CN116424040B - Amphibious exploration robot with water wheels - Google Patents
Amphibious exploration robot with water wheels Download PDFInfo
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- CN116424040B CN116424040B CN202310349147.0A CN202310349147A CN116424040B CN 116424040 B CN116424040 B CN 116424040B CN 202310349147 A CN202310349147 A CN 202310349147A CN 116424040 B CN116424040 B CN 116424040B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 238000009434 installation Methods 0.000 claims abstract description 33
- 230000000903 blocking effect Effects 0.000 claims description 9
- 238000007789 sealing Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
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
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Combustion & Propulsion (AREA)
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- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The utility model relates to a water wheel amphibious exploration robot relates to exploration robot field to solve spherical robot and can't realize stationary operation in water and lead to the lower problem of exploration efficiency, it includes two sets of pendulum mechanisms of symmetry setting on the installation axle, still including the cover that overlaps to locate installation axle and the outside buckler of pendulum mechanism, the installation axle is connected on the inner wall of buckler, the outside of buckler is provided with the shell, the opening has all been seted up to the both sides of shell, the opening part is provided with actuating mechanism; the driving mechanism comprises a water wheel and a driving assembly for driving the water wheel to rotate, and the water wheel and the mounting shaft are coaxially arranged; shaftless pumps are arranged on the bottom and the side wall of the shell. The spherical robot control device has the advantages that the spherical robot is controlled to move forwards and upwards and downwards in water, stable running of the spherical robot in water is guaranteed, the advancing efficiency is improved, and accordingly the exploration efficiency is improved.
Description
Technical Field
The application relates to the field of exploration robots, in particular to a water wheel amphibious exploration robot.
Background
Robots are automated machines that have some intelligent capabilities similar to humans or living beings, such as perceptive, planning, action and coordination capabilities, and are highly flexible. The robot can assist or even replace human beings to finish dangerous, heavy and complex work, improve the working efficiency and quality, serve the life of the human beings, and expand the range of activities and capacities of the extended human beings.
Whether natural disasters or war disasters can cause large-area building damage and personnel injury, and because the environment after the disaster is complex and has a certain hidden risk, the environment cannot know the conditions in the disaster area in time to make countermeasures, so the exploration of the disaster area is an important step for improving the rescue efficiency and reconstructing after the disaster. After entering the disaster area, the exploration robot can timely and accurately feed back information in the disaster area, so that the exploration robot plays an important role in post-disaster rescue and reconstruction.
The Chinese patent with publication number of CN111267567A discloses an amphibious reconnaissance spherical robot driven by a pendulous eccentric structure, which comprises two half sealed spherical shells, a middle sealing cover and end sealing covers, wherein the two half sealed spherical shells are connected through the middle sealing cover, the end sealing covers are arranged in bilateral symmetry, the sealed spherical shells are fixed on the end sealing covers through fixing spiral rings, an installation shaft is connected between the two end sealing covers, two groups of symmetrical pendulous mechanisms are arranged on the installation shaft, and the spherical robot is driven to move through the pendulous mechanisms. The invention has the characteristics of eccentric driving of the weight pendulum, self-stabilization of the flywheel, amphibious and all-terrain barrier-free stable movement.
The following problems exist in the related art: because the surface of the spherical robot is smooth, when the spherical robot moves in water, the resistance between the spherical robot and the water is small, so that the spherical robot can not realize stable operation when rotating in the water, the advancing efficiency of the spherical robot is low, and the detection efficiency of the spherical robot is influenced.
Disclosure of Invention
In order to improve the exploration efficiency of the exploration robot in water, the application provides a water wheel amphibious exploration robot.
The application provides a water wheel amphibious exploration robot adopts following technical scheme:
the amphibious exploration robot comprises two groups of weight swinging mechanisms symmetrically arranged on an installation shaft, and further comprises a waterproof cover sleeved outside the installation shaft and the weight swinging mechanisms, wherein the installation shaft is connected to the inner wall of the waterproof cover, a shell is arranged outside the waterproof cover, openings are formed in two sides of the shell, and a driving mechanism is arranged at the opening; the driving mechanism comprises a water wheel and a driving assembly for driving the water wheel to rotate, and the water wheel and the mounting shaft are coaxially arranged; shaftless pumps are arranged on the bottom and the side wall of the shell.
