CN207088875U - Lu Hang robots and amphibious robot - Google Patents
Lu Hang robots and amphibious robot Download PDFInfo
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- CN207088875U CN207088875U CN201720760879.9U CN201720760879U CN207088875U CN 207088875 U CN207088875 U CN 207088875U CN 201720760879 U CN201720760879 U CN 201720760879U CN 207088875 U CN207088875 U CN 207088875U
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Abstract
Lu Hang robots and amphibious robot, belong to robot field.Lu Hang robots, including pedestal, front wheel system and side wheel system, front wheel system include two barrier getting over mechanism and two the first omni-directional wheels, and side wheel system includes two the second omni-directional wheels；Two the first omni-directional wheels and two the second omni-directional wheel circumferential directions, which are divided equally, to be arranged at intervals；Each barrier getting over mechanism includes drive link mechanism and steering wheel, and drive link mechanism is arranged at pedestal, and the direction of the omni-directional wheel of servos control first rotates.Set up and be used as amphibious robot in water after propulsion system, propulsion system divides equally interval annular spread including four and can swing the propeller for being arranged at pedestal in water.The Lu Hang robots that the application provides, can realize the switching between the omni-directional mode on ground and obstacle detouring pattern, meet the use demand of the complex environment on ground.The amphibious robot that the application provides, disclosure satisfy that the requirement of the various complex environments in land and water.
Description
Technical field
Robot field is the utility model is related to, in particular to Lu Hang robots and amphibious robot.
Background technology
At present, there are crawler type, wheeled, leg formula three basic structures in the travel mechanism of robot, wheeled robot maximum
Energy loss is few when feature is mobile, but requires high to environment terrain, is not suitable for the knot of non-structure environment and some characteristics
Structure environment.
Utility model content
The purpose of this utility model is to provide Lu Hang robots, to provide one kind on ground grading and non-structural road surface
It is capable of the Lu Hang robots of smooth omnidirectional moving.
Another purpose of the present utility model is to provide amphibious robot, and land and water is can be suitably used for provide one kind.
What the utility model was realized in：
Lu Hang robots provided by the utility model, including pedestal, front wheel system and side wheel system, front wheel system include two
Individual barrier getting over mechanism and two the first omni-directional wheels, side wheel system include two the second omni-directional wheels；Two the second omni-directional wheels symmetrically rotate
It is arranged at pedestal and rotary centerline overlaps, two the first omni-directional wheels line centered on the rotary centerline of two the second omni-directional wheels
It is oppositely arranged and rotates setting；Each barrier getting over mechanism includes drive link mechanism and steering wheel, and drive link mechanism is arranged at pedestal,
Steering wheel and the first omni-directional wheel are arranged at the drive end of drive link mechanism, and the direction of the omni-directional wheel of servos control first rotates.
There are crawler type, wheeled, leg formula three basic structures in current travel mechanism.Ratcheting mechanism again can be according to can in plane
Mobile direction be divided into it is comprehensive and non-comprehensive, omni-directional moving mechanism refer to can planar have around, rotate this
The mechanism of the free degree motion of 3 or more than 3, is then non-Omni-mobile machine when planar motion is less than 3 frees degree
Structure.Omni-directional moving mechanism is provided with complete 3 frees degree, can be moved freely in narrow spatial dimension, typically
Omni-directional moving mechanism is typically made up of the omni-directional wheel of 3 or more than 4.Omni-directional wheel efficiently avoid common wheel due to not
Can be breakked away the incomplete property motion limitation brought so that travel mechanism can move with speed at any angle in the plane in theory
It is dynamic.
Two the first omni-directional wheels and two the second omni-directional wheels divide equally interval and rotate setting in circumferential direction, can realize ratio
Relatively stable comprehensive effect, and possess stronger lifting capacity, but running environment is limited to smooth ground.Two first
After omni-directional wheel is arranged at pedestal by steering wheel, not only possess more accurate omnibearing movable performance, and steering wheel before and after cooperation
Corner switching, it is possible to achieve the effect of variable gear ratio, the tractive force of robot itself is improved, compared to traditional motion knot
Structure, the mobility of robot have obtained improving largely.Two the first omni-directional wheels pass through drive link machine again
After structure is arranged at pedestal so that the amphibious robot possesses certain by property and obstacle climbing ability, may be implemented in field grass
The operation on the non-structural road surfaces such as ground, cobblestone ground, realize stronger obstacle crossing function.
