CN107471935A - A kind of fuel engines drives amphibious robot - Google Patents
A kind of fuel engines drives amphibious robot Download PDFInfo
- Publication number
- CN107471935A CN107471935A CN201710830728.0A CN201710830728A CN107471935A CN 107471935 A CN107471935 A CN 107471935A CN 201710830728 A CN201710830728 A CN 201710830728A CN 107471935 A CN107471935 A CN 107471935A
- Authority
- CN
- China
- Prior art keywords
- robot
- hydraulic
- fuel engines
- power unit
- output shaft
- 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
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
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
-
- 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
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
-
- 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 present invention relates to a kind of fuel engines to drive amphibious robot, including：Fuel engines (1), front output shaft (2), front clutch (3), drive axle (4), driving wheel (5), crawler belt (6), battery (7), draining pump (8), rear output shaft (9), compressor of air conditioner (10), rear clutch (11), hydraulic propeller (12), hydraulic power unit (13), controller (14), wireless transmitter (15), console (16), robot body (17).Both the form of crawler belt can be used to walk on land, can be also travelled by the way of hydraulic propeller in water, while can be by the way of crawler belt and hydraulic propeller work simultaneously quickly through phytal zone.The robot is respectively provided with good by property and steering behaviour under most operating modes, and driven using fuel engines, it is overweight to solve the problems, such as that most of motors driving amphibious robot course continuation mileages are short, power is small, the charging interval is long, motor and number of batteries cause to conduct oneself with dignity more.
Description
Technical field
The present invention relates to robot, particularly a kind of amphibious robot of fuel engines driving.
Background technology
Present war is mainly in coastal area, and amphibious warfare mode turns into a kind of highly important means of warfare.Amphibious
Turn into a focus of scientists from all over the world's research with robot to perform the combat duty of some high risks in operation.Together
When, Global Natural Disasters are taken place frequently such as earthquake, flood, and the labor of rescue personnel can be reduced by carrying out rescue and relief work with robot
Fatigue resistance and safety coefficient, the time that can also reduce rescue farthest reduce the life and property loss that disaster is brought.In order to
Realize robot ground and amphibious military operations and improve adaptability of the robot under a variety of severe natural calamity environment, various countries' research
Personnel begin one's study amphibious robot.
At present, amphibious robot on the market is driven by motor more, this just brings, and course continuation mileage is short, power is small,
Charging interval length, motor and number of batteries cause a series of problems, such as overweight of conducting oneself with dignity more.It is most of due to the presence of these problems
Amphibious robot does not have the ability rescued under ground and amphibious military operations and a variety of severe natural calamity environment.
The content of the invention
Present invention aims at a kind of fuel engines driving amphibious robot is provided, solve motor and drive amphibious machine
Device people's course continuation mileage is short, power is small, the charging interval is long, motor and number of batteries cause a series of problems, such as overweight of conducting oneself with dignity more.
A kind of fuel engines drives amphibious robot, including：Fuel engines, engine power module, generate electricity
It is machine, gear, gearshift, front output shaft, front clutch, drive axle, driving wheel, crawler belt, battery, draining pump, rear defeated
Shaft, compressor of air conditioner, rear clutch, hydraulic propeller, power intake, water sucking mouth, delivery port, steering control level, steering
Executing agency, astern oil bottle, reversing bucket, hydraulic power unit, motor, hydraulic oil pump, hydraulic oil container, multi-channel electromagnetic reversal valve,
Controller, wireless transmitter, console, robot body.
The fuel oil driving engine is customized engine, wherein being integrated with engine power module, generator, variable-speed motor
Structure and gearshift.The engine has front and rear two output shafts.Front output shaft can be by belt drive electrical power generators, together
When by front clutch drive drive axle and driving wheel to rotate, and then drive crawler travel, realize that land travels.Rear output shaft can
To be worked by belt drive compressor of air conditioner, the refrigeration or heat-production functions of robot interior are realized, while rear output shaft can be with
Drive hydraulic propeller to work by rear clutch, realize in water and travel.
