
The delta parallel institutions include fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first rotating shaft, first connecting rod, turn Dynamic pin, second connecting rod, the second shaft, rotating basis and limit spring;The fixed platform and moving platform structure in rounded shape, Moving platform is located at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, and motor cabinet is using the center of circle of fixed platform in The heart is fixed on fixed platform upper surface in positive triangle shape, and rotating basis is in positive triangle shape cloth centered on the center of circle of moving platform Put on moving platform lower face, and motor cabinet installation site and rotating basis installation site correspond respectively, parallel-connected induction motors lead to Cross motor cabinet and installation is fixed, and parallel-connected induction motors use adjustable speed twin shaft output motor, first rotating shaft one end and parallel-connected induction motors Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end It is attached using rotational pin, second connecting rod lower end is connected with second shaft one end, and the second shaft other end is installed on rotation On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing is mutually fixed with moving platform upper surface, rotating basis upper end It is provided with and is respectively set with the matched double end sleeve of the second shaft, first connecting rod middle inside and second connecting rod middle inside There are the first mounting base and the second mounting base, limit spring is between the first mounting base and the second mounting base, and in limit spring End is connected with the first mounting base, and limit spring lower end is connected with the second mounting base.
2. a kind of large area sewage purification machine people according to claim 1 is with multiple degrees of freedom pedestal, it is characterised in that:Institute The lifting gear stated includes lifting push rod, lifting round platform and electric turntable;The lifting push rod quantity is four, lifting push rod position Below lifting round platform, and lift push rod upper end and be connected with lifting round platform lower face, electric turntable is fixed on lifting round platform At end face center position.
3. a kind of large area sewage purification machine people according to claim 1 is with multiple degrees of freedom pedestal, it is characterised in that:Institute The angle adjusting mechanism stated includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis and adjusting bracket;Described The U-shaped structure of ear mount is adjusted, ear mount is adjusted and is fixed on walking plate, adjusting yoke lower end is by the first adjustment axis with adjusting ear mount It is connected, is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusting yoke is electric telescopic formula Structure, in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis adjusting bracket.
CN201610463851.9A 2016-06-23 2016-06-23 A kind of large area sewage purification machine people is with multiple degrees of freedom pedestal Active CN106114093B (en)

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CN103587605A (en) * 2012-08-14 2014-02-19 中国科学院合肥物质科学研究院 Double-foot amphibious robot
CN204415069U (en) * 2014-12-26 2015-06-24 胡建昌 A kind of amphibious boat and land walking device

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Publication number Priority date Publication date Assignee Title
JPH0524420A (en) * 1991-07-19 1993-02-02 Isuzu Motors Ltd Steering device for amphibious vehicle
JP3641828B2 (en) * 2003-02-24 2005-04-27 孝一 榊原 Car water traveling device
JP2015071344A (en) * 2013-10-02 2015-04-16 三菱重工業株式会社 Amphibious motor car, and control method therefor

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
CN103587605A (en) * 2012-08-14 2014-02-19 中国科学院合肥物质科学研究院 Double-foot amphibious robot
CN204415069U (en) * 2014-12-26 2015-06-24 胡建昌 A kind of amphibious boat and land walking device

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