The rotary centerline of two the first omni-directional wheels is in different states in the presence of barrier getting over mechanism, can overlap,
Can also be parallel.The rotary centerline of two the second omni-directional wheels overlaps all the time.The robot passes through the omni-directional wheel of servos control first
Rotation direction realize omni-directional mode and obstacle detouring pattern switching.When under the environment of smooth-riding surface, by servos control two first
Omni-directional wheel turns to, until the rotary centerline of two the first omni-directional wheels overlaps, i.e., the rotary centerline of two the first omni-directional wheels with
The rotary centerline of two the second omni-directional wheels is vertical, and robot is in omni-directional mode, it is possible to achieve the movement in direction all around
And rotate.When running into non-structural road surface, steering wheel rotates two the first omni-directional wheel rotary centerlines, is switched to obstacle detouring pattern,
Now the rotary centerline of two the first omni-directional wheels is parallel, the rotary centerline of two the first omni-directional wheels and two the second omnidirectionals
The rotary centerline of wheel is parallel.Robot can change between omni-directional mode and obstacle detouring pattern, have connecting rod obstacle detouring dolly and
The advantages of omnidirectional's dolly.
Alternatively, drive link mechanism includes upper side link, lower side link and connecting rod, and the one of upper side link and lower side link
Hold and be hingedly connected to pedestal, the other end of upper side link and lower side link is hingedly connected to connecting rod；Two of upper side link are be hinged
Spacing under being smaller than between point between two pin joints of side link, the lower end of connecting rod is drive end.
Alternatively, drive link mechanism also includes spill fixed plate, the first jointed shaft, the second jointed shaft, the 3rd jointed shaft
With the 4th jointed shaft, upper side link includes two the first stripe boards being arranged side by side and plate face is relative, and lower side link is included side by side
Set and relative two the second stripe boards of plate face, connecting rod include two Article 3 shape plates being arranged side by side and plate face is relative；The
One jointed shaft and the second jointed shaft are arranged at the upper and lower ends of spill fixed plate, and the 3rd jointed shaft and the 4th jointed shaft are arranged at intervals
In one end of the remote drive end of two Article 3 shape plates；Two the first stripe boards are articulated with the first jointed shaft and the 3rd jointed shaft
Between, two the second stripe boards are articulated between the second jointed shaft and the 4th jointed shaft.
Alternatively, each barrier getting over mechanism also includes two dampers, and one end of each damper is articulated with one first
Shape plate, the other end of each damper are articulated with second stripe board for being located at the same side with first stripe board.
Alternatively, barrier getting over mechanism also includes steering wheel fixed plate and is arranged at the U-shaped frame of the downside of steering wheel fixed plate, and steering wheel is set
The upside of steering wheel fixed plate is placed in, the output shaft of steering wheel is rotated and is arranged at through steering wheel fixed plate connection U-shaped frame, the first omni-directional wheel
Between two side arms of U-shaped frame, the drive end of connecting rod is connected to steering wheel fixed plate.
Alternatively, barrier getting over mechanism also includes the first motor and bevel gear set, and rotation is provided between two side arms of U-shaped frame
Axle, the first omni-directional wheel are sheathed on the outside of rotary shaft, and the first motor is arranged at U-shaped frame, the output shaft of the first motor and bevel gear
A bevel gear connects in group, and another bevel gear connects in one end of rotary shaft and bevel gear set.
Alternatively, Lu Hang robots also include bascule, and bascule includes chassis and is symmetricly set in the two of chassis
Individual supporting plate, side wheel system also include two drive mechanisms, and each drive mechanism is arranged at a supporting plate；Each drive mechanism
Electric machine support including ring-type, the second motor, side wheel axle and the installation bearing for being arranged at bearing block, electric machine support and bearing block are set
Supporting plate is placed in, the second motor set is located at electric machine support, and side wheel axle is arranged in installation bearing, one end of side wheel axle and the second motor
Output shaft connected by shaft coupling, the other end of side wheel axle is connected by ring flange with the second omni-directional wheel, the axle center of side wheel axle
Line overlaps with the diameter line corresponding to chassis.