The power storage that generator is sent is in battery, if robot interior is intake when these are travelled in water, electric power storage
Pond discharge water pump power supply, discharges ponding.When the artificial manned mode of machine, battery is powered to console, is allowed and is driven
The person of sailing can be with the action of control machine people.When machine artificially unmanned pattern, battery is to wireless transmitter and hydraulic pressure
Power unit is powered, and robot motion is realized according to commanding's order.
Wireless transmitter can receive commanding's remote command, by controller control hydraulic power unit to corresponding
Part output hydraulic oil realizes that robot acts accordingly.When land travels, hydraulic power unit can be defeated to a side drive wheel
Go out hydraulic oil, brake a side drive wheel, so that both sides crawler belt differential, realizes robot go to action.When being travelled in water,
Hydraulic power unit can export hydraulic oil to hydraulic propeller steering control level, move the steering executing agency of hydraulic propeller
Make, realize go to action in water.
Wireless transmitter can receive the remote command of commanding, by controller control front and rear clutch disconnection and
Closure, realize working or working simultaneously respectively for running gear in land walking device and water.Controller can control fuel oil to send out
The gear and gearshift of motivation realize the acceleration, deceleration and reverse action of robot land walking.Controller also may be used
To control the flexible of hydraulic propeller astern oil bottle, change the position of reversing bucket, realize the reverse action travelled in robot water.
The body of robot is the preferable body structure of sealing, ensures to float with enough when robot walks in water
Power, if robot interior is intake, controller can control draining pump work, discharge robot interior ponding.Robot body tool
There are enough receiving spaces, goods and materials and personnel can be accommodated in the task of execution.
Robot can switch manned mode in dtr signal, working environment complexity, and human pilot passes through control
The working condition of some row parts such as platform control hydraulic power unit, fuel engines, clutch, realizes that robot normally moves
Make.
The present invention possesses running gear in land walking device and water, and both can work to adapt in land and water respectively
Operating mode, in shallow water area, two sets of running gears can work to pass through shallow water area simultaneously.The present invention possess it is manned and
Unmanned both of which, a variety of working conditions can be tackled.The present invention is power set using fuel engines, is solved
Most of motors driving amphibious robot course continuation mileages are short, power is small, the charging interval is long, motor and number of batteries are led more
The problem of causing deadweight overweight.
Brief description of the drawings
Fig. 1 drives amphibious robot structural representation for a kind of fuel engines of the present invention；
Fig. 2 drives fuel engines composition signal used in amphibious robot for a kind of fuel engines of the present invention
Figure.
Fig. 3 drives hydraulic power unit composition used in amphibious robot to show for a kind of fuel engines of the present invention
It is intended to.
Fig. 4 drives hydraulic propeller structural representation used in amphibious robot for a kind of fuel engines of the present invention
Figure.
It is fuel engines 1, engine power module 1.1, generator 1.2, gear 1.3, gearshift 1.4, preceding defeated
Shaft 2, front clutch 3, drive axle 4, driving wheel 5, crawler belt 6, battery 7, draining pump 8, rear output shaft 9, compressor of air conditioner 10,
Afterwards clutch 11, hydraulic propeller 12, power intake 12.1, water sucking mouth 12.2, delivery port 12.3, steering control level 12.4,
Turn to executing agency 12.5, astern oil bottle 12.6, reversing bucket 12.7, hydraulic power unit 13, motor 13.1, hydraulic oil pump
13.2nd, hydraulic oil container 13.3, multi-channel electromagnetic reversal valve 13.4, controller 14, wireless transmitter 15, console 16, robot
Body 17.
Embodiment
Below in conjunction with the accompanying drawings and instantiation the present invention is further illustrated, but protection scope of the present invention is not
It is limited to this.
A kind of fuel engines drives amphibious robot, including：Fuel engines 1, engine power module 1.1,
Generator 1.2, gear 1.3, gearshift 1.4, front output shaft 2, front clutch 3, drive axle 4, driving wheel 5, crawler belt 6,
Battery 7, draining pump 8, rear output shaft 9, compressor of air conditioner 10, rear clutch 11, hydraulic propeller 12, power intake
12.1st, water sucking mouth 12.2, delivery port 12.3, steering control level 12.4, steering executing agency 12.5, astern oil bottle 12.6, reversing
Bucket 12.7, hydraulic power unit 13, motor 13.1, hydraulic oil pump 13.2, hydraulic oil container 13.3, multi-channel electromagnetic reversal valve 13.4,
Controller 14, wireless transmitter 15, console 16, robot body 17.The present invention has manned and unmanned two
Kind of control model, meanwhile, land walking, phytal zone walking and profundal zone walking can be carried out, have it is good by property, can be with
Adapt to Various Complex operating mode.
