CN1406781A - Amphibious robot against turnover - Google Patents
Amphibious robot against turnover Download PDFInfo
- Publication number
- CN1406781A CN1406781A CN 01130912 CN01130912A CN1406781A CN 1406781 A CN1406781 A CN 1406781A CN 01130912 CN01130912 CN 01130912 CN 01130912 A CN01130912 A CN 01130912A CN 1406781 A CN1406781 A CN 1406781A
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- hubs
- robot
- hub
- amphibious robot
- wheel
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Abstract
An anti-overturning amphibious robot has a main body, which is composed of two relatively rotational wheel-shaped shells with blades on its external surface. Both wheel-shaped shells are dirven by their own motors. When two motors have same speed, the robot does straight line movement. Otherwise, it can turn around. Its advantages are flexible movement, high static sealing, and high power of preventing turn-over.
Description
Affiliated technical field:
The present invention relates to a kind of anti-amphibious robot that topples, especially relate to a kind of static sealing and can be on ground, the amphibious robot of the water surface, swampy terrain motion.
Background technology:
At present, wheeled sniffing robot that occurs and toy robot great majority adopt three-wheel or four-wheel structure both at home and abroad, and this structure motion is dumb, and adaptive capacity is relatively poor, in case overturning just can not walk on again, must set upright robot artificially it is walked on.And can be on the water surface, the robot of swampy terrain motion all is dynamic seal (packing), the waterproof anti-fog performance is poor.
Summary of the invention:
The purpose of this invention is to provide a kind of novel amphibious robot, adopt static sealing and self-driven mode, can realize moving flexibly, and can not stop because of overturning, can carry out under the outstanding environment scientific exploration or as games for play.
The object of the present invention is achieved like this, the body of robot is the hub of two identical in structure, two hubs and sealing separately connect firmly, in hub, be equipped with by the support of bearing installation on the wheel columella, support can rotate around the wheel columella, at the other end of support drive motor is housed, drive motor by synchronous pulley and synchronously band drive hub and rotate, the axle that connects firmly with two hubs connects together by bearing, can relatively rotate.When two motors were identical to the actuating speed of two hubs, robot was just done straight-line motion, and speed is just made turning motion not simultaneously.On the circumference of hub blade is housed, robot is moved on the water surface.Because the lateral surface of hub is outer convex surface, and the robot monnolithic case is a single-revolution shape, thereby can the stop motion owing to overturning.Hub has certain flexible material and makes by strengthening rubber or other, and the inside is filled with the gas of higher pressure, can anti-collision and anti-fall.Robot can be controlled by remote control.
Owing to adopt such scheme, make that the robot among the present invention can be realized motion flexibly on ground, marsh and the water surface, waterproof is antifog effectively again simultaneously, and anticollision, prevents toppling.
The drawing explanation:
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of the anti-amphibious robot that topples among the present invention.
Fig. 2 is the lateral plan of the hub of the anti-amphibious robot that topples among the present invention.
Realize the best way of invention:
In Fig. 1, robot is complete symmetrical structure, blade 2 uniform being fixed on hub 1, the two- wheeled columella 14,20 that connects firmly with 1,21 sealings of two hubs connects together by 17 and four bearings 15,16,18,19 of a little axle, the outer shroud of four bearings tightens together with two- wheeled columella 14,20 respectively, interior ring all is fastened on the little axle 17, and the two-wheeled columella can relatively rotate, thereby two hubs can be relatively rotated.Two hubs are made by the material with certain flexibility, can inflate hub by minor valve 13.In hub inside, support 5 is installed on the wheel columella 14 by two bearings 3,4, and the outer shroud and the support 5 of bearing 3,4 connect firmly, and interior ring and wheel columella 14 connect firmly, and support can rotate around the wheel columella like this.Motor 7 is installed on the support 5, synchronous pulley 12 and hub connect firmly, motor 7 is by synchronous pulley 10,12 and be with 11 to drive hubs and rotate synchronously, in the process of driven by motor hub walking because the effect of antagonistic force, support 5 will around wheel columella 14 be with synchronously angle of 11 pull-ups (state shown in the figure be hub when static support 5 just in time be in vertical position), for anti-angle here surpasses 90 degree (otherwise support 5 will be twisted over around wheel columella 14), the controller 9 that obliquity sensor 6 and control motor 7 are housed on support 5 links to each other, and battery case 8 also is installed on the support 5.Hub 21 in-to-in structures and hub 1 in-to-in structure are identical, and robot can be controlled with remote controller.
In Fig. 2, blade 2 uniform being fixed on hub 1.
Claims (2)
1. prevent toppling amphibious robot for one kind, it is characterized in that: robot body is made of with the axle that is connected two hubs two hubs, two hubs can relatively rotate, drive accessory equipments such as motor that two hubs rotate and every other driving device, power supply, controller and be installed in hub inside, in the hub outside blade that is uniformly distributed along the circumference is housed, robot is walked on the water surface.
2. amphibious robot according to claim 1 is characterized in that: two hubs and each self seals of two-wheeled columella connect firmly, thereby realize static sealing, and two hubs are made by the material with certain flexibility, and inside is filled with the gas of higher pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01130912 CN1406781A (en) | 2001-08-24 | 2001-08-24 | Amphibious robot against turnover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01130912 CN1406781A (en) | 2001-08-24 | 2001-08-24 | Amphibious robot against turnover |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1406781A true CN1406781A (en) | 2003-04-02 |
Family
ID=4670236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01130912 Pending CN1406781A (en) | 2001-08-24 | 2001-08-24 | Amphibious robot against turnover |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1406781A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100421882C (en) * | 2005-09-22 | 2008-10-01 | 上海交通大学 | Self-operated dynamically balancing movable robot |
| CN102069691A (en) * | 2011-01-06 | 2011-05-25 | 北京理工大学 | Gyro stabilized amphibious travel device |
| CN101300056B (en) * | 2005-11-04 | 2012-07-25 | 美泰有限公司 | Toy vehicle |
| CN103513656A (en) * | 2012-06-19 | 2014-01-15 | 库卡罗伯特有限公司 | Setting of synchronized robot movements |
| CN104842726A (en) * | 2015-05-12 | 2015-08-19 | 西北工业大学 | Water-land amphibious barrel-shaped robot |
-
2001
- 2001-08-24 CN CN 01130912 patent/CN1406781A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100421882C (en) * | 2005-09-22 | 2008-10-01 | 上海交通大学 | Self-operated dynamically balancing movable robot |
| CN101300056B (en) * | 2005-11-04 | 2012-07-25 | 美泰有限公司 | Toy vehicle |
| CN102069691A (en) * | 2011-01-06 | 2011-05-25 | 北京理工大学 | Gyro stabilized amphibious travel device |
| CN103513656A (en) * | 2012-06-19 | 2014-01-15 | 库卡罗伯特有限公司 | Setting of synchronized robot movements |
| US9895807B2 (en) | 2012-06-19 | 2018-02-20 | Kuka Roboter Gmbh | Setting synchronized robot movements |
| CN104842726A (en) * | 2015-05-12 | 2015-08-19 | 西北工业大学 | Water-land amphibious barrel-shaped robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |