CN106926653A - Amphibious robot integrated wheel pulp grinder structure based on ratchet structure - Google Patents
Amphibious robot integrated wheel pulp grinder structure based on ratchet structure Download PDFInfo
- Publication number
- CN106926653A CN106926653A CN201710155344.3A CN201710155344A CN106926653A CN 106926653 A CN106926653 A CN 106926653A CN 201710155344 A CN201710155344 A CN 201710155344A CN 106926653 A CN106926653 A CN 106926653A
- Authority
- CN
- China
- Prior art keywords
- wheel
- ratchet
- axle
- steering wheel
- motor
- 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
Links
- 230000008878 coupling Effects 0.000 claims abstract description 14
- 238000010168 coupling process Methods 0.000 claims abstract description 14
- 238000005859 coupling reaction Methods 0.000 claims abstract description 14
- 230000005611 electricity Effects 0.000 claims 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 13
- 238000010276 construction Methods 0.000 description 2
- 210000003660 reticulum Anatomy 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
Abstract
The invention discloses a kind of amphibious robot integrated wheel pulp grinder structure based on ratchet structure, the technical problem for solving existing amphibious robot wheel pulp grinder structure poor practicability.Technical scheme is to include steering wheel connector, motor fixing plate, motor, clutch shaft bearing, shaft coupling, axle, wheel connector, wheel, ratchet, handle ratchet wheel and propeller.The ratchet is internally provided with handle ratchet wheel, spring, ratchet washer and second bearing, and the propeller is connected by axle with handle ratchet wheel；The ratchet is connected by wheel connector with wheel；The handle ratchet wheel is connected by holding screw with axle；The axle is connected by shaft coupling with the output shaft of motor；The ratchet is installed on axle by second bearing.The present invention uses integrated wheel pulp grinder structure, robot was both operated in water high speed by propeller, again can be by wheel in land walking, and its wheel inner ring uses airflow design, and the function with radome fairing, practicality is good.
Description
Technical field
The present invention relates to a kind of amphibious robot wheel pulp grinder structure, more particularly to a kind of land and water based on ratchet structure
Amphibious robot integrated wheel pulp grinder structure.
Background technology
Amphibious robot is that land mobile robot is combined with the feature of Shui Zhong robots, with land mobile
Robot mobility strong and Shui Zhong robots are stable, fireballing double dominant, can realize being held in the conversion medium of land and water
Continuous steady operation.But current existing amphibious robot vehicle is all to be equipped with two kinds of power-equipments of wheel and propeller so that
Amphibious robot complex structure, volume are big, weight is big.
Document 1 " application publication number is CN103921616A Chinese invention patents " discloses a kind of wheel and amphibious
Car.Its wheel includes wheel hub, spoke and wheel rim, and the spoke is provided with multiple, and each spoke in the form of sheets, distinguish by the two ends of spoke
It is connected with wheel hub, wheel rim, the multiple sheet spoke sets that to be formed can be right around wheel hub according to the arrangement mode of propeller blade
Flow media near spoke is produced along the upward thrust of axletree.Sheet spoke and the wheel of the wheel are fixed, and are driven in water
When dynamic, wheel can rotate with sheet spoke, can produce big resistance and rotary inertia, and because rotary inertia is big, in water
Rotary speed can not be too high, so influence water in the speed of service；Because wheel mass is larger in water, sheet spoke is transported at a high speed
Wheel energy loss is larger when turning.
The content of the invention
In order to overcome the shortcomings of existing amphibious robot wheel pulp grinder structure poor practicability, the present invention provides a kind of based on spine
The amphibious robot integrated wheel pulp grinder structure of wheel construction.The wheel pulp grinder structure includes the first steering wheel, steering wheel head part, the second rudder
Machine, steering wheel connector, motor fixing plate, motor, clutch shaft bearing, shaft coupling, axle, wheel connector, wheel, ratchet, handle ratchet wheel
And propeller.The ratchet is internally provided with handle ratchet wheel, spring, ratchet washer and second bearing, the propeller by axle with
Handle ratchet wheel is connected；The ratchet is connected by wheel connector with wheel；The handle ratchet wheel is connected by holding screw with axle；Institute
Axle is stated to be connected with the output shaft of motor by shaft coupling；The ratchet is installed on axle by second bearing.The present invention uses one
Body wheel pulp grinder structure, realizes that amphibious robot can both be operated by propeller in water high speed, can pass through simultaneously again
Wheel meets the realization of the amphibious function of robot in land walking.Its wheel inner ring uses airflow design, with whole
The function of cover is flowed, practicality is good.