Under unmanned pattern, the wireless transmitter 15 of robot receives the remote command of commanding and by controller
These orders of 14 execution, when clutch 11 after the order received disconnects for closure front clutch 3, fuel engines 1 moves
Power passes to driving wheel 5 by front output shaft 2, front clutch 3, drive axle 4 and drives crawler belt 6 to walk, and realizes land walking.
Under unmanned pattern, when the order received is disconnects clutch 11 after front clutch 3 closes, fuel oil starts
The power of machine 1 through rear output shaft 9, after clutch 11 pass to hydraulic propeller 12, realize profundal zone walk.
Under unmanned pattern, when the order received is closes front clutch 3 and closure front clutch 11, fuel oil hair
The power of motivation 1 both can drive crawler belt 6 to walk for delivery to driving wheel 5, can also be delivered to hydraulic propeller 12 and spray water backward,
Realize that phytal zone is walked.
Under unmanned pattern, when the acceleration or deceleration order received, controller 14 is controlled in fuel engines 1
Gear 1.3 work change fuel engines 1 before and after output shaft export rotating speed so that the speed of travel of crawler belt 6 change or
The water-jet velocity of hydraulic propeller 12 changes, and realizes speed change.
Under unmanned pattern, when receiving diversion order, controller 14 controls hydraulic power unit 13 to left driving
Wheel 5.1 or right driving wheel 5.2 export hydraulic oil and one side drive wheel are braked, and realize the go to action of land walking.Control
Device 14 processed controls hydraulic power unit 13 to export hydraulic oil to hydraulic propeller 12, makes the steering control level of hydraulic propeller 12
12.4 rotate, and triggering turns to executing agency 12.5 and acted, and realizes go to action of being walked in water.
Under unmanned pattern, when receiving reversing order, controller 14 controls the gearshift in fuel engines 1
1.4 extensions, which reverse gear, realizes that land walking is moved backward.Controller 14 controls hydraulic power unit 13 to export hydraulic oil to hydraulic propeller 12,
So that astern oil bottle 12.6 is flexible, changes 12.7 positions of reversing bucket, realize reversing of being walked in water.
Under manned mode, human pilot according to actual conditions by each component working of control machine people of console 16,
Realize a series of actions such as walking, steering, reversing, speed change in robot land walking, water.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow be familiar with the people of correlation technique
Present disclosure can be understood and implemented according to this, it is not intended to limit the scope of the present invention.It is all main according to the present invention
The modification for wanting the Spirit Essence of technical scheme to be done, it should all be included within the scope of the present invention.
Claims (8)
1. a kind of fuel engines drives amphibious robot, including：Front output shaft (2), front clutch (3), drive axle
(4), left driving wheel (5.1), right driving wheel (5.2), crawler belt (6), battery (7), draining pump (8), rear output shaft (9), air-conditioning
Compressor (10), rear clutch (11), hydraulic propeller (12), controller (14), wireless transmitter (15), robot body
(17), it is characterised in that also include：Oil-burning internal combustion engine (1), hydraulic power unit (13), console (16).
2. the fuel engines (1) is customized engine, wherein being integrated with engine power module (1.1), generator
(1.2), gear (1.3), gearshift (1.4).Generator (1.2) is connected with front output shaft (2) by belt, when fuel oil is sent out
When motivation (1) works, generator (1.2) is driven generation electric energy, and these electrical power storages are in battery (7), supply and discharge water pump
(8), controller (14), wireless transmitter (15), console (16) and hydraulic power unit (13) use.
3. the front output shaft (2) of the fuel engines (1) can drive drive axle (4) to rotate by front clutch (3), and then band
Dynamic driving wheel (5) rotates, and driving wheel (5), which rotates, drives crawler belt (6) to walk forward.
4. the rear output shaft (9) is connected with compressor of air conditioner (10) by belt, sky can be driven when fuel engines (1) works
Compressor (10) operating is adjusted, robot interior is freezed or heated.
