CN202038112U - Variable foot wheel structure of amphibious robot - Google Patents
Variable foot wheel structure of amphibious robot Download PDFInfo
- Publication number
- CN202038112U CN202038112U CN2011201646696U CN201120164669U CN202038112U CN 202038112 U CN202038112 U CN 202038112U CN 2011201646696 U CN2011201646696 U CN 2011201646696U CN 201120164669 U CN201120164669 U CN 201120164669U CN 202038112 U CN202038112 U CN 202038112U
- Authority
- CN
- China
- Prior art keywords
- spoke
- robot
- amphibious
- spokes
- wheel structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a variable foot wheel structure of an amphibious robot which can realize movement in various environments and improve amphibious performance of the robot better. The technical scheme is that the variable foot wheel structure of the amphibious robot is characterized by comprising two side faces (1), spokes (2), wheel ribs (3), a central disk (4) and a waterproof case (5), wherein the spokes are arranged on the central disk (4), the wheel ribs (3) are arranged on the tail ends of the spokes (2), the wheel ribs are connected end to end in order to form a flanged wheel structure, and the waterproof case (5) is arranged on the periphery of the central disk (4). The central disk (4) is provided with the six spokes (2).
Description
Technical field
The utility model belongs to amphibious robot foot wheel construction field, and especially a kind of can the realization in multiple environment moved, and improved the variable sufficient wheel construction of amphibious robot of the amphibious performance of robot preferably.
Background technology
Amphibious robot can adapt to the changeable landform of land and coastal waters beach, also can adapt to complicated water environment, is widely used in fields such as military surveillance, searching rescue, topographic mapping, environmental monitoring.Have amphibious robot now based on legged mobile robot and snake-shaped robot, but all have certain defective.Traditional legged mobile robot must contact with ground and could promote self to advance, and working ability is restricted; When snake-shaped robot was worked in harsh environment, entire machine people contacted with ground, and friction force is big, easily caused health to be absorbed in the mire, had a strong impact on its locomitivity.In addition, most of amphibious robot volumes are bigger, and are convenient inadequately during transportation, convenient inadequately during use.
The utility model content
The purpose of this utility model provides a kind of can the realization and moves in multiple environment, improved the variable sufficient wheel construction of amphibious robot of the amphibious performance of robot preferably.
The technical solution of the utility model is: the variable sufficient wheel construction of amphibious robot, it is characterized in that forming by two sides (1), spoke (2), spoke (3), center disk (4) and compartment (5), wherein, described spoke is provided with on the center disk (4), spoke (3) is positioned at spoke (2) end, described spoke head and the tail link to each other in turn, form the wheel construction of having chance with; Described compartment (5) is arranged on the periphery of center disk (4).
6 spokes (2) are set on the center disk (4).
Effect of the present utility model is: the variable sufficient wheel construction of amphibious robot, form by two sides, spoke, spoke, center disk and compartment, wherein, described spoke is provided with on the center disk, spoke is positioned at the spoke end, and described spoke head and the tail link to each other in turn, form the wheel construction of having chance with; Described compartment is arranged on the periphery of center disk.
The utility model is used the type variable wheel construction, and physical construction is simple, has but promoted serviceability well.Compare with other variable wheeled construction,, can adapt to various environment more neatly though used simpler mechanism scheme.
When robot moved on land, wheeled push structure was simple, control is convenient, and the mode efficient height in water of flapping, wheel makes robot in two kinds of environment preferable performance be arranged all with the conversion of oar.The robot of using variable wheeled construction has been broken and has been used robot that fixing traveling gear the moves limitation at aspects such as speed, obstacle climbing abilities, can not only in water He on the hard place, move, can also be in the sand-gravel surface, the meadow, move in the varying environments such as yielding ground, make the robot can be in operation in the complex environment more.
Most of amphibious robot adopts changeless traveling gear with the land in water, limited the performance of robot.And this robot has adopted variable wheeled construction, has dwindled the volume of robot simultaneously, therefore can realize motion in multiple environment, has improved the amphibious performance of robot preferably.
Below in conjunction with drawings and Examples the utility model is described further.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is the structural representation that Fig. 1 opens a side.
The specific embodiment
Among Fig. 1, the variable sufficient wheel construction of amphibious robot is made up of two sides 1, spoke 2, spoke 3, center disk 4 and compartment 5, wherein, described spoke is provided with on the center disk 4, and spoke 3 is positioned at spoke 2 ends, described spoke head and the tail link to each other in turn, form the wheel construction of having chance with; Described compartment 5 is arranged on the periphery of center disk 4.6 spokes 2 (referring to Fig. 2) are set on the center disk (4).
Each spoke is terminal to be connected with spoke, and the spoke head and the tail link to each other in turn, form the wheel construction of having chance with, and center disk is controlled by steering wheel, and the rotation of center disk drives the spoke motion, makes the spoke opening and closing, and wheel construction is changed between wheel and oar.
