CN114056015A - Amphibious robot with wheel propellers - Google Patents
Amphibious robot with wheel propellers Download PDFInfo
- Publication number
- CN114056015A CN114056015A CN202111429379.4A CN202111429379A CN114056015A CN 114056015 A CN114056015 A CN 114056015A CN 202111429379 A CN202111429379 A CN 202111429379A CN 114056015 A CN114056015 A CN 114056015A
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- China
- Prior art keywords
- frame
- wheel
- paddle
- propeller
- horizontal propeller
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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
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
- B60F3/0038—Flotation, updrift or stability devices
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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
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an amphibious robot, in particular to a paddle amphibious robot. The mechanical arm and the control electronic cabin are arranged on the frame, and the mechanical arm is connected with the control electronic cabin; the wheel-propeller composite integrated structure is arranged on the frame along the circumferential direction and used for realizing a waterway amphibious working mode. The wheel-propeller composite integrated structure comprises a horizontal propeller fixing frame, an omnidirectional wheel, a horizontal propeller, a gear transmission and a motor, wherein the motor is installed at the bottom of the frame, the output end of the motor is connected with the omnidirectional wheel, a wheel shaft of the omnidirectional wheel passes through the gear transmission and the horizontal propeller, the horizontal propeller is installed at the edge part of the frame through the horizontal propeller fixing frame, and the axis of the horizontal propeller is perpendicular to the axis of the omnidirectional wheel. The omnidirectional wheel and the propeller are integrated in a set of power system, and the composite mechanism saves power sources, reduces the size of the robot and improves the space utilization efficiency.
Description
Technical Field
The invention relates to an amphibious robot, in particular to a paddle amphibious robot.
Background
Modern society has the needs robot both need to carry out the course operation in land motion operation, in the water or in oil. Two different medium environments put higher demands on machine development. Most of existing amphibious robots are multi-legged bionic robots in mudflat zones, the development cost is high, the ground movement speed and the underwater navigation efficiency are low, and a joint mechanism is possibly dangerous when being matched with a person at a short distance. The amphibious water channel can assist workers in performing functions of equipment inspection, equipment maintenance and the like.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a wheel-paddle amphibious robot which can realize two efficient motion modes of land and underwater.
In order to achieve the purpose, the invention adopts the following technical scheme:
a paddle amphibious robot comprises a mechanical arm, a control electronic cabin, a frame and a plurality of paddle composite integrated structures, wherein the mechanical arm and the control electronic cabin are arranged on the frame, and the mechanical arm is connected with the control electronic cabin; the wheel-propeller composite integrated structure is arranged on the frame along the circumferential direction and used for realizing a waterway amphibious working mode.
The wheel-propeller composite integrated structure comprises a horizontal propeller fixing frame, an omnidirectional wheel, a horizontal propeller, a gear transmission and a motor, wherein the motor is installed at the bottom of the frame, the output end of the motor is connected with the omnidirectional wheel, a wheel shaft of the omnidirectional wheel passes through the gear transmission and the horizontal propeller, the horizontal propeller is installed at the edge part of the frame through the horizontal propeller fixing frame, and the axis of the horizontal propeller is perpendicular to the axis of the omnidirectional wheel.
The frame is of a circular structure, and the axis of the omni wheel passes through the center of the frame.
The inner side of the horizontal propeller is provided with a horizontal propeller air guide sleeve which is of a circular ring structure and is connected with the frame; horizontal diversion trenches are arranged at the parts of the horizontal propeller diversion cover corresponding to the horizontal propellers.
The wheel-paddle composite integrated structure is four groups and is distributed at equal intervals along the circumferential direction; the bottom of frame is equipped with the motor collection cabin of cruciform structure, four the motor is laid in the motor collection cabin.
The outer side of the frame is covered with a shell; the shell comprises a buoyancy material, a flow guide net and a lower shell, wherein the lower shell and the flow guide net are sequentially sleeved on the outer side of the frame from bottom to top, the buoyancy material is arranged at the upper end of the flow guide net, and the mechanical arm penetrates out of the top from the buoyancy material.
The shell is of a circular structure; the buoyancy material is a glass bead buoyancy material; the material of the flow guide net and the lower shell is carbon fiber material; the outer side of the mechanical arm is covered with a mechanical arm carbon fiber shell.
Two vertical thrusters are symmetrically arranged on the frame.
The frame is provided with a communication electronic cabin, a buoyancy regulating leather bag and a buoyancy regulating pump, wherein the buoyancy regulating leather bag is connected with the buoyancy regulating pump through a connecting pipeline; and a buoyancy flow regulating valve is arranged on the connecting pipeline.