The technical solution adopted for the present invention to solve the technical problems is：A kind of amphibious machine based on ratchet structure
People's integrated wheel pulp grinder structure, is characterized in including the first steering wheel 1, steering wheel head part 2, the second steering wheel 3, steering wheel connector 4, motor
Fixed plate 5, motor 6, clutch shaft bearing 7, shaft coupling 8, axle 9, wheel connector 10, wheel 11, ratchet 12, handle ratchet wheel 13 and spiral
Oar 14.The ratchet 12 is internally provided with handle ratchet wheel 13, spring 16, ratchet washer 18 and second bearing 23, and spring 16 is through the
One screw 15, one end of spring 16 is attached to the surface of handle ratchet wheel 13, and the other end is attached to the inner surface of ratchet washer 18, and ratchet washer 18 leads to
The second screw 17 is crossed to constrain, make ratchet washer 18 can only around the second screw 17 axle rotate, the propeller 14 by axle 9 with it is interior
Ratchet 13 is connected；The ratchet 12 is connected by wheel connector 10 with wheel 11；The handle ratchet wheel 13 passes through holding screw 22
It is connected with axle 9；The axle 9 is connected by shaft coupling 8 with the output shaft of motor 6；The ratchet 12 is installed by second bearing 23
In on axle 9；The motor 6 is connected by motor fixing plate 5 with steering wheel connector 4, and the output shaft of the motor 6 passes through clutch shaft bearing
7 are arranged on motor fixing plate 5；The steering wheel 3 of the steering wheel connector 4 and second is connected；Second steering wheel 3 passes through steering wheel head
The steering wheel 1 of part 2 and first is connected.
The beneficial effects of the invention are as follows：The wheel pulp grinder structure includes that the first steering wheel, steering wheel head part, the second steering wheel, steering wheel connect
Fitting, motor fixing plate, motor, clutch shaft bearing, shaft coupling, axle, wheel connector, wheel, ratchet, handle ratchet wheel and propeller.
The ratchet is internally provided with handle ratchet wheel, spring, ratchet washer and second bearing, and the propeller is consolidated by axle with handle ratchet wheel
Even；The ratchet is connected by wheel connector with wheel；The handle ratchet wheel is connected by holding screw with axle；The axle passes through
Shaft coupling is connected with the output shaft of motor；The ratchet is installed on axle by second bearing.The present invention is using integrated wheel slurry
Mechanism, makes robot both to be operated in water high speed by propeller, again can be by wheel in land walking, in its wheel
Circle uses airflow design, and the function with radome fairing, practicality is good.
The present invention is elaborated with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is amphibious robot integrated wheel slurry structural scheme of mechanism of the present invention based on ratchet structure.
Fig. 2 is the normal axomometric drawing of amphibious robot integrated wheel pulp grinder structure of the present invention based on ratchet structure.
Fig. 3 is the partial enlarged drawing of ratchet in Fig. 1.
Fig. 4 is the overall structure figure of integrated wheel pulp grinder structure of the present invention and amphibious robot.
In figure, the steering wheels of 1- first；2- steering wheel head parts；The steering wheels of 3- second；4- steering wheel connectors；5- motor fixing plates；6-
Motor；7- clutch shaft bearings；8- shaft couplings；9- axles；10- wheel connectors；11- wheels；12- ratchets；13- handle ratchet wheels；14- spirals
Oar；The screws of 15- first；16- springs；The screws of 17- second；18- ratchet washers；19- car bonnets；20- car shells；21- steering wheel fixed plates；
22- holding screws；23- second bearings.
Specific embodiment
Following examples reference picture 1~4.
Amphibious robot integrated wheel pulp grinder structure of the present invention based on ratchet structure includes ratchet 12, the and of propeller 14
Wheel 11, the ratchet 12 be internally provided with handle ratchet wheel 13, the first screw 15, spring 16, the second screw 17, ratchet washer 18,
Second bearing 23；The handle ratchet wheel 13 is connected by axle 9 with propeller 14；The ratchet 12 passes through wheel connector 10 and wheel
11 are connected；The handle ratchet wheel 13 is equipped with holding screw 22；The axle 9 is connected by shaft coupling 8 with the output shaft of motor 6；It is described
Second bearing 23 is housed on axle 9；Clutch shaft bearing 7 is housed on the output shaft of the motor 6；The motor 6 by motor fixing plate 5 with
Steering wheel connector 4 is connected；The steering wheel connector 4 is connected with the second steering wheel 3；Second steering wheel 3 by steering wheel head part 2 with
First steering wheel 1 is connected.