Through adopting above-mentioned technical scheme, the inside heavy pendulum mechanism that sets up of shell, in order to realize driving spherical robot multi-angle rotation, can roll on the road surface and advance, after spherical robot gets into in the aquatic, heavy pendulum mechanism stop work, inside the water gets into the shell from the opening part, the buckler carries out waterproof protection to inside heavy pendulum mechanism, drive assembly drive water wheels rotate, when the water wheels rotational speed of both sides is different, can adjust spherical robot's orientation, simultaneously outwards discharge the inside water of shell through shaftless pump on shell bottom and the lateral wall, thereby control spherical robot realizes advancing and up-and-down motion in aqueous, guarantee spherical robot steady operation in aqueous, improve advancing efficiency, thereby improve exploration efficiency.
Optionally, the drive assembly includes driving motor and link, driving motor set up in the inside of buckler, driving motor's output shaft stretches to the opening part, the link sets up on driving motor's the output shaft, the water wheel is connected on the link.
Through adopting above-mentioned technical scheme, after spherical robot gets into in the aquatic, start driving motor drives the water wheel through the link and rotates, and the rotation of two driving motor of control of being convenient for to realize spherical robot and change the direction, simple structure, control is convenient.
Optionally, the plugging device further comprises a plugging mechanism, wherein the plugging mechanism comprises a plugging cover and an adjusting assembly for driving the plugging cover to move, and the adjusting assembly drives the plugging cover to move so as to open and close the opening.
Through adopting above-mentioned technical scheme, when spherical robot moves subaerial, the shutoff lid closes the opening to make the surface of shell smoother, so that its rapid movement, after spherical robot gets into in the aquatic, the shutoff lid motion is driven to the adjusting part and is made the opening, thereby water gets into in the opening and contacts with the water wheel, so that realize spherical robot steady operation in the aquatic.
Optionally, the adjusting part includes locating rack, slide rail, rotating electrical machines and fluted disc, locating rack and rotating electrical machines all set up in on the inner wall of shell, the slide rail slides and sets up on the locating rack, the shutoff lid sets up on the slide rail, the fluted disc is coaxial to be set up on the output shaft of rotating electrical machines, be provided with on the slide rail with fluted disc meshing tooth's socket.
Through adopting above-mentioned technical scheme, start rotating electrical machines and drive fluted disc rotation, tooth's socket meshing on fluted disc and the slide rail to can drive the slide rail motion, and then drive the slide rail and remove on the locating rack, and then drive shutoff lid steady motion, opening or closing on the shell that can be better realization.
Optionally, the pendulum mechanism includes fixed plate, pendulum piece, internal gear, control motor and external gear, the fixed plate sets up in the installation epaxially, pendulum piece fixed connection keeps away from the one end of installation axle in the fixed plate, control motor fixed mounting is on the fixed plate, the external gear coaxial arrangement is on control motor's output shaft, internal gear fixed connection is on the inner wall of buckler and is located same axis with the installation axle, external gear and internal gear meshing.
Through adopting above-mentioned technical scheme, start control motor drive external gear and rotate, external gear and internal gear intermeshing, because the internal gear is fixed relative buckler, after the external gear rotated, drive fixed plate and heavy pendulum piece through control motor and around the installation axle motion, through the eccentric motion of heavy pendulum piece, make spherical robot's focus skew to realize driving spherical robot's rapid motion.
Optionally, the drive assembly includes dwang and drive coupling assembling, the dwang rotate connect in on the buckler and be located same axis with the installation axle, the water wheel is coaxial to be set up on the dwang, the control motor passes through drive coupling assembling drive dwang and rotates.
Through adopting above-mentioned technical scheme, control motor makes dwang and water wheel rotate through drive coupling assembling to make spherical robot can use same group power unit under ground and water, need not to set up extra power unit, reduce the manufacturing cost of device.
Optionally, the drive coupling assembling includes rotation axis and two sets of round gear, the rotation axis wear to establish the buckler and with installation axle parallel arrangement, two sets of round gear sets up respectively in the both ends of rotation axis coaxially, set up on the dwang with round gear engagement's ring channel, be provided with the push rod on the slide rail, the push rod other end with the rotation axis butt, make round gear and external gear meshing after the inside motion of rotatory axial buckler, external gear and internal gear break away from simultaneously.