An illuminating lamp and a high-definition camera are arranged at the edge of the frame; the bottom of the frame is provided with a Doppler log, an inertial navigation meter and a depth meter.
The invention has the advantages and positive effects that:
the invention realizes the amphibious working mode without power switching; the land can move and rotate in any direction; the amphibious robot can sail in fixed depth and in a directional mode in water, and compared with the existing amphibious robot, the moving capacity of the amphibious robot is greatly improved.
The external structure of the invention has no moving structure, and can not cause damage to cooperative workers.
The omnidirectional wheel and the propeller are integrated in a set of power system, and the composite mechanism saves power sources, reduces the size of the robot and improves the space utilization efficiency.
The robot is highly integrated with a three-function manipulator and can perform land underwater operation.
Drawings
Fig. 1 is a schematic view of the internal structure of an amphibious robot of the present invention;
fig. 2 is an external schematic view of the amphibious robot of the present invention;
fig. 3 is a schematic bottom structure diagram of the amphibious robot of the present invention;
FIG. 4 is a schematic view of a composite integrated structure of the wheel and paddle of the present invention;
in the figure: the device comprises a mechanical arm carbon fiber shell, a buoyancy material, a flow guide net, a lower shell, a horizontal propeller fixing frame, a vertical thruster, a communication electronic cabin, a mechanical arm, a control electronic cabin, a buoyancy adjusting leather bag, a buoyancy adjusting pump, a horizontal propeller air guide sleeve, a buoyancy adjusting flow valve, a lighting lamp, a high-definition camera, a omnidirectional wheel, a motor assembly cabin, a Doppler log, a navigation meter, a depth meter, a horizontal propeller, a gear transmission gear 22, a motor 23 and a frame 24, wherein the mechanical arm carbon fiber shell is 1, the buoyancy material is 2, the flow guide net is 3, the lower shell is 4, the horizontal propeller fixing frame is 5, the vertical thruster is 6, the communication electronic cabin is 7, the mechanical arm is 8, the control electronic cabin is 9, the buoyancy adjusting leather bag is 10, the buoyancy adjusting pump is 11, the horizontal propeller air guide sleeve is 12, the buoyancy adjusting flow valve is 13, the lighting lamp is 15, the high-definition camera is a high-definition camera, the omnidirectional wheel is 17, the motor assembly cabin, the Doppler log is 18, the inertial guide is 19, the depth meter, the horizontal propeller is 21, the gear transmission frame 24 is used for the frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the wheel-paddle amphibious robot provided by the invention comprises a mechanical arm 8, a control electronic cabin 9, a frame 24 and a plurality of wheel-paddle composite integrated structures, wherein the mechanical arm 8 and the control electronic cabin 9 are both arranged on the frame 24, and the mechanical arm 8 is connected with the control electronic cabin 9; the plurality of wheel-propeller composite integrated structures are circumferentially arranged on the frame 24 and are used for realizing a waterway amphibious working mode.
In the embodiment of the invention, the wheel-propeller composite integrated structure comprises a horizontal propeller fixing frame 5, an omnidirectional wheel 16, a horizontal propeller 21, a gear transmission 22 and a motor 23, wherein the motor 23 is installed at the bottom of a frame 24, the output end of the motor is connected with the omnidirectional wheel 16, the wheel shaft of the omnidirectional wheel 16 passes through the gear transmission 22 and the horizontal propeller 21, the horizontal propeller 21 is installed at the edge part of the frame 24 through the horizontal propeller fixing frame 5, and the axis of the horizontal propeller 21 is vertical to the axis of the omnidirectional wheel 16.
Specifically, the frame 24 is a circular structure with the axis of the omni wheel 16 passing through the center of the frame 24. The gear transmission 22 comprises two intermeshing 45-degree bevel gears, one of which is mounted on the axle of the omni wheel 16 and the other of which is mounted on the shaft of the horizontal propeller 21.
Further, a horizontal propeller air guide sleeve 12 is arranged on the inner side of the horizontal propeller 21, and the horizontal propeller air guide sleeve 12 is of a circular ring structure and is connected with the frame 24; the horizontal propeller fairings 12 are provided with horizontal fairwater channels at the parts corresponding to the horizontal propellers 21.
As shown in fig. 3, in the embodiment of the present invention, the wheel-paddle composite integrated structure is four groups, and is arranged at equal intervals along the circumferential direction; the bottom of the frame 24 is provided with a motor collecting cabin 17 with a cross structure, and four motors 23 are arranged in the motor collecting cabin 17. The bottom of the frame 24 is also provided with a Doppler log 18, an inertial navigation unit 19 and a depth gauge 20. The number of the horizontal propellers 21 is four, and every two of the horizontal propellers are vertical and are distributed in a square shape.