When the utility model was used for robot, its mode mainly by remote controller control, installed humidity sensor additional.Remote controller may command sense of motion and spoke opening angle.Whether entry of humidity sensor detection machine people, if entry then spoke open spoke auto-closing behind the leaving water automatically fully.
Claims (2)
1. the variable sufficient wheel construction of amphibious robot, it is characterized in that forming by two sides (1), spoke (2), spoke (3), center disk (4) and compartment (5), wherein, described spoke is provided with on the center disk (4), spoke (3) is positioned at spoke (2) end, described spoke head and the tail link to each other in turn, form the wheel construction of having chance with; Described compartment (5) is arranged on the periphery of center disk (4).
2. the variable sufficient wheel construction of amphibious robot according to claim 1 is characterized in that being provided with on the center disk (4) 6 spokes (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201646696U CN202038112U (en) | 2011-05-23 | 2011-05-23 | Variable foot wheel structure of amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201646696U CN202038112U (en) | 2011-05-23 | 2011-05-23 | Variable foot wheel structure of amphibious robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202038112U true CN202038112U (en) | 2011-11-16 |
Family
ID=44965575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201646696U Expired - Fee Related CN202038112U (en) | 2011-05-23 | 2011-05-23 | Variable foot wheel structure of amphibious robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202038112U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104553648A (en) * | 2015-01-09 | 2015-04-29 | 广西大学 | Transformable triphibian robot |
| CN104691260A (en) * | 2015-01-09 | 2015-06-10 | 广西大学 | Triphibian robot provided with three impeller paddles |
| CN104906803A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Three-blade wheel propeller toy ball |
| CN106310668A (en) * | 2016-08-26 | 2017-01-11 | 广东信宇科技股份有限公司 | Amphibious vehicle and wheels thereof |
| CN110549804A (en) * | 2019-09-17 | 2019-12-10 | 北京大学 | Amphibious propulsion device based on 4D printing technology and manufacturing method |
| CN110978918A (en) * | 2019-12-11 | 2020-04-10 | 西安电子科技大学 | Amphibious soft wheel, switching method and mobile robot |
-
2011
- 2011-05-23 CN CN2011201646696U patent/CN202038112U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104553648A (en) * | 2015-01-09 | 2015-04-29 | 广西大学 | Transformable triphibian robot |
| CN104691260A (en) * | 2015-01-09 | 2015-06-10 | 广西大学 | Triphibian robot provided with three impeller paddles |
| CN104906803A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Three-blade wheel propeller toy ball |
| CN106310668A (en) * | 2016-08-26 | 2017-01-11 | 广东信宇科技股份有限公司 | Amphibious vehicle and wheels thereof |
| CN110549804A (en) * | 2019-09-17 | 2019-12-10 | 北京大学 | Amphibious propulsion device based on 4D printing technology and manufacturing method |
| CN110978918A (en) * | 2019-12-11 | 2020-04-10 | 西安电子科技大学 | Amphibious soft wheel, switching method and mobile robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202038112U (en) | Variable foot wheel structure of amphibious robot | |
| CN103587601B (en) | The long continuation of the journey in polar region wind drive formula ball shape robot | |
| CN204801920U (en) | 3D prints six sufficient bio -robots | |
| CN202911836U (en) | Omni-directional moving platform | |
| CN203332259U (en) | Obstacle crossing robotic explorer | |
| CN103448826B (en) | A kind of two-legged type climbing robot | |
| CN203698464U (en) | Ball-like type detection robot with characteristic of tumbler | |
| CN204399323U (en) | Can rotate, can car be moved in parallel in original place | |
| CN104340292B (en) | The dual-purpose fighter toy of wheel foot | |
| CN104002888A (en) | Quadrilateral mechanism based snakelike robot | |
| CN104724233A (en) | Directly-driven two-wheeled self-balancing electric vehicle | |
| CN202070117U (en) | Engine driven vigor board | |
| CN103407511A (en) | Small-sized wheel leg combined type movable obstacle-crossing mechanism in forest | |
| CN104648504B (en) | A kind of bionical amphibious robot spring wheel foot crawling device | |
| CN203158114U (en) | Intelligent obstacle crossing robot based on Bluetooth control | |
| CN202038129U (en) | Amphibious robot structure | |
| CN202010434U (en) | Toy car structure | |
| CN204915892U (en) | Wheeled motion of chassis lift type biped and robot | |
| CN204846105U (en) | Robot that can take turns, leg warp | |
| CN203439167U (en) | Forest region small wheel and leg combined type mobile obstacle crossing mechanism | |
| CN207773294U (en) | Two-wheeled self-balancing transformable robot | |
| CN204488996U (en) | Planetary differential obstacle crossing type caterpillar robot | |
| CN202782474U (en) | Ball limiting type repeated folding and unfolding wheel locking and unlocking mechanism | |
| CN203328628U (en) | Rolling wheel component of intelligent dust collector | |
| CN203528627U (en) | Spring type biped-wheel crawling device of bionic amphibious robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111116 Termination date: 20130523 |