CN201512016U - Paddle driving amphibious robot - Google Patents
Paddle driving amphibious robot Download PDFInfo
- Publication number
- CN201512016U CN201512016U CN2009202667086U CN200920266708U CN201512016U CN 201512016 U CN201512016 U CN 201512016U CN 2009202667086 U CN2009202667086 U CN 2009202667086U CN 200920266708 U CN200920266708 U CN 200920266708U CN 201512016 U CN201512016 U CN 201512016U
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- pedal plate
- framework
- amphibious robot
- robot
- floating drum
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Abstract
The utility model relates to an amphibious robot, in particular to a paddle driving amphibious robot. The paddle driving amphibious robot comprises a front float, a middle front float, a watertight electronic compartment, a middle rear float, a rear float, a framework and paddle driving modules, wherein the front float, the middle front float, the watertight electronic compartment, the middle rear float and the rear float are respectively installed on the framework in sequence, a plurality of groups of the paddle driving modules are also arranged on the framework, and each group of the paddle driving modules comprises two paddle driving modules symmetrically installed on both sides of the framework; and each paddle driving module comprises a paddle compound mechanism and a driving device for driving the paddle compound mechanism to rotate, and the crawling or the floating of the amphibious robot can be realized through the rotation of the paddle compound mechanism. By adopting the three groups of the symmetrically distributed paddle driving modules, the utility model meets the demands of multi-locomotion modes of crawling and floating of the robot under the amphibious condition and meanwhile, integrates the stability, the rapidity and the coordination of motion of the robot; and the paddle driving amphibious robot has the characteristics of flexibility of movement, high obstacle-climbing capability, good environment adaptability and the like.
Description
Technical field
The utility model relates to amphibious robot, the driving amphibious robot of specifically a kind of pedal plate.
Background technology
Along with in-depth and the development of each ocean power of the world to marine scientific research and ocean exploitation strategy, Very Shallow Water, breaker zone, surfzone and the beach area that flood and field is connected becomes one of key area of using and pay close attention in aspects such as scientific research in recent years, environmental monitoring, investigation sampling and military field.The under-water robot of current domestic and international research mainly comprises swim formula and creeping-type, but all there are some limitation in the operating area of these two kinds of under-water robots: at shallow water and deep water sea area, current under-water robot has certain operational capability, and Very Shallow Water, breaker zone and zone, seabeach operational capability a little less than, even can't operation; And the robot of land application is felt simply helpless especially to Very Shallow Water and breaker zone zone.Amphibious robot is a kind of extraordinary mobile robot who integrates special exercise in land and the water, different according to driver train and mode of motion, and existing amphibious robot roughly can be divided into single driving and combination flooding ejector half two big classes.No matter the amphibious robot of single drive mode is polypody, fluctuation formula, wheeled, crawler type etc., all is difficult to satisfy fully robot in water or the requirement of aspect such as speed on land, obstacle detouring, manoevreability, stability.In order to realize amphibious robot respectively in water and the High Performance motion under the various modes of land, developing amphibious robot based on new-type composite driving mechanism becomes one of the important research direction of amphibious robot in recent years and development tendency.
The utility model content
The purpose of this utility model is to provide a kind of and has creeping and the multi-locomotion mode that swims, the driving amphibious robot of the well behaved pedal plate of integrated motion, it is single to have solved existing amphibious robot mode of motion under amphibious environment, operational capability a little less than, the problem of aspect deficiencies such as rapidity, manoevreability, stability and obstacle climbing ability is for inshore ocean exploitation and utilization provide a kind of actv. hightech means.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprise preceding floating drum, in before floating drum, watertight electronic compartment, middle back floating drum, back floating drum, framework and pedal plate driver module, be equipped with successively on the described framework preceding floating drum, in before floating drum, watertight electronic compartment, middle back floating drum and back floating drum, be provided with many group pedal plate driver modules on framework, every group by two pedal plate driver modules are formed, symmetry is installed in framework both sides; Described pedal plate driver module comprises the pedal plate composite structure and drives the actuating device of its rotation, and the rotation by the pedal plate composite structure realizes creeping of amphibious robot or swims.