In the embodiment of the present invention, two vertical thrusters 6 are symmetrically arranged on the frame 24. The frame 24 is also provided with a communication electronic cabin 7, a buoyancy regulating leather bag 10 and a buoyancy regulating pump 11, wherein the buoyancy regulating leather bag 10 is connected with the buoyancy regulating pump 11 through a connecting pipeline; and a buoyancy regulating flow valve 13 is arranged on the connecting pipeline.
Further, an illumination lamp 14 and a high-definition camera 15 are provided at the edge of the frame 24.
As shown in fig. 2, in the embodiment of the present invention, the outer side of the frame 24 is covered with a housing; the shell includes buoyancy material 2, water conservancy diversion net 3 and lower part shell 4, and wherein the outside of frame 24 is located to lower part shell 4 and water conservancy diversion net 3 cover in proper order from lower supreme, and buoyancy material 2 sets up in the upper end of water conservancy diversion net 3, and arm 8 is worn out the top by buoyancy material 2.
Specifically, the housing is of a circular structure; the buoyancy material 2 is a glass bead buoyancy material; the material of the flow guide net 3 and the lower shell 4 is carbon fiber material; the mechanical arm carbon fiber shell 1 is covered on the outer side of the mechanical arm 8. The shell wraps the whole robot into a curling shape, the appearance is lovely, and the robot is easy to accept. The movable parts of the robot are all wrapped inside the housing and no danger occurs when cooperating with a person at close distances.
In this embodiment, the mechanical arm 8 is a three-function mechanical arm, carries on the three-function mechanical arm, can realize three functions of large arm rotation, large arm pitching and small arm manipulator rotation, and is highly integrated with the robot, and when the center of the robot deviates, the mechanical arm can be automatically adjusted.
The invention provides a wheel-paddle amphibious robot, which has the working principle that:
the omnidirectional wheels 16 are perpendicular to the two transmission shafts of the horizontal propellers 21, every two of the four omnidirectional wheels 16 are perpendicular, every two of the four horizontal propellers 21 are perpendicular, and the four horizontal propellers 21 are arranged in a square shape. The motor 23 provides power, and the power drives the propeller 21 and the omni-directional wheel 16 to rotate at an included angle of 90 degrees simultaneously after passing through the gear transmission 23. The power provided by the omnidirectional wheel 16 to the robot is vertical to the omnidirectional wheel transmission shaft, and the power provided by the propeller 21 is parallel to the propeller transmission shaft, so that the friction thrust generated by the rotation of the omnidirectional wheel 16 and the acting force generated by the rotation of the horizontal propeller 21 to the robot are in the same direction. The movement can be in any direction in the plane in the land movement, and the rotation can be 360 degrees by itself. The underwater motion can realize directional straight navigation, fixed-point hovering and 360-degree rotation. Therefore, the invention can be arbitrarily switched between different working environments of different media in air and water without power switching.
In summary, the wheel-propeller amphibious robot provided by the invention adopts the omnidirectional wheels and the propellers which are vertically arranged in pairs, the omnidirectional wheels and the propellers are compounded to share one set of power source, and the direction of the acting force on the robot generated by the rotation of the omnidirectional wheels and the direction of the acting force generated by the rotation of the propellers are the same, so that the wheel-propeller amphibious robot can be randomly switched in the working environments of different media in air and water, and power switching is not needed. The whole outside of robot is carbon fiber parcel, prevents in the part personnel of accidentally injuring. The directional straight navigation, the fixed-point hovering and the 360-degree rotation are realized in water, the device can move at any angle in the land plane, and the device can rotate for 360 degrees. The robot integrates a three-function mechanical arm and a humanoid manipulator, and when the manipulator moves on land and in water, the robot body can dynamically adjust the position and the posture of the robot body, so that the stability of the robot is kept. In addition, the robot adopts the appearance of the ice-proof kettle, and the lovely appearance is convenient for workers to be more close and easy to accept and carry out operation together. The omnidirectional wheel and the propeller are wrapped in the carbon fiber skin and the air guide sleeve, so that the surrounding is not damaged, and the omnidirectional wheel and the propeller do not hurt the human body when working together with the human body at a close distance.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A paddle amphibious robot is characterized by comprising a mechanical arm (8), a control electronic cabin (9), a frame (24) and a plurality of paddles composite integrated structure, wherein the mechanical arm (8) and the control electronic cabin (9) are both arranged on the frame (24), and the mechanical arm (8) is connected with the control electronic cabin (9); the wheel-propeller composite integrated structure is arranged on the frame (24) along the circumferential direction and used for realizing a waterway amphibious working mode.