Alternatively, bascule also includes control system；Control system includes posture detecting unit and processing unit, appearance
State detection unit is connected with chassis, and processing unit is used with posture detecting unit and the second motor connection, posture detecting unit respectively
In detection chassis and the inclination angle of horizontal plane, processing unit rotates according to inclination angle by second the second omni-directional wheel of motor control.
Alternatively, pedestal includes the body for being arranged at the upside on chassis, and front wheel system is installed on body.
A kind of amphibious robot, including propulsion system and Lu Hang robots in water, propulsion system includes four in water
Respectively it is spaced annular spread and the propeller for being arranged at pedestal can be swung, relative two propeller swaying directions is opposite.
The beneficial effects of the utility model：The application provide Lu Hang robots, can in the omnidirectional moving of ground grading,
Run in non-structural road surface obstacle detouring, the switching between the omni-directional mode on ground and obstacle detouring pattern can be realized, meet answering for ground
The use demand in heterocycle border.
The amphibious robot that the application provides, it is compact-sized, there is omni-directional mode, obstacle detouring pattern, underwater exercise mould
Formula Three models and good obstacle performance, the mobile robot institute nothing of single propulsion mode in many land or water can be completed
The amphibious task that method is completed.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical scheme of the utility model embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should
The restriction to scope is counted as, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other related accompanying drawings can be obtained according to these accompanying drawings.
Fig. 1 is the overall structure diagram at the first visual angle of the Lu Hang robots that the utility model embodiment provides；
Fig. 2 is the overall structure diagram of the omni-directional mode for the Lu Hang robots that the utility model embodiment provides；
Fig. 3 is the overall structure diagram of the obstacle detouring pattern for the Lu Hang robots that the utility model embodiment provides；
Fig. 4 is the overall structure diagram at the second visual angle of the Lu Hang robots that the utility model embodiment provides；
Fig. 5 is the partial structural diagram at the 3rd visual angle of the Lu Hang robots that the utility model embodiment provides；
Fig. 6 is the partial structural diagram at the 4th visual angle of the Lu Hang robots that the utility model embodiment provides.
Icon：100- pedestals；101- chassis；102- closes housing；Covered on 1021-；1022- lower casings；1023- sealings are recessed
Groove；200- front wheel systems；The omni-directional wheels of 210- first；220- barrier getting over mechanism；221- drive links mechanism；The upper side links of 222-；
The stripe boards of 2221- first；Side link under 223-；The stripe boards of 2231- second；224- connecting rods；2241- Article 3 shape plates；230- is recessed
Shape fixed plate；The jointed shafts of 231- first；The jointed shafts of 232- second；The jointed shafts of 233- the 3rd；The jointed shafts of 234- the 4th；235- rudders
Machine；236- dampers；237- steering wheel fixed plates；2371- male connectors；238-U shape framves；The motors of 239- first；240- bores tooth
Wheel group；241- rotary shafts；300- side wheel systems；The omni-directional wheels of 310- second；321- supporting plates；322- drive mechanisms；323- motors
Support；The motors of 324- second；325- side wheel axles；326- installs bearing；327- shaft couplings；328- ring flanges；329- bearing blocks；
Propulsion system in 400- water；410- omnidirectionals drive mechanism；411- waterproof steering wheels；412- external tooth wheel drive circles；413- external gears point
Circle；414- propellers；415- mounting assemblies；416- propeller supporting plates；417- propeller brackets；418- propeller motors；
419- hinged support parts；4191- spin axis screw rods；4192- flange form bearings；420- lift drive mechanisms；421- drive components；
422- fills drain assembly；423- fills discharge outlet；424- pistons；425- cylinder barrels；426- mounting brackets；427- motors；428-
Screw mandrel；4281- nuts；429- piston fixed plates；430- fills drainage mechanism group；440- mounting posts；450- internal layer support groups；460-
Outer layer support group.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model part of the embodiment, rather than whole embodiments.Generally here described in accompanying drawing and
The component of the utility model embodiment shown can be configured to arrange and design with a variety of.
