CN110450587B - Amphibious all-terrain robot - Google Patents
Amphibious all-terrain robot Download PDFInfo
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- CN110450587B CN110450587B CN201910883466.3A CN201910883466A CN110450587B CN 110450587 B CN110450587 B CN 110450587B CN 201910883466 A CN201910883466 A CN 201910883466A CN 110450587 B CN110450587 B CN 110450587B
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- 230000009471 action Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000011664 nicotinic acid Substances 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 235000001968 nicotinic acid Nutrition 0.000 description 1
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Classifications
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- 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
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses an amphibious all-terrain robot, which comprises a body component, a steering component and a moving component, wherein the steering component and the moving component are respectively arranged at two ends of the body component, the steering component is rotatably connected with the body component, the moving component is connected with the body component, and is driven to swing by the body component so as to drive the amphibious all-terrain robot to move back and forth in an amphibious environment, and the steering component rotates to change left and right steering of the amphibious all-terrain robot. The amphibious all-terrain robot has good amphibious adaptability, can better adapt to water environment and various land environments, and has higher working efficiency; the amphibious all-terrain robot is simple in structure, good in reliability and low in manufacturing and use cost.
Description
Technical Field
The invention relates to the related technical field of robots, in particular to an amphibious all-terrain robot.
Background
According to different applicable environments, the robots can be divided into land robots, underwater robots, flying robots and the like, the land environments are complex, and different types of land robots are required to adapt to different terrain environments such as mountains, deserts, forests and the like. As such, many different types of robots are required to be equipped in order to perform related operations in different environments. In application fields such as military reconnaissance, field search and rescue, archaeological exploration, earthquake relief and the like, due to complex environments, even if a plurality of robots are carried, the condition that effective adaptation cannot be performed still possibly occurs, and the operation efficiency is affected.
Bionics is a comprehensive edge discipline appearing in the middle of the twentieth century, and is a comprehensive science for researching various excellent characteristics of a biological system, such as structure, characteristics, functions, energy conversion, information control and the like, applying the characteristics to a technical system, improving the existing technical engineering equipment, and creating new technical processes, building configurations, automation devices and other technical systems. The smart actions of the bionic robot are quite helpful to the production, life and scientific research activities of human beings, and the bionic robot is also an important direction in the field of the current robot research. The amphibious bionic robot can adapt to land environments and water environments, and has high research value. In recent years, some amphibious bionic robot designs appear in the field to solve the adaptability problem of robots. The existing amphibious bionic robot mostly adopts a roller, a track or a foot type structure as a moving structure, has good adaptability in some environments, and is difficult to widely adapt to complex land environments. Some amphibious bionic robots adopt land mode and underwater mode switching modes, although suitability is improved, the structure is generally complex, manufacturing difficulty is high, manufacturing cost is high, and due to the fact that the internal structure is complex, failure rate is high, reliability is poor, complex and severe working environment cannot be effectively adapted, and working efficiency is affected.
In summary, the existing amphibious robot is difficult to realize the adaptation to the amphibious environment under the condition of simple and reliable structure, is difficult to widely adapt to the complex land environment, and has a large improvement space.
Disclosure of Invention
In view of the above, a main object of the present invention is to provide an amphibious all-terrain robot, which comprises a body component, a steering component and a moving component, wherein the steering component and the moving component are respectively arranged at two ends of the body component, the steering component is rotatably connected with the body component, the moving component is connected with the body component, and is driven to swing by the body component, so as to drive the amphibious all-terrain robot to move back and forth in an amphibious environment, and the steering component rotates to change left and right steering of the amphibious all-terrain robot.
In order to achieve the above purpose, the invention provides an amphibious all-terrain robot, which comprises a body component, a steering component and a moving component, wherein the steering component is rotatably connected with the body component, the moving component is arranged at one end of the body component far away from the steering component and is connected with the body component, the steering component is controlled by the body component to change a rotating state, and the moving component is controlled by the body component to change a swinging state.