If being to the right axially positive direction along axle 9, when motor 6 is rotated forward, the output shaft of motor 6 makes axle 9 by shaft coupling 8
Rotate forward, axle 9 rotates forward handle ratchet wheel 13 by holding screw 22, ratchet washer 18 is constrained by the second screw 17, its
There can only be the free degree of rotation, the spring 16 constrained by the first screw 15 transfers to ratchet washer 18, when handle ratchet wheel 13 revolves
When turning, drive ratchet washer 18 to rotate, drive ratchet 12 to rotate by the saw type teeth groove of ratchet 12, wheel 11 is connected by wheel
Part 10 is connected with ratchet 12, and wheel 11 is rotated forward with propeller 14, and this is the wheeled motor pattern in land；When motor 6 is reverse
During rotation, the output shaft of motor 6 reversely rotates axle 9 by shaft coupling 8, and axle 9 makes handle ratchet wheel 13 reversely revolve by holding screw 22
Turn, ratchet washer 18 is constrained by the second screw 17, it can only have the free degree of rotation, the bullet constrained by the first screw 15
Spring 16 transfers to ratchet washer 18, because handle ratchet wheel 13 is reversely rotated, drives ratchet washer 18 to rotate, due to the teeth groove side of ratchet 12
To difference, ratchet washer 18 is often reversed in the preformed groove of handle ratchet wheel 13 by the teeth groove of a ratchet 12, and at this moment ratchet 12 is simultaneously
Do not rotate, remain in that the state of geo-stationary, final wheel 11 also keeps relative static conditions, and secondary i.e. water screw is at a high speed
Independent rotational movement pattern.First steering wheel 1 rotates steering wheel by output shaft rotates steering wheel head part 2, can make and steering wheel head
The second connected steering wheel 3 of part rotates, and the miscellaneous part being connected with the second steering wheel 3 produces rotation, i.e. divertical motion.When road surface not
Steering wheel is rotated by output shaft by the second steering wheel 3 when smooth, wheel can be made to adjust the angle with ground, transport wheel stability
It is dynamic.
When integrated wheel pulp grinder structure of the present invention is assembled with amphibious robot, first steering wheel 1 is fixed by steering wheel
Plate 21 is connected with car shell 20；The car shell 20 is connected with car bonnet 19.This is the land and water of a application continuum wheel pulp grinder structure application
Amphibious vehicle.
Integrated wheel pulp grinder structure, by using ratchet structure, realizes that the propeller of amphibious robot can be in water
Run at high speed, allow the robot to keep wheeled construction while not using separate propellers, meet robot amphibious
The realization of function.Its wheel inner ring uses airflow design, the function with radome fairing, can make amphibious robot in water
In it is more efficient, reduce noise motion.
Claims (1)
1. a kind of amphibious robot integrated wheel pulp grinder structure based on ratchet structure, it is characterised in that：Including the first steering wheel
(1), steering wheel head part (2), the second steering wheel (3), steering wheel connector (4), motor fixing plate (5), motor (6), clutch shaft bearing
(7), shaft coupling (8), axle (9), wheel connector (10), wheel (11), ratchet (12), handle ratchet wheel (13) and propeller (14)；
The ratchet (12) is internally provided with handle ratchet wheel (13), spring (16), ratchet washer (18) and second bearing (23), spring (16)
Through the first screw (15), one end of spring (16) is attached to handle ratchet wheel (13) surface, and the other end is attached to ratchet washer (18) interior table
Face, ratchet washer (18) is constrained by the second screw (17), ratchet washer (18) is rotated around the axle of the second screw (17),
The propeller (14) is connected by axle (9) and handle ratchet wheel (13)；The ratchet (12) is by wheel connector (10) and wheel
(11) it is connected；The handle ratchet wheel (13) is connected by holding screw (22) and axle (9)；The axle (9) is by shaft coupling (8) and electricity
The output shaft of machine (6) is connected；The ratchet (12) is installed on axle (9) by second bearing (23)；The motor (6) is by electricity
Machine fixed plate (5) is connected with steering wheel connector (4), and motor (6) output shaft is fixed by clutch shaft bearing (7) installed in motor
On plate (5)；The steering wheel connector (4) is connected with the second steering wheel (3)；Second steering wheel (3) by steering wheel head part (2) with
