CN110001320A - A kind of amphibious robot - Google Patents
A kind of amphibious robot Download PDFInfo
- Publication number
- CN110001320A CN110001320A CN201910264762.5A CN201910264762A CN110001320A CN 110001320 A CN110001320 A CN 110001320A CN 201910264762 A CN201910264762 A CN 201910264762A CN 110001320 A CN110001320 A CN 110001320A
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- CN
- China
- Prior art keywords
- vehicle wheel
- compound vehicle
- wheel
- supporting leg
- leg
- 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.)
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention relates to robotic technology fields, it is therefore an objective to provide a kind of amphibious robot, mobility is good, manufacturing cost is low, and compact is applied widely.Above-mentioned robot includes car body and at least four wheel leg composite structures for being set to the car body two sides, the wheel leg composite structure includes the compound vehicle wheel and supporting leg of inner hollow, the axial direction of the supporting leg is axially vertical with the compound vehicle wheel, the top of the supporting leg is rotatably connected and is connected to the axle center of the compound vehicle wheel, the compound vehicle wheel is driven by wheel driving assembly, the supporting leg is driven by leg actuator, impeller is provided in the compound vehicle wheel, the outside of the compound vehicle wheel has water inlet, the bottom of the supporting leg has water outlet.Structure is complicated for the existing amphibious robot that solves of the invention, and manufacturing cost is high, and volume is big, is unsuitable in work in narrow space, the small problem of the scope of application.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of amphibious robot.
Background technique
With the continuous development of robot technology, the type of robot is continuously increased, in addition to the work mainly for the manufacture of industry
Outside industry robot, have also appeared applied to space flight (courage number and Opportunity Rover Marsokhod in such as U.S.), navigation (such as deep ocean work machine
Device people), medical treatment and nursing (such as operating robot), service (such as robot nurse), military (such as removal of mines robot) field machine
Device people.But most of robots can only be movable under single environment, for example, land robot due to do not have in water propulsive mechanism or
Do not have water-proof function, cannot be movable under water, and underwater robot cannot live due to lacking land walking ability on land
It is dynamic.
For this purpose, occur can be in amphibious movable amphibious robot, such as Chinese patent literature CN108146167A
In disclose a kind of wheel leg type composite driving mechanism for amphibious ball shape robot, comprising: along ball shape robot bottom circumferential direction
More than two pedipulators of distribution and liftable arthrodia positioned at ball shape robot bottom centre；The liftable sliding is closed
When section rises, the universal rolling wheel of bottom is not contacted with road surface, and when falling, the universal rolling wheel of bottom is contacted with road surface, and will
Ball shape robot is lifted to setting height；Four pedipulators can circumferentially be moved along ball shape robot, and cooperation is in full state
Liftable arthrodia, realize sliding for ball shape robot, this fit on is in the liftable arthrodia of propradation, real
Existing ball shape robot is creeped.But structure is complicated for this amphibious robot, manufacturing cost is high, and volume is big, uncomfortable
In in work in narrow space, the scope of application is small.
Summary of the invention
For this purpose, technical problem to be solved by the present invention lies in the amphibious robot of the prior art, structure is complicated, system
Make at high cost, and volume is big, is unsuitable in work in narrow space, and the scope of application is small, and provides that a kind of mobility is good, structure is simple
Change, manufacturing cost are low, compact, amphibious robot applied widely.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of amphibious robot, including car body and at least four wheel leg compounding machines for being set to the car body two sides
Structure, the wheel leg composite structure include the compound vehicle wheel and supporting leg of inner hollow, the axial direction of the supporting leg with it is described compound
Wheel it is axially vertical, the top of the supporting leg is rotatably connected and is connected to the axle center of the compound vehicle wheel, described multiple
It closes wheel to be driven by wheel driving assembly, rotates the compound vehicle wheel axially around it, the supporting leg is driven by leg actuator
It is dynamic, make axial direction rotation of the supporting leg around the compound vehicle wheel, is provided with impeller, the impeller and institute in the compound vehicle wheel
It states compound vehicle wheel to be fixedly and coaxially connected, the outside of the compound vehicle wheel has water inlet, and the bottom of the supporting leg has water outlet
Mouthful.
Preferably, the wheel driving assembly includes turbin generator, first gear and second gear, the output of the turbin generator
Axis is fixedly connected with the axle center of the first gear, and the first gear is engaged with the second gear, the second gear with
The axle center of the compound vehicle wheel is fixedly connected.
Preferably, the top of the supporting leg is provided with electric machine support, and the turbin generator is installed on the electric machine support.
Preferably, the leg actuator includes thigh motor, the output shaft of the thigh motor and the supporting leg
Top is fixedly connected, and the output shaft of the thigh motor and the compound vehicle wheel are coaxial.
Preferably, the blade of the impeller is vertical with the wheel face of the compound vehicle wheel.