Through adopting above-mentioned technical scheme, after spherical robot gets into aquatic, the slide rail motion drives the shutoff lid and opens, and the slide rail drives the push rod motion simultaneously, and the push rod promotes the rotation axis motion back, and rotatory axial buckler internal motion, round gear and external gear meshing, external gear and internal gear break away from simultaneously, can realize round gear rotation after the external gear rotates, and then drive rotation axis and dwang rotate, realize driving water wheel rotation, and external gear rotation is not influenced by the internal gear.
Optionally, the external gear is followed the axis direction of installation axle slide set up in on the output shaft of control motor, be provided with first spring on the control motor, first spring drive external gear and internal gear butt, be provided with the second spring on the rotation axis, the second spring drive rotation axis resets.
Through adopting above-mentioned technical scheme, when spherical robot is on ground, the slide rail drives the shutoff lid motion and makes the opening close, and the slide rail drives the push rod and resets, and the second spring drive rotation axis resets, makes round gear and external gear break away from, and first spring drive external gear motion back and internal gear meshing simultaneously, and then can realize through controlling motor drive fixed plate and the motion of heavy pendulum piece, realizes spherical robot subaerial motion.
Optionally, the rotation axis is provided with the draw-in bar, be provided with on the fixed plate with the draw-in groove of draw-in bar grafting adaptation, when circular gear and external gear meshing, the draw-in bar is pegged graft with the draw-in groove.
Through adopting above-mentioned technical scheme, drive the draw-in lever when the rotation axis removes and remove, make the draw-in lever insert in the draw-in groove on the fixed plate to make the fixed plate fixed in position, guarantee that the water wheel is when rotating, the heavy pendulum piece is located the below, make spherical robot whole focus comparatively stable, thereby further improve the stability of spherical robot when the aquatic operation.
Optionally, a fisheye lens, a thermal imager, a searchlight, a sonar sensor and a signal antenna for receiving control signals are arranged on the shell.
Through adopting above-mentioned technical scheme, set up signal antenna on the shell, make the robot support remote control and satellite positioning to can in time accurately confirm the position of robot, and control fisheye lens, thermal imaging appearance, searchlight and sonar sensor's use, accomplish the exploration to disaster area, ensure follow-up entering disaster area personnel's safety and improve the speed of rescue.
In summary, the present application includes at least the following beneficial technical effects:
1. the spherical robot shell is internally provided with the weight swinging mechanism so as to realize driving the spherical robot to rotate at multiple angles and roll and move forward on a road surface, when the spherical robot enters water, the weight swinging mechanism stops working, the water enters the shell from an opening, the waterproof cover performs waterproof protection on the internal weight swinging mechanism, the driving assembly drives the water wheels to rotate, when the rotating speeds of the water wheels at two sides are different, the direction of the spherical robot can be regulated, and meanwhile, the water in the shell is discharged outwards through shaftless pumps on the bottom and the side wall of the shell, so that the spherical robot is controlled to move forward and up and down in the water, the spherical robot is ensured to stably run in the water, the advancing efficiency is improved, and the exploration efficiency is improved;
2. when the spherical robot moves on the ground, the adjusting component drives the blocking cover to move to close the opening, so that the shell forms a sphere, the surface of the sphere is smoother to facilitate the rapid movement of the sphere, when the spherical robot enters water, the adjusting component drives the blocking cover to move to open the opening, so that the water enters the opening to be in contact with the water wheel, and the spherical robot can stably run in the water through the rotation of the water wheel;
3. the control motor enables the rotating rod and the water wheel to rotate through the driving connection assembly, so that the spherical robot can use the same group of power mechanisms on the ground and under water, no additional power mechanism is needed, and the manufacturing cost of the device is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the first view angle of embodiment 1;
FIG. 2 is a schematic view of the overall structure of the second view angle of embodiment 1;
FIG. 3 is a schematic view of the overall structure of the third view angle of embodiment 1;
FIG. 4 is a schematic view of the whole structure of the plugging mechanism in example 1;
FIG. 5 is a schematic view showing the overall structure of the driving mechanism in embodiment 1;
fig. 6 is a first view overall structure diagram of the driving mechanism of embodiment 2;
fig. 7 is a second view overall structure diagram of the driving mechanism of embodiment 2.