Preferably, the body assembly comprises a housing, two connecting rods and a driving motor unit, wherein the two connecting rods are respectively arranged at two opposite ends of the housing and connected with the housing, the two connecting rods are coaxial, the driving motor is arranged inside the housing and fixedly connected with the housing, the housing is provided with a steering part and a moving part, the steering part is positioned at one end of the housing facing the steering assembly, the steering part is connected with the steering assembly, the moving part is positioned at one end of the housing facing the moving assembly, the moving part is tubular, and the driving motor unit penetrates through the moving part and is connected with the moving assembly.
Preferably, the action assembly comprises a screw rod assembly, a plurality of swinging connecting rods and a plurality of swinging frame groups, the screw rod assembly comprises a connecting sheet and a screw rod, one end of the connecting sheet is fixedly connected with the screw rod, the other end of the connecting sheet is connected with the driving motor group, the swinging connecting rods are divided into two groups with the same quantity, the swinging connecting rods are respectively connected end to end in a rotatable manner, the swinging connecting rods are respectively connected with the two swinging connecting rods in a rotatable manner, the swinging frame groups are mutually parallel, the two ends of the swinging frame groups are respectively connected with the two swinging connecting rods in a rotatable manner, and the screw rod sequentially penetrates through the swinging frame.
Preferably, the swing frame group comprises two swing frames with the same structure, the swing frames comprise two connecting pieces and two swing rods, the two connecting pieces are step-shaped connecting pieces with the same structure, the two swing rods are parallel, two ends of the swing rods are fixedly connected with the two connecting pieces respectively, the two swing frames are connected with each other through the two connecting pieces respectively, and the swing frame group is connected with the swing connecting rods in a rotatable mode through the connecting pieces.
Preferably, the steering assembly comprises a head cover, a steering gear, a cross connecting rod group and a bearing, wherein the steering gear surrounds the head cover, the steering gear is fixedly connected with the head cover, a cross latch is arranged in the head cover and is connected with the cross latch in a clamping manner, the driving motor group is fixedly connected with the cross connecting rod group, the bearing is positioned in the head cover and is fixedly connected with the head cover, the steering part stretches into the bearing, and the steering part is in interference fit with the inner ring of the bearing.
Preferably, the steering assembly comprises a plurality of small wheels, the small wheels are uniformly arranged among teeth of the steering gear, and the small wheels are rotatably connected with the steering gear.
Preferably, the cross connecting rod group comprises two cross connecting rods which are mutually perpendicular, a connecting hole and a clamping groove are formed in the middle of each cross connecting rod, and the two cross connecting rods are mutually perpendicular and connected through the clamping grooves respectively.
Preferably, the bearing is a waterproof double row roller bearing.
Preferably, the end of the nose cap remote from the fuselage assembly is a tapered end.
Preferably, a U-shaped seat is provided in the housing, the driving motor set is engaged with the U-shaped seat, and the driving motor set is fixedly connected with the U-shaped seat.
Compared with the prior art, the amphibious all-terrain robot disclosed by the invention has the advantages that: the amphibious all-terrain robot has good amphibious adaptability, can better adapt to water environment and various land environments, and has higher working efficiency; the amphibious all-terrain robot is simple in structure, good in reliability and low in manufacturing and use cost.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of an amphibious all-terrain robot according to the present invention.
A schematic structural view of a fuselage assembly of an amphibious all-terrain robot according to the present invention is shown in fig. 2.
Figure 3 shows a right side view of the fuselage assembly of an amphibious all terrain robot according to the invention.
Figure 4 shows a cross-sectional view of a steering assembly of an amphibious terrain robot according to the invention.
Fig. 5 is a right side view of a steering assembly of an amphibious all terrain robot according to the present invention.
Fig. 6 is a schematic view showing a combination of a nose cap and a steering gear of the amphibious all-terrain robot of the present invention.