Wherein: described pedal plate driver module is three groups, six, is symmetrically distributed in front end, middle part and the rear end of framework, and six pedal plate driver module structures are identical; Described pedal plate driver module comprises pedal plate composite structure, axle drive shaft, pedal plate hatchcover, pedal plate drive motor assembly and pedal plate cabin body, and wherein an end of pedal plate cabin body is installed on the framework, and the other end is sealedly connected with the pedal plate hatchcover; Described pedal plate drive motor assembly is fixed on the inside of pedal plate cabin body as the actuating device that drives the rotation of pedal plate composite structure, the output shaft of pedal plate drive motor assembly is connected with an end of axle drive shaft, and the other end of axle drive shaft is passed, is connected with the pedal plate composite structure by the pedal plate hatchcover; Be provided with the cabling poted assemblies on the body of pedal plate cabin, the cable of pedal plate drive motor assembly is connected by the interior motor driver electrical component of cabling poted assemblies and watertight electronic compartment; Be provided with attachment flange in the body of pedal plate cabin, pedal plate drive motor assembly is installed on the attachment flange, and the output shaft of pedal plate drive motor assembly is connected with an end of axle drive shaft by coupler, and coupler links to each other with attachment flange by clutch shaft bearing; Be provided with the magslip that is set on the axle drive shaft in the body of pedal plate cabin, the cable of this magslip is connected by the interior motor driver electrical component of cabling poted assemblies and watertight electronic compartment; The pedal plate composite structure comprises pedal plate skeleton and flexible body, and pedal plate skeleton and flexible body are flats, and an end of pedal plate skeleton is connected with the other end of axle drive shaft, and the other end of pedal plate skeleton is provided with flexible body; Axle drive shaft is connected with the pedal plate hatchcover by second bearing and rotating seal.
Advantage of the present utility model and good effect are:
1. amphibious robot of the present utility model is based on the overall structure types of pedal plate driver module, adopt three groups of pedal plate driver modules that are symmetrically distributed, satisfy robot the creeping and the demand of the multi-locomotion mode that swims of amphibious condition, taken into account robot motion's stability, rapidity and harmony simultaneously.
2. the actuating device of amphibious robot of the present utility model adopts and to integrate the creep pedal plate composite structure of swing fin double effects in leg and the water of land, make robot when possessing diversified mode of motion and better integrated motion performance, ensure the compactedness and the single-piece miniaturization of system architecture, alleviated the weight of robot carrier.
3. the actuating device of amphibious robot of the present utility model adopts modular design, and each pedal plate driver module is respectively independently modular construction, does not disturb mutually each other, is convenient to the maintenance and the replacing of actuating device.
4. amphibious robot of the present utility model also has motion flexibly, and obstacle climbing ability is strong, characteristics such as good environmental adaptability.
Description of drawings
Fig. 1 is a structure principle chart of the present utility model;
Fig. 2 is a structural representation of the present utility model;
Fig. 3 is the upward view of Fig. 2;
Fig. 4 is the structural representation of pedal plate driver module among Fig. 2;
Fig. 5 is the structural representation of pedal plate composite structure among Fig. 4;
Fig. 6 a realizes schematic diagram for the utility model rectilinear creeping campaign;
Fig. 6 b is that the utility model turns to crawling exercises to realize schematic diagram;
Fig. 6 c moves for the utility model straight line swims and realizes schematic diagram;
Fig. 6 d is that the utility model turns to the motion of swimming to realize schematic diagram;
Wherein: 1 is preceding floating drum, 2 be in before floating drum, 3 is the watertight electronic compartment, 4 is middle back floating drum, and 5 is the back floating drum, and 6 is framework, 7 is the pedal plate driver module, and 8 is the motor driver assembly, and 9 is the secondary lithium battery group, 10 is the umbilical cable underwater electrical connector, and 11 is the GPS locating module, and 12 is wireless data transmission module, 13 are the navigation attitude sensor, and 14 is control computer, and 15 is depth transducer, 16 is receiving wire, and 17 is antenna, and 18 is the pedal plate composite structure, 19 is first flat key, and 20 is axle drive shaft, and 21 is the pedal plate hatchcover, 22 is magslip, and 23 is attachment flange, and 24 is coupler, 25 is pedal plate drive motor assembly, and 26 is pedal plate cabin body, and 27 is the cabling poted assemblies, 28 is second flat key, and 29 is clutch shaft bearing, and 30 is second bearing, 31 is the O RunddichtringO, 32 is rotating seal, and 33 is the pedal plate skeleton, and 34 is flexible body.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1～3, the utility model comprise preceding floating drum 1, in before floating drum 2, watertight electronic compartment 3, middle back floating drum 4, back floating drum 5, framework 6 and pedal plate driver module 7, wherein before floating drum 1, in before floating drum 2, watertight electronic compartment 3, middle back floating drum 4 and back floating drum 5 be installed on the framework 6 by screw retention successively; Be provided with many group pedal plate driver modules 7 on framework 6, every group by two pedal plate driver modules 7 are formed, symmetry is installed in framework 6 both sides; The pedal plate driver module 7 of present embodiment is three groups, six, be symmetrically distributed in front end, middle part and the rear end of framework 6, six pedal plate driver module 7 structures are identical, include the pedal plate composite structure and drive the actuating device of its rotation, the rotation by the pedal plate composite structure realizes creeping of amphibious robot or swims.。