5. the rear output shaft (9) of the fuel engines (1) can drive hydraulic propeller (12) to operate by rear clutch (11)
Realize that robot travels in water.
6. the robot body (17) has preferable seal, can be kept afloat when being travelled in water
On, when robot interior is intake, draining pump (8) work, discharge robot interior ponding.Robot body (17) can hold
Receive operating personnel, operating personnel can utilize console (16) control machine people to work.
7. the wireless transmitter (15) can receive the remote command of commanding, by controller
(14) work of control machine people fuel engines (1) and hydraulic power unit (13), so as to realize robot nobody
Drive.
8. the hydraulic power unit (13) is by motor (13.1), hydraulic oil pump (13.2), hydraulic oil container (13.3), multi-channel electromagnetic
Reversal valve (13.4) forms, and hydraulic power unit (13) passes through motor under the instruction of controller (14) or console (16)
(13.1) driving the form of hydraulic oil pump (13.2) output hydraulic oil can be carried out to left driving wheel (5.1) or right driving wheel (5.2)
Braking, so that two side drive wheel differentials, realize steering during land walking.Hydraulic power unit (13) can be to variable-speed motor
Structure (1.3) and gearshift (1.4) output hydraulic oil, realize the acceleration, deceleration and reversing of robot ambulation.Hydraulic power unit
(13) at the same can to hydraulic propeller (12) export hydraulic oil so that the steering control level (12.4) of hydraulic propeller (12) to
A left side is swung to the right, and control turns to executing agency (12.5) action, realizes steering when being travelled in water.Hydraulic power unit (13)
The position of astern oil bottle (12.6) input hydraulic oil control reversing bucket (12.7) can be given, so as to realize advance when being walked in water
Or reversing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830728.0A CN107471935A (en) | 2017-09-15 | 2017-09-15 | A kind of fuel engines drives amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710830728.0A CN107471935A (en) | 2017-09-15 | 2017-09-15 | A kind of fuel engines drives amphibious robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107471935A true CN107471935A (en) | 2017-12-15 |
Family
ID=60585000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710830728.0A Pending CN107471935A (en) | 2017-09-15 | 2017-09-15 | A kind of fuel engines drives amphibious robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107471935A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928197A (en) * | 2018-07-10 | 2018-12-04 | 西安华雷船舶实业有限公司 | A kind of amphibious craft of new dynamical system |
| CN111845228A (en) * | 2020-06-17 | 2020-10-30 | 惠安用扬星通讯设备有限公司 | Novel amphibious fishing trolley |
| CN112918241A (en) * | 2021-03-23 | 2021-06-08 | 南京汽车集团有限公司 | Amphibious automobile hybrid power driving system |
| CN113844219A (en) * | 2021-10-20 | 2021-12-28 | 芜湖造船厂有限公司 | Power transmission system of amphibious automobile |
| CN114382703A (en) * | 2022-01-12 | 2022-04-22 | 江苏徐工工程机械研究院有限公司 | Control method of waterlogging draining robot and waterlogging draining robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1447761A (en) * | 2000-08-30 | 2003-10-08 | 吉布斯技术有限公司 | Power train |
| AU2001276551B2 (en) * | 2000-08-10 | 2006-11-09 | Gibbs Technologies Limited | Power train |
| CN102229315A (en) * | 2011-07-18 | 2011-11-02 | 北京理工大学 | Power coupling device of amphibious vehicle |
| CN103129338A (en) * | 2013-03-19 | 2013-06-05 | 李祉谌 | Environment-friendly energy source amphibious electric car for purifying air |
| CN205059106U (en) * | 2015-09-23 | 2016-03-02 | 陕西宝鸡专用汽车有限公司 | Amphibious motor boat |
| CN105415993A (en) * | 2015-12-01 | 2016-03-23 | 北京理工大学 | Hybrid power caterpillar-track-type floating bridge |