Reference numerals: 1. a housing; 11. an opening; 12. a shaftless pump; 13. fish-eye lens; 14. a thermal imager; 15. a searchlight; 16. a sonar sensor; 17. a signal antenna; 2. a waterproof cover; 3. a mounting shaft; 4. a weight swing mechanism; 41. a fixing plate; 411. a clamping groove; 42. a weight swing block; 43. an internal gear; 44. controlling a motor; 45. an external gear; 5. a driving mechanism; 51. a water wheel; 52. a drive assembly; 521. a driving motor; 522. a connecting frame; 53. a rotating lever; 531. an annular groove; 54. a drive connection assembly; 541. a rotation shaft; 542. a circular gear; 543. a push rod; 544. a first spring; 545. a second spring; 55. a clamping rod; 6. a plugging mechanism; 61. a blocking cover; 62. an adjustment assembly; 621. a positioning frame; 622. a slide rail; 6221. tooth slots; 623. a rotating electric machine; 624. a fluted disc.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-7.
The embodiment of the application discloses a water wheel amphibious exploration robot.
Example 1:
referring to fig. 2 and 5, the amphibious exploration robot of water wheel includes shell 1, buckler 2, installation axle 3, pendulum mechanism 4 and actuating mechanism 5, shell 1 and buckler 2 set gradually from outside to inside, and shell 1 and buckler 2 are spherical, from the appearance, this application is spherical robot, fixedly connected with is used for supporting the mount of shell 1 on the buckler 2, connect into a whole with shell 1 and buckler 2, installation axle 3 and pendulum mechanism 4 set up in the inside of buckler 2, be used for driving the roll of buckler 2 and shell 1, actuating mechanism 5 is provided with two sets of, two sets of actuating mechanism 5 are located the both sides of shell 1 respectively, after exploration robot gets into in the aquatic, the motion of exploration robot is controlled through actuating mechanism 5 control of both sides, make exploration robot operation more stable in water, improve exploration efficiency.
Referring to fig. 5, in order to realize the rolling and advancing of the exploration robot on the ground, the installation shaft 3 is fixedly connected between the inner walls of the two sides of the waterproof cover 2, two groups of weight pendulum mechanisms 4 are arranged, the two groups of weight pendulum mechanisms 4 are symmetrically arranged at the two ends of the installation shaft 3, the gravity center of the exploration robot is changed through the weight pendulum mechanisms 4 to realize the rolling, and the gravity center of the exploration robot is deviated to the side through the two groups of weight pendulum mechanisms 4, so that the exploration robot can roll to any angle;
in this embodiment, the weight mechanism 4 includes a fixed plate 41, a weight block 42, an inner gear 43, a control motor 44 and an outer gear 45, the inner gear 43 is fixedly connected to the inner wall of the waterproof cover 2 and is located on the same axis as the installation shaft 3, the fixed plate 41 is sleeved on the installation shaft 3, the weight block 42 is fixedly connected to one end of the fixed plate 41 far away from the installation shaft 3, the control motor 44 is fixedly installed on the fixed plate 41, the outer gear 45 is coaxially arranged on the output shaft of the control motor 44, the axis of the outer gear 45 is parallel to the installation shaft 3, and the outer gear 45 is meshed with the inner gear 43;
the external gear 45 is driven by the starting control motor 44 to rotate, the external gear 45 is meshed with the internal gear 43, and after the external gear 43 is fixed relative to the waterproof cover 2, the external gear 45 rotates, the fixing plate 41 and the swing block 42 are driven by the control motor 44 to move around the mounting shaft 3, and the center of gravity of the spherical robot is offset through the eccentric movement of the swing block 42, so that the rapid movement of the spherical robot is driven.