Fig. 7 is a schematic structural view of a cross link of an amphibious all-terrain robot according to the present invention.
Fig. 8 is a schematic structural view of a screw rod assembly of an amphibious all-terrain robot according to the present invention.
Fig. 9 is a schematic structural view of a swing frame of the amphibious all-terrain robot according to the present invention.
Detailed Description
As shown in fig. 1, an amphibious all-terrain robot according to the present invention comprises a body module 10, a steering module 20 and a moving module 30, wherein the steering module 20 is rotatably connected to the body module 10, and the moving module 30 is disposed at an end of the body module 10 remote from the steering module 20 and connected to the body module 10. The steering assembly 20 is driven by the body assembly 10 to change the rotation state, including the start and stop of rotation and the direction of rotation. The action assembly 30 is driven by the body assembly 10 to change the swing state, including the start and stop of swing, the frequency of swing, and the direction of swing. The motion assembly 30 drives the body assembly 10 to move along a straight line, the moving direction is the axial direction of the motion assembly 30, and the axial direction of the motion assembly 30 is perpendicular to the connecting end direction of the body assembly 10 and the steering assembly 20. The turning direction of the steering assembly 20 is around the axis direction, and the steering assembly 20 turns to drive the body assembly 10 to turn.
Referring to fig. 2 and 3, the body assembly 10 includes a housing 11, two connecting rods 12, a drive motor assembly 13, a baffle 14, and an angular contact bearing 15. The shell 11 is a square shell, two connecting rods 12 are respectively arranged at two opposite ends of the shell 11 and connected with the shell 11, the two connecting rods 12 are coaxial, and the action assembly 30 is rotatably connected with the two connecting rods 12. The driving motor 13 is arranged inside the shell 11 and fixedly connected with the shell 11, the baffle 14 is arranged at one end of the driving motor group 13 facing the action assembly 30, the angular contact bearing 15 is connected with the baffle 14, the driving motor group 13 passes through the angular contact bearing 15 and is connected with the action assembly 30, the driving motor group 13 is provided with a steering output shaft 131, and the steering output shaft 131 is connected with the steering assembly 20. The housing 11 further has a steering portion 111, a moving portion 112, and a U-shaped seat 113. The steering part 111 is located at one end of the housing 11 facing the steering assembly 20, the steering part 111 is connected with the steering assembly 20, the steering part 111 is tubular, and the steering output shaft 131 extends out of the steering part 111. The action part 112 is located at one end of the housing 11 facing the action assembly 30, the action part 112 is tubular, and the driving motor set 13 passes through the action part 112 to be connected with the action assembly 30. The U-shaped seat 113 is located inside the housing 11, the driving motor set 13 is engaged with the U-shaped seat 113, and the driving motor set 13 is fixedly connected with the U-shaped seat 113.
Referring to fig. 4, 5 and 6, the steering assembly 20 includes a nose cap 21, a steering gear 22, a plurality of small wheels 23, a cross-bar linkage 24 and a bearing 25. The nose cap 21 is tubular and one end of the nose cap 21 is a conical end, so that the resistance of the amphibious all-terrain robot when moving in water is reduced. The steering gear 22 surrounds the nose cap 21, and the steering gear 22 is fixedly connected with the nose cap 21. The inside of the nose cap 21 is provided with a cross latch 211, the cross connecting rod set 24 is in snap connection with the cross latch 211, the steering output shaft 131 is fixedly connected with the cross connecting rod set 24, and when the steering output shaft 131 rotates, the cross connecting rod set 24 is driven to rotate, so that the nose cap 21 and the steering gear 22 are driven to rotate. The bearing 25 is located inside the head cover 21, the bearing 25 is fixedly connected with the head cover 21, and the bearing 25 is coaxial with the head cover 21. The bearing 25 is a waterproof double-row roller bearing. The steering part 111 extends into the bearing 25, and the steering part 111 is in interference fit with the inner ring of the bearing 25. When the steering output shaft 131 drives the nose cap 21 to rotate, the outer ring of the bearing 25 rotates relative to the inner ring of the bearing 25.