Therefore, the detailed description of the embodiment of the present utility model to providing in the accompanying drawings is not intended to limit requirement below
The scope of the utility model of protection, but it is merely representative of selected embodiment of the present utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the utility model protection.
It should be noted that：Similar label represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi accompanying drawing
In be defined, then it further need not be defined and explained in subsequent accompanying drawing.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", " interior ", the finger such as " outer "
The orientation or position relationship shown is based on orientation shown in the drawings or position relationship, or is used to during the utility model product use
The orientation or position relationship often put, it is for only for ease of description the utility model and simplifies description, rather than indicates or imply
Signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The limitation of utility model.In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint
Relative importance.
In description of the present utility model, it is also necessary to which explanation, unless otherwise clearly defined and limited, term " are set
Put ", " installation ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Specific embodiment, referring to figs. 1 to Fig. 6.
The amphibious robot that the present embodiment provides can move under amphibious environment, possess land omnidirectional mould
The multiple-working modes such as formula, obstacle detouring pattern, underwater 3 D approximation omni-directional mode, the omnidirectional moving, non-of ground grading can be realized
Approximate omnidirectional moving under the operation of structural pavements obstacle detouring and underwater 3 D space environment.Wherein land omni-directional mode and obstacle detouring mould
Formula realizes that underwater 3 D approximation omni-directional mode uses push structure part in water to realize using land row structure division.
Land row mechanism section uses four wheel constructions, and robot omni-directional mode and obstacle detouring pattern are realized by two steering wheels 235
Switching, meanwhile, variable gear ratio is played a part of in the switching of the angle of steering wheel 235, can strengthen the tractive force of robot.
As shown in figure 1, land row mechanism section includes pedestal 100, front wheel system 200 and side wheel system 300, front wheel system
200 include two barrier getting over mechanism 220 and two the first omni-directional wheels 210, and side wheel system 300 includes two the second omni-directional wheels 310；Two
Individual second omni-directional wheel 310, which symmetrically rotates, is arranged at pedestal 100 and rotary centerline coincidence, and two the first omni-directional wheels 210 are with two
Line is oppositely arranged and rotates setting centered on the rotary centerline of second omni-directional wheel 310；Each barrier getting over mechanism 220 includes driving and connected
Linkage 221 and steering wheel 235, drive link mechanism 221 are arranged at pedestal 100, and the omni-directional wheel 210 of steering wheel 235 and first is arranged at
The drive end of drive link mechanism 221, steering wheel 235 control the direction of the first omni-directional wheel 210 to rotate.
There are crawler type, wheeled, leg formula three basic structures in current travel mechanism.Ratcheting mechanism again can be according to can in plane
Mobile direction be divided into it is comprehensive and non-comprehensive, omni-directional moving mechanism refer to can planar have around, rotate this
The mechanism of the free degree motion of 3 or more than 3, is then non-Omni-mobile machine when planar motion is less than 3 frees degree
Structure.Omni-directional moving mechanism is provided with complete 3 frees degree, can be moved freely in narrow spatial dimension.Omni-directional wheel
Common wheel be efficiently avoid because the incomplete property brought that can not break away moves limitation so that travel mechanism in theory can
Moved at any angle with speed in the plane.
Two the first omni-directional wheels 210 and two the second omni-directional wheels 310 divide equally interval and rotate setting in circumferential direction, can
More stable comprehensive effect is realized, and possesses stronger lifting capacity, but running environment is limited to smooth ground.Two
After individual first omni-directional wheel 210 is arranged at pedestal 100 by steering wheel 235, not only possess more accurate omnibearing movable performance, and
And coordinate the corner switching of steering wheel 235, it is possible to achieve the effect of variable gear ratio, improve the tractive force of robot itself, phase
Than traditional motion structure, the mobility of robot has obtained improving largely.Two the first omni-directional wheels 210
After being arranged at pedestal 100 by drive link mechanism 221 again so that the amphibious robot possess it is certain by property and more
Barrier ability, the operation on the non-structural road surfaces such as field meadow, cobblestone ground is may be implemented in, realize stronger obstacle crossing function.