Referring to fig. 1 to 3, in order to achieve a better exploration effect, a spherical housing 1 is provided with a fisheye lens 13, a thermal imager 14, a searchlight 15, a sonar sensor 16 and a signal antenna 17 for receiving control signals, more accurate data are obtained in various exploration modes, the fisheye lens 13 is provided with a plurality of lenses to improve the imaging effect, the signal antenna 17 enables a robot to support remote control and satellite positioning, so that the position of the robot can be accurately determined in time, the use of the fisheye lens 13, the thermal imager 14, the searchlight 15 and the sonar sensor 16 is controlled, the starting and closing of two groups of control motors 44 and the rotation speed of the searchlight are adjusted, and a power supply electrically connected with the devices is arranged on the housing and a charging port is arranged.
Referring to fig. 1 and 5, in order to realize better use of the exploration robot under water, openings 11 are formed in two sides of a housing 1, a driving mechanism 5 is arranged in the openings 11, the driving mechanism 5 comprises a water wheel 51 and a driving component 52 for driving the water wheel 51 to rotate, shaftless pumps 12 are arranged on the bottom and the side wall of the housing 1, the driving component 52 drives the water wheel 51 to rotate to change the angle of the exploration robot, water in the housing 1 is discharged through the shaftless pumps 12, and the water flow direction is changed to control the exploration robot to advance or ascend and descend in the water;
in this embodiment, the driving assembly 52 includes a driving motor 521 and a connecting frame 522, the driving motor 521 is fixedly mounted in the waterproof cover 2, the driving motor 521 is electrically connected with the signal antenna 17, the output shaft of the driving motor 521 extends to the opening 11 and is coaxially arranged with the mounting shaft 3, the connecting frame 522 is fixedly connected to the output shaft of the driving motor 521, the water wheels 51 are connected to the connecting frame 522, and after the spherical robot enters water, the driving motor 521 is started to drive the water wheels 51 to rotate through the connecting frame 522, so that the rotation of the two water wheels 51 is controlled conveniently, and the direction change of the spherical robot is realized, and the control is convenient.
Referring to fig. 2 and 4, the plugging mechanism 6 is further arranged at the opening 11, the plugging mechanism 6 comprises a plugging cover 61 and an adjusting component 62 for driving the plugging cover 61 to move, the plugging cover 61 is driven by the adjusting component 62 to move so as to open and close the opening 11, when the spherical robot moves on the ground, the plugging cover 61 closes the opening 11, so that the surface of the shell 1 is smoother to facilitate the rapid movement of the spherical robot, and when the spherical robot enters into water, the adjusting component 62 drives the plugging cover 61 to move so as to open the opening 11, so that the water enters into the opening 11 to be contacted with the water wheel 51, and the spherical robot can smoothly run in the water;
in this embodiment, the adjusting component 62 includes a positioning frame 621, a sliding rail 622, a rotating motor 623 and a fluted disc 624, where the positioning frame 621 and the rotating motor 623 are fixedly connected to the inner wall of the housing 1, the sliding rail 622 is slidably connected to the positioning frame 621, the plugging cover 61 is fixedly connected to the sliding rail 622, the fluted disc 624 is fixedly connected to the output shaft of the rotating motor 623, a tooth groove 6221 meshed with the fluted disc 624 is provided on the sliding rail 622, the rotating motor 623 is started to drive the fluted disc 624 to rotate, the fluted disc 624 is meshed with the tooth groove 6221 on the sliding rail 622, so as to drive the sliding rail 622 to move, and then drive the sliding rail 622 to move on the positioning frame 621, and further drive the plugging cover 61 to move stably, so as to open or close the opening 11 on the housing 1.
Embodiment 1 the implementation principle of the amphibious exploration robot is as follows: when the exploration robot moves on the ground, the control motor 44 is started to drive the external gear 45 to rotate, the external gear 45 is meshed with the internal gear 43, and after the external gear 45 rotates, the control motor 44 drives the fixed plate 41 and the heavy swinging block 42 to move around the mounting shaft 3, and the gravity center of the spherical robot is deviated through the eccentric movement of the heavy swinging block 42, so that the rapid movement of the spherical robot is driven;
when the exploration robot moves underwater, the rotating motor 623 is started to drive the fluted disc 624 to rotate, the fluted disc 624 is meshed with the tooth grooves 6221 on the slide rail 622, so that the slide rail 622 can be driven to move, the slide rail 622 is driven to move on the positioning frame 621, the blocking cover 61 is driven to move stably, the opening 11 is opened, the driving assembly 52 drives the water wheel 51 to rotate to change the angle of the exploration robot, water in the shell 1 is discharged through the shaftless pump 12, and the water flow direction is changed to control the exploration robot to advance or ascend and descend in water, so that the exploration robot can operate in water.