The cross link group 24 includes two cross links 241 disposed perpendicular to each other. As shown in fig. 7, the middle part of the cross connecting rod 241 has a connecting hole 2411 and a clamping groove 2412, and the two cross connecting rods 241 are respectively connected with each other vertically through the clamping groove 2412. The steering output shaft 131 sequentially passes through the two connecting holes 2411 to be fixedly connected with the two cross connecting rods 241.
A plurality of small wheels 23 are uniformly arranged between the teeth of the steering gear 22, and the small wheels 23 are rotatably connected with the steering gear 22. The small wheel 23 protrudes from the steering gear 22. When the amphibious all-terrain robot moves on land, the steering assembly 20 contacts the ground surface through the small wheels 23, thereby ensuring that the amphibious all-terrain robot can smoothly travel. When the amphibious all-terrain robot moves in the water, rotation of the steering gear 22 drives the amphibious all-terrain robot to steer.
Referring to fig. 1, 8 and 9, the action assembly 30 includes a screw rod assembly 31, a plurality of swing links 32, and a plurality of swing frame sets 33. The screw rod assembly 31 includes a connection piece 311 and a screw rod 312, one end of the connection piece 311 is fixedly connected with the screw rod 312, the other end is connected with the driving motor set 13 at the moving part 112, and the driving motor set 13 drives the screw rod assembly 31 to rotate. The plurality of swinging connecting rods 32 are divided into two groups with the same quantity, the two groups of swinging connecting rods 32 are respectively connected in an end-to-end rotatable mode, and the two groups of swinging connecting rods 32 are respectively connected with the two connecting rods 12 in a rotatable mode. The swing frames 33 are arranged in parallel, two ends of all the swing frames 33 are respectively and rotatably connected with the two groups of swing connecting rods 32, and the spiral rods 312 sequentially penetrate through the swing frames 33. When the driving motor unit 13 drives the screw rod assembly 31 to rotate, the swinging frame 33 swings under the limit of the two connecting rods 12 and the two groups of swinging connecting rods 32, so as to drive the amphibious all-terrain robot to move along the direction perpendicular to the connecting pieces 311. The forward and backward running direction of the amphibious all-terrain robot can be changed by changing the rotation direction of the screw rod assembly 31, and the movement speed of the amphibious all-terrain robot can be changed by changing the rotation speed of the screw rod assembly 31.
The swing frame group 33 is formed by combining two swing frames 331 with the same structure. As shown in fig. 9, the swing frame 331 includes two connectors 3311 and two swing levers 3312. The two connectors 3311 are identical in structure and are stepped connectors. The two swinging rods 3312 have the same structure and are arranged in parallel, and two ends of the swinging rods 3312 are respectively and fixedly connected with the two connecting pieces 3311. The two swing frames 331 are connected to each other by the two connection members 3311, respectively, and the swing frame group 33 is rotatably connected to the swing link 32 by the connection members 3311. The screw 312 may be disposed through between the swing frames 331, or may be disposed through between the swing bars 3312. The spiral rod 312 drives the swing frame group 33 to swing by pushing the swing frame 331 when rotating. When the amphibious all-terrain robot works on land, the swing frame group 33 contacts with the ground surface, and the amphibious all-terrain robot is pushed to move through swing; when the amphibious all-terrain robot works in water, the swing frame group 33 generates thrust by swinging in water, and drives the amphibious all-terrain robot to move.