Watertight electronic compartment 3 of the present utility model is a prior art, comprise motor driver assembly 8, secondary lithium battery group 9, umbilical cable underwater electrical connector 10, GPS locating module 11, wireless data transmission module 12, navigation attitude sensor 13, control computer 14 and depth transducer 15, wherein secondary lithium battery group 9 is positioned at the middle part of watertight electronic compartment 3, is used to keep robot single-piece balance; Umbilical cable underwater electrical connector 10 is connected on the cover plate of watertight electronic compartment 3; Navigation attitude sensor 13 levels are installed on the base plate of watertight electronic compartment 3; Depth transducer 15 is positioned at the leading flank of watertight electronic compartment 3, handles being connected on the side plate of watertight electronic compartment 3 by watertight; Motor driver assembly 8, GPS locating module 11 and wireless data transmission module 12 are separately positioned in the watertight electronic compartment 3.In before the top of floating drum 2 receiving wire 16 of GPS locating module 11 is installed, the top of middle back floating drum 4 is equipped with the antenna 17 of wireless data transmission module 12.The acquired signal input end of control computer 14 is gathered navigation attitude data and keel depth data by navigation attitude sensor 13 and depth transducer 15, and the satellite-signal input end is by GPS locating module 11 and receiving wire 16 receiving satellite positioning signals thereof; The control output end of control computer 14 is connected to the control loop of motor driver assembly 8, and signal output part carries out wireless telecommunications by wireless data transmission module 12 and antenna 17 thereof with upper computer.
, model is 4QEC DECV 50/5 motor driver assembly 8 of the present utility model is commercial product, purchases (the manufacturer: in Suzhou an ancient unit of weight and servo Science and Technology Ltd. Switzerland Maxon company); Secondary lithium battery group 9 is commercial product, and purchasing in Weifang Wina Environmental Protection Power Co., Ltd., model is WA3610; , model is GARMINGPS15 GPS locating module 11 is commercial product, purchases in the Hezhong Sizhuang Science and Technology Co. Ltd., Beijing (manufacturer: U.S. GARMIN company); Wireless data transmission module 12 is commercial product, purchase in Shenzhen friend fastly reach the development in science and technology Co., Ltd, model is FC-203/SA; Control computer 14 is commercial product, and purchasing in Guangzhou Zhou Ligong micro controller system Co., Ltd, model is ARM7 LPC2294.
As shown in Figure 4, pedal plate driver module 7 comprises pedal plate composite structure 18, axle drive shaft 20, pedal plate hatchcover 21, magslip 22, attachment flange 23, coupler 24, pedal plate drive motor assembly 25, pedal plate cabin body 26 and cabling poted assemblies 27, wherein pedal plate cabin body 26 is a hollow circuit cylinder, the one end by screw retention on framework 6, the other end is sealedly connected with pedal plate hatchcover 21 by screw, is provided with O RunddichtringO 31 between pedal plate hatchcover 21 and pedal plate cabin body 26 contact surfaces; Be provided with the attachment flange 23 that is fixed in by screw on the pedal plate hatchcover 21 in pedal plate cabin body 26, magslip 22 is installed in the cavity of attachment flange 23; Pedal plate drive motor assembly 25 is connected on the attachment flange 23 by screw as the actuating device that drives 18 rotations of pedal plate composite structure, the output shaft of pedal plate drive motor assembly 25 is realized being connected with an end of axle drive shaft 20 under two second flat key 28 transmissions by coupler 24, the other end of axle drive shaft 20 passes the interior ring of magslip 22, is passed, is connected by first flat key 19 with pedal plate composite structure 18 by pedal plate hatchcover 21 again, and the rotor of magslip 22 and axle drive shaft 20 rotate jointly; Coupler 24 links to each other with attachment flange 23 by clutch shaft bearing 29, and realizes spacing by the seam of coupler outside face and the seam of attachment flange 23 inwalls; Be arranged with second bearing 30 and the rotating seal 32 that are positioned at pedal plate hatchcover 21 inner chambers on the axle drive shaft 20, dynamic seal between axle drive shaft 20 and the pedal plate hatchcover 21 realizes that by rotating seal 32 static seal between pedal plate hatchcover 21 and the pedal plate cabin body 26 is realized by O RunddichtringO 31.Be provided with cabling poted assemblies 27 on pedal plate cabin body 26, the cable of magslip 22 and pedal plate drive motor assembly 25 is electrically connected by cabling poted assemblies 27 and watertight electronic compartment 3 interior motor driver assemblies 8.Magslip 22 is commercial product, and purchase in Shenyang Ai Ruite automation equipment Co., Ltd (manufacturer: Japan rub river), model is TS2640N321E64 more; , model is MAXON EC 40 pedal plate drive motor assembly 25 is commercial product, purchases (the manufacturer: in Suzhou an ancient unit of weight and servo Science and Technology Ltd. Switzerland Maxon company).