Example 2:
referring to fig. 6 to 7, this embodiment differs from embodiment 1 in that: the driving assembly 52 comprises a rotating rod 53 and a driving connecting assembly 54, the rotating rod 53 is rotationally connected to the waterproof cover 2 and is positioned on the same axis with the installation shaft 3, the water wheel 51 is coaxially and fixedly connected to the rotating rod 53, the control motor 44 drives the rotating rod 53 to rotate through the driving connecting assembly 54, so that the spherical robot can use the same group of power mechanisms on the ground and under the water, and no additional power mechanism is required to be arranged;
in this embodiment, the driving connection assembly 54 includes a rotation shaft 541 and two sets of circular gears 542, the rotation shaft 541 passes through the waterproof cover 2 and is parallel to the installation shaft 3, the two sets of circular gears 542 are respectively and fixedly connected to two ends of the rotation shaft 541 coaxially, one set of circular gears 542 is located inside the waterproof cover 2, the other set of circular gears 542 is located outside the waterproof cover 2, and the rotation rod 53 is provided with an annular groove 531 meshed with the circular gears 542;
in order to drive the rotation shaft 541 to move along the axis direction thereof, a push rod 543 is fixedly connected to the slide rail 622, the other end of the push rod 543 is abutted against the rotation shaft 541, when the slide rail 622 moves to enable the plugging cover 61 to be opened, the rotation shaft 541 moves towards the inside of the waterproof cover 2, then the round gear 542 is meshed with the outer gear 45, and meanwhile, the outer gear 45 is separated from the inner gear 43, at the moment, the control motor 44 drives the outer gear 45 to rotate so as to drive the round gear 542 to rotate, thereby realizing the rotation of the rotation rod 53, specifically, the outer gear 45 is slidingly connected to the output shaft of the control motor 44 along the axis direction of the mounting shaft 3, a first spring 544 is sleeved on the output shaft of the control motor 44, the first spring 544 drives the outer gear 45 to be meshed with the inner gear 43 after being reset, a second spring 545 is sleeved on the rotation shaft 541, and the second spring 545 drives the rotation shaft 541 to be reset, so that the round gear 542 is separated from the outer gear 45, and the control motor 44 can control the exploration robot to roll on the ground again;
meanwhile, the clamping rod 55 is sleeved on the rotating shaft 541, the rotating shaft 541 drives the clamping rod 55 to move in the moving process, the fixing plate 41 is provided with a clamping slot 411 which is in plug-in fit with the clamping rod 55, when the circular gear 542 is meshed with the external gear 45 after the rotating shaft 541 moves, the clamping rod 55 is plugged in the clamping slot 411, so that the positions of the fixing plate 41 and the swing block 42 are fixed, and the exploration robot is more stable in water.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (6)
1. The utility model provides a water wheel amphibious exploration robot, includes two sets of pendulum mechanism (4) that the symmetry set up on installation axle (3), its characterized in that: the waterproof cover (2) is sleeved outside the installation shaft (3) and the weight swinging mechanism (4), the installation shaft (3) is connected to the inner wall of the waterproof cover (2), the outer part of the waterproof cover (2) is provided with a shell (1), two sides of the shell (1) are provided with openings (11), and the opening (11) is provided with a driving mechanism (5);
the driving mechanism (5) comprises a water wheel (51) and a driving assembly (52) for driving the water wheel (51) to rotate, and the water wheel (51) and the mounting shaft (3) are coaxially arranged;
the bottom and the side wall of the shell (1) are provided with shaftless pumps (12);
the device further comprises a blocking mechanism (6), wherein the blocking mechanism (6) comprises a blocking cover (61) and an adjusting assembly (62) for driving the blocking cover (61) to move, and the adjusting assembly (62) drives the blocking cover (61) to move so as to open and close the opening (11);