The amphibious all-terrain robot can adapt to amphibious work requirements without changing the form, and is simple in structure, high in reliability, low in manufacturing cost and capable of effectively completing related operations.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The amphibious all-terrain robot is characterized by comprising a body component, a steering component and a moving component, wherein the steering component is rotatably connected with the body component, the moving component is arranged at one end of the body component far away from the steering component and is connected with the body component, the steering component is controlled by the body component to change a rotating state, and the moving component is controlled by the body component to change a swinging state;
the machine body assembly comprises a shell, two connecting rods and a driving motor unit, wherein the two connecting rods are respectively arranged at two opposite ends of the shell and connected with the shell, the two connecting rods are coaxial, the driving motor is arranged inside the shell and fixedly connected with the shell, the shell is provided with a steering part and a moving part, the steering part is positioned at one end of the shell, which faces the steering assembly, and is connected with the steering assembly, the moving part is positioned at one end of the shell, which faces the moving assembly, the moving part is tubular, and the driving motor unit penetrates through the moving part and is connected with the moving assembly; the action assembly comprises a screw rod assembly, a plurality of swinging connecting rods and a plurality of swinging frame groups, wherein the screw rod assembly comprises a connecting sheet and a screw rod, one end of the connecting sheet is fixedly connected with the screw rod, the other end of the connecting sheet is connected with the driving motor group at the action part, the swinging connecting rods are divided into two groups with the same quantity, the two swinging connecting rods are respectively connected in an end-to-end rotatable manner, the two swinging connecting rods are respectively connected with the two connecting rods in a rotatable manner, the swinging frame groups are mutually parallel, two ends of each swinging frame group are respectively connected with the two swinging connecting rods in a rotatable manner, and the screw rod sequentially penetrates through the swinging frames; the steering assembly comprises a machine head cover, a steering gear, a cross connecting rod group and a bearing, wherein the steering gear surrounds the machine head cover, the steering gear is fixedly connected with the machine head cover, a cross latch is arranged inside the machine head cover and is connected with the cross latch in a clamping manner, the driving motor group is fixedly connected with the cross connecting rod group, the bearing is positioned inside the machine head cover and is fixedly connected with the machine head cover, the steering part stretches into the bearing, and the steering part is in interference fit with an inner ring of the bearing.
2. An amphibious all-terrain robot as claimed in claim 1 wherein the swing frame group comprises two swing frames of identical structure, the swing frames comprise two connecting pieces and two swing rods, the two connecting pieces are step-shaped connecting pieces of identical structure, the two swing rods are parallel, two ends of the swing rods are fixedly connected with the two connecting pieces respectively, the two swing frames are connected with each other through the two connecting pieces respectively, and the swing frame group is rotatably connected with the swing connecting rods through the connecting pieces.
3. An amphibious all-terrain robot as claimed in claim 1 wherein the steering assembly comprises a plurality of small wheels, the plurality of small wheels being evenly disposed between the teeth of the steering gear and the small wheels being rotatably connected to the steering gear.
4. An amphibious all-terrain robot as claimed in claim 1 wherein the cross link assembly comprises two cross links arranged vertically to each other, the middle part of the cross link having a connecting hole and a slot, the two cross links being connected vertically to each other by the slot respectively.
5. An amphibious all-terrain robot as claimed in claim 1 wherein the bearings are waterproof double row roller bearings.
6. An amphibious all terrain robot as claimed in claim 1 wherein the end of the nose cap remote from the fuselage assembly is a tapered end.
7. An amphibious all-terrain robot as claimed in claim 1 wherein the housing has a U-shaped seat therein, the drive motor assembly is engaged with the U-shaped seat and the drive motor assembly is fixedly connected with the U-shaped seat.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910883466.3A CN110450587B (en) | 2019-09-18 | 2019-09-18 | Amphibious all-terrain robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910883466.3A CN110450587B (en) | 2019-09-18 | 2019-09-18 | Amphibious all-terrain robot |
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| CN110450587A CN110450587A (en) | 2019-11-15 |
| CN110450587B true CN110450587B (en) | 2024-04-16 |
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