As shown in Figure 5, pedal plate composite structure 18 integrates creep leg and swing fin movement characteristic and function, comprise pedal plate skeleton 33 and flexible body 34, pedal plate skeleton 33 and flexible body 34 are flats, one end of pedal plate skeleton 33 is affixed with the other end of axle drive shaft 20 by first flat key 19, the other end of pedal plate skeleton 33 is provided with flexible body 34, and flexible body 34 can be made by rubber.
Principle of work of the present utility model is:
Amphibious robot of the present utility model can be realized swimming or two kinds of patterns of water-bed crawling exercises in land crawling exercises under the amphibious environment and the water.
Crawling exercises pattern: under the crawling exercises pattern, amphibious robot of the present utility model can carry out the rectilinear creeping campaign shown in Fig. 6 a or turn to crawling exercises shown in Fig. 6 b, 25 work of pedal plate drive motor assembly, drive axle drive shaft 20 rotations, drive pedal plate composite structure 18 again by axle drive shaft 20 and rotate, realize advancing of amphibious robot or turn to by rotatablely moving of pedal plate composite structure 18; During rectilinear creeping, the action earlier of second pedal plate driver module of first and the 3rd pedal plate driver module of framework one side and framework opposite side, hand of rotation is identical, first and the 3rd pedal plate driver module of second pedal plate driver module of framework one side and framework opposite side moves again then, hand of rotation is also identical, realizes the straight ahead of robot or retreats; When amphibious robot need turn to, the action earlier of second pedal plate driver module of first and the 3rd pedal plate driver module of framework one side and framework opposite side, but hand of rotation is opposite, first and the 3rd pedal plate driver module of second pedal plate driver module of framework one side and framework opposite side moves again then, hand of rotation is also opposite, realizes turning to; Under the crawling exercises pattern, the pedal plate composite structure 18 main functions of bringing into play the leg of creeping ensure that under the pedal plate phase control of rule the motion of robot possesses rapidity, stability and good obstacle climbing ability.
Swim in the water or water-bed crawling exercises pattern: in water, by adjusting buoyancy, amphibious robot can be realized respectively swimming in the water and move and water-bed crawling exercises, and water-bed crawling exercises is creeped with land and had identical principle of work; Position, frequency and amplitude of oscillation control by 25 pairs of pedal plate composite structures 18 of pedal plate drive motor assembly in the pedal plate driver module 7, amphibious robot can be realized the direct route shown in Fig. 6 c swim motion or the motion of swimming of turning to shown in Fig. 6 d, under the mode of motion that swims, the effect of pedal plate composite structure 18 main performance swing fins, under the driving of pedal plate drive motor assembly 25, produce thrust, be implemented in direct route in the water motion of swimming; When needing to turn in water, the pedal plate driver module hand of rotation of framework both sides is opposite, can realize the motion of swimming of amphibious robot turning in water.
Amphibious robot of the present utility model can realize creeping in land and water in the two kinds of mode of motioies that swim, and need not to change the autonomous switching that actuating device can be realized two kinds of mode of motioies, by adjusting and change phase place, frequency and the amplitude of the pedal plate swing of pedal plate driver module 7, at the multi-locomotion mode that can realize under the coordinated movement of various economic factors of three groups of pedal plate driver modules under the amphibious environment of robot.
Claims (7)
1. driving amphibious robot of pedal plate, it is characterized in that: comprise preceding floating drum (1), in before floating drum (2), watertight electronic compartment (3), middle back floating drum (4), back floating drum (5), framework (6) and pedal plate driver module (7), be equipped with successively on the described framework (6) preceding floating drum (1), in before floating drum (2), watertight electronic compartment (3), middle back floating drum (4) and back floating drum (5), be provided with many group pedal plate driver modules (7) on framework (6), every group by two pedal plate driver modules (7) are formed, symmetry is installed in framework (6) both sides; Described pedal plate driver module (7) comprises the pedal plate composite structure and drives the actuating device of its rotation, and the rotation by the pedal plate composite structure realizes creeping of amphibious robot or swims.