the adjusting component (62) comprises a positioning frame (621), a sliding rail (622), a rotating motor (623) and a fluted disc (624), wherein the positioning frame (621) and the rotating motor (623) are both arranged on the inner wall of the shell (1), the sliding rail (622) is arranged on the positioning frame (621) in a sliding manner, the plugging cover (61) is arranged on the sliding rail (622), the fluted disc (624) is coaxially arranged on the output shaft of the rotating motor (623), and a tooth groove (6221) meshed with the fluted disc (624) is formed in the sliding rail (622);
the weight mechanism (4) comprises a fixed plate (41), a weight block (42), an inner gear (43), a control motor (44) and an outer gear (45), wherein the fixed plate (41) is arranged on the installation shaft (3), the weight block (42) is fixedly connected to one end, far away from the installation shaft (3), of the fixed plate (41), the control motor (44) is fixedly arranged on the fixed plate (41), the outer gear (45) is coaxially arranged on an output shaft of the control motor (44), the inner gear (43) is fixedly connected to the inner wall of the waterproof cover (2) and is positioned on the same axis with the installation shaft (3), and the outer gear (45) is meshed with the inner gear (43);
the driving assembly (52) comprises a rotating rod (53) and a driving connecting assembly (54), the rotating rod (53) is rotationally connected to the waterproof cover (2) and located on the same axis with the installation shaft (3), the water wheel (51) is coaxially arranged on the rotating rod (53), and the control motor (44) drives the rotating rod (53) to rotate through the driving connecting assembly (54).
2. The water wheel amphibious survey robot of claim 1, wherein: the driving assembly (52) comprises a driving motor (521) and a connecting frame (522), the driving motor (521) is arranged in the waterproof cover (2), an output shaft of the driving motor (521) extends to the opening (11), the connecting frame (522) is arranged on an output shaft of the driving motor (521), and the water wheel (51) is connected to the connecting frame (522).
3. The water wheel amphibious survey robot of claim 1, wherein: the driving connection assembly (54) comprises a rotating shaft (541) and two groups of circular gears (542), the rotating shaft (541) penetrates through the waterproof cover (2) and is parallel to the installation shaft (3), the two groups of circular gears (542) are respectively coaxially arranged at two ends of the rotating shaft (541), annular grooves (531) meshed with the circular gears (542) are formed in the rotating rod (53), push rods (543) are arranged on the sliding rails (622), the other ends of the push rods (543) are abutted to the rotating shaft (541), the rotating shaft (541) moves towards the inside of the waterproof cover to enable the circular gears (542) to be meshed with the external gears (45), and meanwhile the external gears (45) are separated from the internal gears (43).
4. The water wheel amphibious survey robot of claim 3, wherein: the external gear (45) is slidably arranged on an output shaft of the control motor (44) along the axis direction of the mounting shaft (3), a first spring (544) is arranged on the control motor (44), the first spring (544) drives the external gear (45) to be meshed with the internal gear (43), a second spring (545) is arranged on the rotating shaft (541), and the second spring (545) drives the rotating shaft (541) to reset.
5. The water wheel amphibious survey robot of claim 4, wherein: the rotary shaft (541) is provided with a clamping rod (55), the fixed plate (41) is provided with a clamping groove (411) which is in plug-in fit with the clamping rod (55), and when the circular gear (542) is meshed with the external gear (45), the clamping rod (55) is plug-in with the clamping groove (411).
6. The water wheel amphibious survey robot of claim 1, wherein: a fisheye lens (13), a thermal imager (14), a searchlight (15), a sonar sensor (16) and a signal antenna (17) for receiving control signals are arranged on the shell (1).
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| CN202310349147.0A CN116424040B (en) | 2023-03-30 | 2023-03-30 | Amphibious exploration robot with water wheels |
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| CN202310349147.0A CN116424040B (en) | 2023-03-30 | 2023-03-30 | Amphibious exploration robot with water wheels |
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| CN116424040B true CN116424040B (en) | 2024-01-26 |
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| KR20100110188A (en) * | 2009-04-02 | 2010-10-12 | 충남대학교산학협력단 | Spherical shape mobile robot |
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| CN116424040A (en) | 2023-07-14 |
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