Preferably, the car body uses buoyant material.
The above technical solution of the present invention has the following advantages over the prior art: amphibious machine provided by the invention
People, can be with high-speed mobile in land, and supporting leg can cross over certain obstacle, when moving under water, be supported by changing
The water spray angle of leg, the posture of adjustable robot have very high-freedom degree, mobility strong.Amphibious machine of the invention
Device people's design concept is ingenious, and structure relative simplicity, and manufacturing cost is low, compact, is suitable for operation in narrow space, is applicable in
It is in extensive range.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the stereoscopic schematic diagram of amphibious robot of the present invention；
Fig. 2 is the stereoscopic schematic diagram of compound vehicle wheel in amphibious robot of the present invention；
Fig. 3 is the top view of compound vehicle wheel in amphibious robot of the present invention；
Fig. 4 be in amphibious robot of the present invention compound vehicle wheel A-A ' to sectional view；
Fig. 5 is the schematic diagram of wheel leg composite structure in amphibious robot of the present invention.
Appended drawing reference indicates in figure are as follows: 1- car body, 2- compound vehicle wheel, 3- supporting leg, 4- water inlet, 5- blade, 6- wheel electricity
Machine, 7- first gear, 8- second gear, 9- electric machine support, 10- thigh motor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, being a kind of preferred embodiment of amphibious robot of the present invention.The amphibious robot packet
Include car body 1 and at least four wheel leg composite structures for being set to 1 two sides of car body.The car body 1 uses buoyant material, makes machine
Device people has certain buoyancy.In the present embodiment, the quantity of the wheel leg composite structure is four.
The wheel leg composite structure includes the compound vehicle wheel 2 and supporting leg 3 of inner hollow, the axial direction of the supporting leg 3 with
The compound vehicle wheel 2 it is axially vertical, the axle center of the top of the supporting leg 3 and the compound vehicle wheel 2 be rotatably connected and
Connection, the compound vehicle wheel 2 are driven by wheel driving assembly, rotate the compound vehicle wheel 2 axially around it, the supporting leg 3
It is driven by leg actuator, makes axial direction rotation of the supporting leg 3 around the compound vehicle wheel 2, be provided in the compound vehicle wheel 2
Impeller, the impeller are fixedly and coaxially connected with the compound vehicle wheel 2, and the outside of the compound vehicle wheel 2 has water inlet 4, described
The bottom of supporting leg 3 has water outlet, and the blade 5 of the impeller is vertical with the wheel face of the compound vehicle wheel 2, as in Figure 2-4.
As shown in figure 5, the wheel driving assembly includes turbin generator 6, first gear 7 and second gear 8, the turbin generator
6 output shaft is fixedly connected with the axle center of the first gear 7, and the first gear 7 is engaged with the second gear 8, described
Second gear 8 is fixedly connected with the axle center of the compound vehicle wheel 2.The top of the supporting leg 3 is provided with electric machine support 9, described
Turbin generator 6 is installed on the electric machine support 9.The leg actuator includes thigh motor 10, the thigh motor 10 it is defeated
Shaft is fixedly connected with the top of the supporting leg 3, and the output shaft of the thigh motor 10 and the compound vehicle wheel 2 are coaxial.
Amphibious robot provided by the invention, when land is walked, the thigh motor 10 drives the support
Leg 3 turns to the position parallel with the car body 1, drives the compound vehicle wheel 2 to rotate (four institutes by the wheel driving assembly
State the synchronous rotation of compound vehicle wheel 2), realize the advance or retroversion of robot；When encountering barrier, driven by the thigh motor 10
It moves the supporting leg 3 to rotate, leaping over obstacles is realized in four 3 coordinations of supporting leg；Under water when operation, the wheel
Driving assembly drives the persistently rotation of the compound vehicle wheel 2, and water enters the compound vehicle wheel 2 from the water inlet 4, the impeller with
The compound vehicle wheel 2 rotates together, and the blade 5 of the impeller is pumped into the supporting leg 3 after being pressurized water, Jin Ercong
The water outlet of the supporting leg 3 sprays, and realizes underwater propulsion robot, additionally by the rotation for adjusting the supporting leg 3
Angle, adjustable water spray angle, to change the motion state (up and down, advance, retrogressing) or adjustment machine of robot
Posture in the water of people.
In other embodiments, according to different requirements, the setting quantity of wheel leg composite structure can be five, six
Or more.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (6)
1. a kind of amphibious robot, it is characterised in that: including car body (1) and be set to the car body (1) two sides at least
Four wheel leg composite structures, the wheel leg composite structure include the compound vehicle wheel (2) and supporting leg (3) of inner hollow, the branch
The axial direction of support leg (3) is axially vertical with the compound vehicle wheel (2), the top and the compound vehicle wheel (2) of the supporting leg (3)
Axle center be rotatably connected and be connected to, the compound vehicle wheel (2) is driven by wheel driving assembly, makes the compound vehicle wheel (2)
It is axially rotated around it, the supporting leg (3) is driven by leg actuator, makes the supporting leg (3) around the compound vehicle wheel (2)
Axial rotation, the compound vehicle wheel (2) is interior to be provided with impeller, and the impeller is fixedly and coaxially connected with the compound vehicle wheel (2), institute
The outside for stating compound vehicle wheel (2) has water inlet (4), and the bottom of the supporting leg (3) has water outlet.