2. by the driving amphibious robot of the described pedal plate of claim 1, it is characterized in that: described pedal plate driver module (7) is three groups, six, is symmetrically distributed in front end, middle part and the rear end of framework (6), and six pedal plate driver modules (7) structure is identical.
3. by claim 1 or the driving amphibious robot of 2 described pedal plates, it is characterized in that: described pedal plate driver module (7) comprises pedal plate composite structure (18), axle drive shaft (20), pedal plate hatchcover (21), pedal plate drive motor assembly (25) and pedal plate cabin body (26), wherein an end of pedal plate cabin body (26) is installed on the framework (6), and the other end is sealedly connected with pedal plate hatchcover (21); Described pedal plate drive motor assembly (25) is fixed on the inside of pedal plate cabin body (26) as the actuating device that drives pedal plate composite structure (18) rotation, the output shaft of pedal plate drive motor assembly (25) is connected with an end of axle drive shaft (20), and the other end of axle drive shaft (20) is passed, is connected with pedal plate composite structure (18) by pedal plate hatchcover (21); Be provided with cabling poted assemblies (27) on pedal plate cabin body (26), the cable of pedal plate drive motor assembly (25) is electrically connected by the interior motor driver assembly (8) of cabling poted assemblies (27) and watertight electronic compartment (3).
4. by the driving amphibious robot of the described pedal plate of claim 3, it is characterized in that: be provided with attachment flange (23) in the described pedal plate cabin body (26), pedal plate drive motor assembly (25) is installed on the attachment flange (23), the output shaft of pedal plate drive motor assembly (25) is connected by the end of coupler (24) with axle drive shaft (20), and coupler (24) links to each other with attachment flange (23) by clutch shaft bearing (29).
5. by the driving amphibious robot of the described pedal plate of claim 3, it is characterized in that: be provided with the magslip (22) that is set on the axle drive shaft (20) in the described pedal plate cabin body (26), the cable of this magslip (22) is electrically connected by the interior motor driver assembly (8) of cabling poted assemblies (27) and watertight electronic compartment (3).
6. by the driving amphibious robot of the described pedal plate of claim 3, it is characterized in that: described pedal plate composite structure (18) comprises pedal plate skeleton (33) and flexible body (34), pedal plate skeleton (33) and flexible body (34) are flats, one end of pedal plate skeleton (33) is connected with the other end of axle drive shaft (20), and the other end of pedal plate skeleton (33) is provided with flexible body (34).
7. by the driving amphibious robot of the described pedal plate of claim 3, it is characterized in that: described axle drive shaft (20) is connected with pedal plate hatchcover (21) by second bearing (30) and rotating seal (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202667086U CN201512016U (en) | 2009-11-09 | 2009-11-09 | Paddle driving amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202667086U CN201512016U (en) | 2009-11-09 | 2009-11-09 | Paddle driving amphibious robot |
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| Publication Number | Publication Date |
|---|---|
| CN201512016U true CN201512016U (en) | 2010-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202667086U Expired - Lifetime CN201512016U (en) | 2009-11-09 | 2009-11-09 | Paddle driving amphibious robot |
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| Country | Link |
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| CN (1) | CN201512016U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102049983B (en) * | 2009-11-09 | 2012-10-24 | 中国科学院沈阳自动化研究所 | Footplate driving-type amphibious robot |
| CN104648504A (en) * | 2013-11-15 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Spring wheel-leg creeping device of bionic amphibious robot |
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| CN113291111A (en) * | 2021-06-01 | 2021-08-24 | 中国北方车辆研究所 | Wheel-fin-paddle composite amphibious robot |
-
2009
- 2009-11-09 CN CN2009202667086U patent/CN201512016U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102049983B (en) * | 2009-11-09 | 2012-10-24 | 中国科学院沈阳自动化研究所 | Footplate driving-type amphibious robot |
| CN104648504A (en) * | 2013-11-15 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Spring wheel-leg creeping device of bionic amphibious robot |
| CN106020179A (en) * | 2016-08-01 | 2016-10-12 | 天津理工大学 | Novel multimachine coordinated control system and method for spherical amphibious robot |
| CN113291111A (en) * | 2021-06-01 | 2021-08-24 | 中国北方车辆研究所 | Wheel-fin-paddle composite amphibious robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100623 Effective date of abandoning: 20091109 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20100623 Effective date of abandoning: 20091109 |
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| RGAV | Abandon patent right to avoid regrant |