2. A wheel-paddle amphibious robot according to claim 1, wherein the wheel-paddle composite integrated structure comprises a horizontal propeller fixing frame (5), an omnidirectional wheel (16), a horizontal propeller (21), a gear transmission (22) and a motor (23), wherein the motor (23) is installed at the bottom of the frame (24), the output end of the motor is connected with the omnidirectional wheel (16), the wheel shaft of the omnidirectional wheel (16) is connected with the horizontal propeller (21) through the gear transmission (22), the horizontal propeller (21) is installed at the edge of the frame (24) through the horizontal propeller fixing frame (5), and the axis of the horizontal propeller (21) is perpendicular to the axis of the omnidirectional wheel (16).
3. A paddle amphibious robot according to claim 2, where the frame (24) is of circular configuration, and where the axis of the omni wheel (16) passes through the centre of the frame (24).
4. A paddle amphibious robot according to claim 3, where inside the horizontal propeller (21) is provided with a horizontal propeller pod (12), where the horizontal propeller pod (12) is of a circular ring structure and is connected to the frame (24); horizontal diversion trenches are arranged at the parts of the horizontal propeller diversion cover (12) corresponding to the horizontal propellers (21).
5. The wheel-paddle amphibious robot according to claim 2, wherein the wheel-paddle composite integrated structure is four groups and arranged at equal intervals along the circumferential direction; the bottom of frame (24) is equipped with motor collection cabin (17) of cruciform structure, four motor (23) are laid in motor collection cabin (17).
6. A paddle amphibious robot according to claim 1, where the frame (24) is shrouded with a housing on the outside; the shell includes buoyancy material (2), water conservancy diversion net (3) and lower part shell (4), and wherein lower part shell (4) and water conservancy diversion net (3) are located by supreme cover in proper order the outside of frame (24), and buoyancy material (2) set up in the upper end of water conservancy diversion net (3), arm (8) by buoyancy material (2) are worn out the top.
7. A paddle amphibious robot according to claim 6, wherein the housing is of circular configuration; the buoyancy material (2) is a glass bead buoyancy material; the material of the flow guide net (3) and the lower shell (4) adopts carbon fiber material; the outer side of the mechanical arm (8) is covered with a mechanical arm carbon fiber shell (1).
8. A paddle amphibious robot according to claim 1, where two vertical propellers (6) are symmetrically arranged on the frame (24).
9. The paddle amphibious robot according to claim 1, wherein the frame (24) is provided with a communication electronic cabin (7), a buoyancy regulating bladder (10) and a buoyancy regulating pump (11), wherein the buoyancy regulating bladder (10) is connected with the buoyancy regulating pump (11) through a connecting pipeline; the connecting pipeline is provided with a buoyancy regulating flow valve (13).
10. A paddle amphibious robot according to claim 1, where at the edge of the frame (24) there are provided illumination lamps (14) and high definition cameras (15); the bottom of the frame (24) is provided with a Doppler log (18), an inertial navigation system (19) and a depth meter (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429379.4A CN114056015B (en) | 2021-11-29 | 2021-11-29 | Wheel-paddle amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429379.4A CN114056015B (en) | 2021-11-29 | 2021-11-29 | Wheel-paddle amphibious robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114056015A true CN114056015A (en) | 2022-02-18 |
| CN114056015B CN114056015B (en) | 2023-08-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111429379.4A Active CN114056015B (en) | 2021-11-29 | 2021-11-29 | Wheel-paddle amphibious robot |
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| Country | Link |
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| CN (1) | CN114056015B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229315A (en) * | 2011-07-18 | 2011-11-02 | 北京理工大学 | Power coupling device of amphibious vehicle |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
| CN107116980A (en) * | 2017-06-27 | 2017-09-01 | 西南科技大学 | Amphibious robot and amphibious reconnaissance system |
| CN112744036A (en) * | 2021-01-12 | 2021-05-04 | 浙江海洋大学 | Amphibious robot |
-
2021
- 2021-11-29 CN CN202111429379.4A patent/CN114056015B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229315A (en) * | 2011-07-18 | 2011-11-02 | 北京理工大学 | Power coupling device of amphibious vehicle |
| CN106218840A (en) * | 2016-09-30 | 2016-12-14 | 浙江大学 | A kind of dish-shaped submarine navigation device based on eddying motion |
| CN107116980A (en) * | 2017-06-27 | 2017-09-01 | 西南科技大学 | Amphibious robot and amphibious reconnaissance system |
| CN112744036A (en) * | 2021-01-12 | 2021-05-04 | 浙江海洋大学 | Amphibious robot |
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| Publication number | Publication date |
|---|---|
| CN114056015B (en) | 2023-08-22 |
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