CN202935565U - Sole structure of robot walking on water - Google Patents
Sole structure of robot walking on water Download PDFInfo
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- CN202935565U CN202935565U CN 201220157988 CN201220157988U CN202935565U CN 202935565 U CN202935565 U CN 202935565U CN 201220157988 CN201220157988 CN 201220157988 CN 201220157988 U CN201220157988 U CN 201220157988U CN 202935565 U CN202935565 U CN 202935565U
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- intermediate plate
- angle control
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Abstract
The utility model relates to a mechanical structure and especially relates to a robot sole structure. The utility model aims to provide a sole structure of a robot walking on water and the sole structure of the robot walking on water can reduce resistance when a sole is getting out of water. The sole structure of the robot walking on water includes a sole middle board and two soles arranged on two side of the sole middle board. The sole middle board is connected with the soles in a rotary manner through a revolute pair. The sole structure of the robot walking on water provided by the utility model is simple in structure, low in manufacturing cost and convenient to use.
Description
Technical field
The utility model relates to a kind of physical construction, relates to especially the sole structure of robot.
Background technology
The robot that moves on ground and move about in the underwater is very many, but the robot that really can walk on the water surface is actually rare, overwater walking robot is because of its special mode of motion, good to the landform adaptive faculty, mobility strong, therefore be used for the detection under flood and marshy area environment, search and rescue operation the fields such as water quality exploration.
Research about robot waterborne, Chinese patent " floating bionic terrapin robot on water " (publication number: CN100404371C, open day: proposed a kind of volume on July 23rd, 2008) little, lightweight Bionic water strider robot, this robot mainly provides buoyancy by the tension force of the water surface, moves by oar shape leg paddling, and this robot capacity weight is low, can not walk on the water surface of big rise and fall, can not resist the ability of wave.The sole structure of overwater walking robot is nearly all circular sheet material at present, and not too much design goes out water resistance and do not consider.
The utility model content
The purpose of this utility model is that a kind of sole structure of the overwater walking robot of resistance can reduce the sole water outlet time will be provided.
A kind of sole structure of overwater walking robot comprises sole intermediate plate and two soles that are arranged on sole intermediate plate both sides, and above-mentioned sole intermediate plate and sole are rotationally connected by revolute pair.
Be provided with elasticity water proof band between above-mentioned sole intermediate plate and sole.
Be provided with angle control mechanism between above-mentioned sole intermediate plate and sole, above-mentioned angle control mechanism comprises angle control desk and angle control flexible-belt, one end of above-mentioned angle control desk is fixed on the sole intermediate plate by holding screw, it is bonding that the other end of angle control desk and angle are controlled flexible-belt, above-mentioned angle is controlled flexible-belt one end and angle control desk bonding, and the other end runs through sole.
Above-mentioned sole is semicircle shape.
The utility model overwater walking robot sole is simple in structure, low cost of manufacture, and is easy to use; And sole and intermediate plate adopt revolute pair to be connected, can effectively reduce the suffered resistance of sole when water outlet, can reduce motor load, raising robot work efficiency.
Description of drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is the structural representation of Fig. 1 when observing from another point of view.
The specific embodiment
As shown in Figure 1, 2, the sole structure of a kind of overwater walking robot of the utility model comprises sole intermediate plate 3 and two semicircle soles 1 that are arranged on sole intermediate plate both sides, and above-mentioned sole intermediate plate 3 is rotationally connected by revolute pair 7 with sole 1.Be provided with elasticity water proof band 4 between above-mentioned sole intermediate plate 3 and sole 1.
In order to control the angle of packing up of sole, be provided with angle control mechanism between above-mentioned sole intermediate plate 3 and sole 1, angle control mechanism comprises angle control desk 5 and angle control flexible-belt 6, one end of angle control desk 5 is fixed on the sole intermediate plate by holding screw 2, it is bonding that the other end of angle control desk 5 and angle are controlled flexible-belt 6, the other end that above-mentioned angle is controlled flexible-belt runs through sole, and the end is more roomy, in order to avoid deviate from from the perforation of sole.
When the utility model sole uses, sole is connected with the ankle of overwater walking robot.When the sole 1 of overwater walking robot begins to contact the water surface, be that sole is when striking waters, sole is with water surface contact and the power that produces, and the effect by this power struts two soles 1 fully, and angle control desk 5 is controlled two soles makes itself and sole intermediate plate 3 be in same plane; When the sole water outlet, water makes two soles pack up certain angle by revolute pair 7 to the resistance of sole 1, material behavior or shape that the size of packing up angle is controlled flexible-belt 6 by angle limit, water is less to the resistance of sole during the sole water outlet thus, can actv. reduce the load of drive motor, improve the machine task efficiency.
Claims (4)
1. the sole structure of an overwater walking robot is characterized in that: comprise sole intermediate plate (3) and two soles (1) that are arranged on sole intermediate plate both sides, above-mentioned sole intermediate plate (3) is rotationally connected by revolute pair (7) with sole (1).
2. the sole structure of a kind of overwater walking robot according to claim 1, is characterized in that: be provided with elasticity water proof band (4) between above-mentioned sole intermediate plate (3) and sole (1).
3. the sole structure of a kind of overwater walking robot according to claim 2, it is characterized in that: be provided with angle control mechanism between above-mentioned sole intermediate plate (3) and sole (1), above-mentioned angle control mechanism comprises angle control desk (5) and angle control flexible-belt (6), one end of above-mentioned angle control desk (5) is fixed on the sole intermediate plate by holding screw (2), it is bonding that the other end of angle control desk (5) and angle are controlled flexible-belt (6), above-mentioned angle is controlled flexible-belt one end and angle control desk bonding, and the other end runs through sole.
4. the sole structure of a kind of overwater walking robot according to claim 1, it is characterized in that: above-mentioned sole is semicircle shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220157988 CN202935565U (en) | 2012-04-13 | 2012-04-13 | Sole structure of robot walking on water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220157988 CN202935565U (en) | 2012-04-13 | 2012-04-13 | Sole structure of robot walking on water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202935565U true CN202935565U (en) | 2013-05-15 |
Family
ID=48319819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220157988 Expired - Lifetime CN202935565U (en) | 2012-04-13 | 2012-04-13 | Sole structure of robot walking on water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202935565U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616358A (en) * | 2012-04-13 | 2012-08-01 | 中国科学院合肥物质科学研究院 | Sole of water strider robot |
-
2012
- 2012-04-13 CN CN 201220157988 patent/CN202935565U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616358A (en) * | 2012-04-13 | 2012-08-01 | 中国科学院合肥物质科学研究院 | Sole of water strider robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130515 |