| CN106032104A (en) * | 2015-03-20 | 2016-10-19 | 比亚迪股份有限公司 | Amphibian vehicle hybrid power drive system control device, method and amphibian vehicle |
-
2017
- 2017-09-15 CN CN201710830728.0A patent/CN107471935A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2001276551B2 (en) * | 2000-08-10 | 2006-11-09 | Gibbs Technologies Limited | Power train |
| CN1447761A (en) * | 2000-08-30 | 2003-10-08 | 吉布斯技术有限公司 | Power train |
| CN102229315A (en) * | 2011-07-18 | 2011-11-02 | 北京理工大学 | Power coupling device of amphibious vehicle |
| CN103129338A (en) * | 2013-03-19 | 2013-06-05 | 李祉谌 | Environment-friendly energy source amphibious electric car for purifying air |
| CN106032104A (en) * | 2015-03-20 | 2016-10-19 | 比亚迪股份有限公司 | Amphibian vehicle hybrid power drive system control device, method and amphibian vehicle |
| CN205059106U (en) * | 2015-09-23 | 2016-03-02 | 陕西宝鸡专用汽车有限公司 | Amphibious motor boat |
| CN105415993A (en) * | 2015-12-01 | 2016-03-23 | 北京理工大学 | Hybrid power caterpillar-track-type floating bridge |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928197A (en) * | 2018-07-10 | 2018-12-04 | 西安华雷船舶实业有限公司 | A kind of amphibious craft of new dynamical system |
| CN111845228A (en) * | 2020-06-17 | 2020-10-30 | 惠安用扬星通讯设备有限公司 | Novel amphibious fishing trolley |
| CN112918241A (en) * | 2021-03-23 | 2021-06-08 | 南京汽车集团有限公司 | Amphibious automobile hybrid power driving system |
| CN113844219A (en) * | 2021-10-20 | 2021-12-28 | 芜湖造船厂有限公司 | Power transmission system of amphibious automobile |
| CN114382703A (en) * | 2022-01-12 | 2022-04-22 | 江苏徐工工程机械研究院有限公司 | Control method of waterlogging draining robot and waterlogging draining robot |
| CN114382703B (en) * | 2022-01-12 | 2024-02-02 | 江苏徐工工程机械研究院有限公司 | Control method of waterlogging drainage robot and waterlogging drainage robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107471935A (en) | A kind of fuel engines drives amphibious robot | |
| CN107650601A (en) | A kind of serial mixed power amphibious robot | |
| CN110065607B (en) | Auxiliary bionic robot fish | |
| AU2014364121B2 (en) | Idle reduction engine shutdown and restart system for a machine | |
| CN104192114B (en) | A kind of vehicle electrically controlling Pneumatic braking system | |
| US3379008A (en) | Fluid pressure system for operating a vehicle drive | |
| CN102582425B (en) | Walking hydraulic control system and self-walking type engineering machinery utilizing same | |
| CN105775082A (en) | Bionic robotic dolphin for water quality monitoring | |
| CN101890888A (en) | Amphibious bionic turtle robot | |
| AU2009282360A1 (en) | All-terrain, drive-by-wire, high-pressure, fire fighting apparatus | |
| CN213616720U (en) | Amphibious operation robot that cruises | |
| CN102627127A (en) | Joint-track composite bionic robot | |
| US3238896A (en) | Locomotive with energy accumulator in the form of a revolving flywheel | |
| US20090032315A1 (en) | Systems for Powering Vehicles using Compressed Air and Vehicles Involving Such Systems | |
| CN106032104A (en) | Amphibian vehicle hybrid power drive system control device, method and amphibian vehicle | |
| CN105415993B (en) | A kind of hybrid power crawler type pontoon bridge | |
| CN103386885B (en) | method for controlling drive system | |
| CN102277887B (en) | Fully submerged dredge boat | |
| RU187702U1 (en) | AIR SCREW ENGINE | |
| CN103707764A (en) | Bilateral hydrostatic coupling driving system of endless-track vehicle | |
| CN106257060A (en) | A kind of dissimilar redundancy electric steering gear | |
| CN207274940U (en) | A kind of power lifesaving appliance | |
| CN2753416Y (en) | Four-wheel light fire fighting extinguishing robot | |
| CN108860529A (en) | A kind of underwater unmanned plane and midget submarine mixing arrangement | |
| CN203580609U (en) | Hybrid powered transportation means |
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: 20171215 |
|
| WD01 | Invention patent application deemed withdrawn after publication |