First steering wheel (1) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155344.3A CN106926653A (en) | 2017-03-16 | 2017-03-16 | Amphibious robot integrated wheel pulp grinder structure based on ratchet structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155344.3A CN106926653A (en) | 2017-03-16 | 2017-03-16 | Amphibious robot integrated wheel pulp grinder structure based on ratchet structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106926653A true CN106926653A (en) | 2017-07-07 |
Family
ID=59433326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710155344.3A Pending CN106926653A (en) | 2017-03-16 | 2017-03-16 | Amphibious robot integrated wheel pulp grinder structure based on ratchet structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106926653A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500993A (en) * | 2018-04-10 | 2018-09-07 | 浙江海洋大学 | A kind of under-ce exploration robot |
| CN108528667A (en) * | 2018-04-10 | 2018-09-14 | 浙江海洋大学 | A kind of subglacial robot |
| CN110920334A (en) * | 2019-12-13 | 2020-03-27 | 哈尔滨工程大学 | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1105053A (en) * | 1954-06-09 | 1955-11-28 | Amphibious tricycle | |
| CN2036438U (en) * | 1988-06-25 | 1989-04-26 | 刘铁英 | Amphibious toy boat for child |
| CN202899194U (en) * | 2012-07-27 | 2013-04-24 | 芜湖山猫工程机械有限责任公司 | Main buoyancy tanks of riverway dredging engineering machinery |
| CN206733983U (en) * | 2017-03-16 | 2017-12-12 | 西北工业大学 | Amphibious robot integrated wheel pulp grinder structure based on ratchet structure |
-
2017
- 2017-03-16 CN CN201710155344.3A patent/CN106926653A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1105053A (en) * | 1954-06-09 | 1955-11-28 | Amphibious tricycle | |
| CN2036438U (en) * | 1988-06-25 | 1989-04-26 | 刘铁英 | Amphibious toy boat for child |
| CN202899194U (en) * | 2012-07-27 | 2013-04-24 | 芜湖山猫工程机械有限责任公司 | Main buoyancy tanks of riverway dredging engineering machinery |
| CN206733983U (en) * | 2017-03-16 | 2017-12-12 | 西北工业大学 | Amphibious robot integrated wheel pulp grinder structure based on ratchet structure |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500993A (en) * | 2018-04-10 | 2018-09-07 | 浙江海洋大学 | A kind of under-ce exploration robot |
| CN108528667A (en) * | 2018-04-10 | 2018-09-14 | 浙江海洋大学 | A kind of subglacial robot |
| CN108528667B (en) * | 2018-04-10 | 2020-05-05 | 浙江海洋大学 | Robot under ice |
| CN110920334A (en) * | 2019-12-13 | 2020-03-27 | 哈尔滨工程大学 | Foot paddle-wing hybrid drive type amphibious operation bionic robot and movement method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206733983U (en) | Amphibious robot integrated wheel pulp grinder structure based on ratchet structure | |
| CN106926653A (en) | Amphibious robot integrated wheel pulp grinder structure based on ratchet structure | |
| CN103402786A (en) | Tire and wheel assembly | |
| CN101274665A (en) | Double rotor and propeller coaxial helicopter | |
| CN107150775B (en) | A kind of foldable propeller set of combination drive underwater robot | |
| CN1161253C (en) | Bearing propeller device | |
| CN217624105U (en) | Coaxial rotor multi-purpose unmanned aerial vehicle with variant mechanism | |
| CN103786853A (en) | Torque self-balancing combination propeller of underwater navigation body | |
| CN112406430A (en) | Multifunctional spherical driving wheel for amphibious vehicle | |
| CN103921616A (en) | Wheel and amphibious vehicle | |
| KR101236937B1 (en) | Ship having contra rotating propeller | |
| CN108860598A (en) | Tilting rotor formula three is dwelt aircraft | |
| CN110682752B (en) | Cycloid type amphibious propeller | |
| CN101758741B (en) | All-in-one robot wheel suitable for amphibious ground | |
| CN207208434U (en) | A kind of amphibious marine propeller | |
| CN105034727A (en) | Centrifugal pump type water jetting propulsion amphibious device and work method thereof | |
| CN204774445U (en) | Centrifugal pump formula water spray impels amphibian device | |
| CN113635706A (en) | Driving wheel for vehicle and vehicle | |
| CN107878718A (en) | A kind of submarine navigation device that power is provided based on compressed air | |
| CN113291111A (en) | Wheel-fin-paddle composite amphibious robot | |
| RU2536012C1 (en) | Arrangement of wheeled propulsor for amphibia | |
| CN212765542U (en) | Wheel propeller structure of amphibious robot | |
| CN114083944B (en) | Amphibious robot propelled by decoupled cycloidal blade wheel | |
| CN210484543U (en) | Planet wheel type toy car differential mechanism | |
| CN214256223U (en) | Photovoltaic board cleaning machines people based on cycloid oar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170707 |
|
| WD01 | Invention patent application deemed withdrawn after publication |