2. amphibious robot according to claim 1, it is characterised in that: the wheel driving assembly includes turbin generator
(6), first gear (7) and second gear (8), the output shaft of the turbin generator (6) and the axle center of the first gear (7) are fixed
Connection, the first gear (7) are engaged with the second gear (8), the second gear (8) and the compound vehicle wheel (2)
Axle center is fixedly connected.
3. amphibious robot according to claim 2, it is characterised in that: the top of the supporting leg (3) is provided with
Electric machine support (9), the turbin generator (6) are installed on the electric machine support (9).
4. amphibious robot according to claim 2, it is characterised in that: the leg actuator includes thigh motor
(10), the output shaft of the thigh motor (10) is fixedly connected with the top of the supporting leg (3), and the thigh motor (10)
Output shaft and the compound vehicle wheel (2) it is coaxial.
5. amphibious robot according to claim 1 to 4, it is characterised in that: the blade (5) of the impeller with
The wheel face of the compound vehicle wheel (2) is vertical.
6. amphibious robot according to claim 5, it is characterised in that: the car body (1) uses buoyant material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910264762.5A CN110001320A (en) | 2019-04-03 | 2019-04-03 | A kind of amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910264762.5A CN110001320A (en) | 2019-04-03 | 2019-04-03 | A kind of amphibious robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110001320A true CN110001320A (en) | 2019-07-12 |
Family
ID=67169582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910264762.5A Pending CN110001320A (en) | 2019-04-03 | 2019-04-03 | A kind of amphibious robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001320A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549804A (en) * | 2019-09-17 | 2019-12-10 | 北京大学 | Amphibious propulsion device based on 4D printing technology and manufacturing method |
| CN110920765A (en) * | 2019-12-23 | 2020-03-27 | 中信重工开诚智能装备有限公司 | Light crawler type reconnaissance robot |
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6269713B1 (en) * | 1998-10-02 | 2001-08-07 | Projet Company Limited | Vehicle with auxiliary traveling device |
| CN101186232A (en) * | 2006-11-15 | 2008-05-28 | 孙绍兵 | Waterborne propeller for amphibious vehicle |
| CN202608931U (en) * | 2012-04-13 | 2012-12-19 | 毕明宇 | Separable wheel leg composite type robot |
| CN204432276U (en) * | 2014-12-24 | 2015-07-01 | 天津理工大学 | A kind of varistructured novel ball amphibious robot |
| CN105034727A (en) * | 2015-07-07 | 2015-11-11 | 朱沫 | Centrifugal pump type water jetting propulsion amphibious device and work method thereof |
| CN205553832U (en) * | 2016-04-21 | 2016-09-07 | 郝军凯 | Triphibian navigates by water ware |
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
-
2019
- 2019-04-03 CN CN201910264762.5A patent/CN110001320A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6269713B1 (en) * | 1998-10-02 | 2001-08-07 | Projet Company Limited | Vehicle with auxiliary traveling device |
| CN101186232A (en) * | 2006-11-15 | 2008-05-28 | 孙绍兵 | Waterborne propeller for amphibious vehicle |
| CN202608931U (en) * | 2012-04-13 | 2012-12-19 | 毕明宇 | Separable wheel leg composite type robot |
| CN204432276U (en) * | 2014-12-24 | 2015-07-01 | 天津理工大学 | A kind of varistructured novel ball amphibious robot |
| CN105034727A (en) * | 2015-07-07 | 2015-11-11 | 朱沫 | Centrifugal pump type water jetting propulsion amphibious device and work method thereof |
| CN205553832U (en) * | 2016-04-21 | 2016-09-07 | 郝军凯 | Triphibian navigates by water ware |
| CN108146167A (en) * | 2017-11-24 | 2018-06-12 | 北京理工大学 | A kind of wheel leg type composite driving mechanism for amphibious ball shape robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110549804A (en) * | 2019-09-17 | 2019-12-10 | 北京大学 | Amphibious propulsion device based on 4D printing technology and manufacturing method |
| CN110920765A (en) * | 2019-12-23 | 2020-03-27 | 中信重工开诚智能装备有限公司 | Light crawler type reconnaissance robot |
| CN114802519A (en) * | 2022-05-25 | 2022-07-29 | 西南科技大学 | Robot with wheel leg structure and control method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190712 |
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| RJ01 | Rejection of invention patent application after publication |