The rotary centerline of two the first omni-directional wheels 210 is in different states, Ke Yichong in the presence of steering wheel 235
Close, can also be parallel.The rotary centerline of two the second omni-directional wheels 310 overlaps all the time.The robot passes through the control of steering wheel 235 the
The rotation direction of one omni-directional wheel 210 realizes omni-directional mode and obstacle detouring pattern switching.When under the environment of smooth-riding surface, passing through steering wheel
The steering of 235 two the first omni-directional wheels 210 of control, until the rotary centerline of two the first omni-directional wheels 210 overlaps, i.e., two the
The rotary centerline of one omni-directional wheel 210 is vertical with the rotary centerline of two the second omni-directional wheels 310, and robot is in omnidirectional's mould
Formula, it is possible to achieve the movement and rotation in direction all around, as shown in Fig. 2 being that robot is under omni-directional mode state
Schematic diagram.When running into non-structural road surface, as shown in figure 3, steering wheel 235 rotates two rotary centerlines of the first omni-directional wheel 210,
Obstacle detouring pattern is switched to, now the rotary centerline of two the first omni-directional wheels 210 is parallel, the rotation of two the first omni-directional wheels 210
Center line is parallel with the rotary centerline of two the second omni-directional wheels 310.Robot can be between omni-directional mode and obstacle detouring pattern
Conversion, has the advantages of connecting rod obstacle detouring dolly and omnidirectional's dolly.
As shown in figure 1, pedestal 100 includes the body for being arranged at the upside on chassis 101, front wheel system 200 is installed on body.
Body is the closing housing 102 in figure, and front wheel system and side wheel system 300 are arranged at the level of the different height of pedestal 100
On face, increase range of movement of the barrier getting over mechanism 220 in vertical direction, improve the obstacle climbing ability of robot.
As shown in figure 1, drive link mechanism 221 includes upper side link 222, lower side link 223 and connecting rod 224, upper frame linking
One end of bar 222 and lower side link 223 is hingedly connected to the other end point of pedestal 100, upper side link 222 and lower side link 223
Connecting rod 224 is not articulated with；Two pin joints of side link 223 under being smaller than between two pin joints of upper side link 222
Between spacing, the lower end of connecting rod 224 is drive end.
It is quadric chain that drive end, which sets the first omni-directional wheel 210 and steering wheel 235, drive link mechanism 221, is connected using four
That linkage possesses the amphibious robot is certain by property and obstacle climbing ability, may be implemented in field meadow, cobblestone
The operation on the non-structural road surface such as face.In the prior art, crawler type obstacle crossing robot relies primarily on the large access area of crawler belt and strong
Skid resistance, but caterpillar belt structure is at best able to realize motion that is front and rear and rotating 2 free degree directions in motion process, and
And stability is poor in rotation process.Track structure also have one it is very fatal the problem of be exactly in ordinary cement road surface row
Road pavement and crawler belt can all shine into very big damage when sailing, and its use range is received considerable restraint.Legged mobile robot is mainly joined
According to humans and animals four limbs design research and development motion, but Tui Shi mechanisms there is control it is numerous and diverse, mechanism kinematic efficiency is low,
The problems such as kinetic stability difference.The barrier getting over mechanism 220 that the application provides is simple in construction, has stronger obstacle crossing function.
As shown in figure 1, drive link mechanism 221 also includes spill fixed plate 230, the first jointed shaft 231, the second jointed shaft
232nd, the 3rd jointed shaft 233 and the 4th jointed shaft 234, upper side link 222 includes being arranged side by side and plate face is relative two first
Stripe board 2221, lower side link 223 include two the second stripe boards 2231 being arranged side by side and plate face is relative, and connecting rod 224 includes
It is arranged side by side and two Article 3 shape plates 2241 that plate face is relative；First jointed shaft 231 and the second jointed shaft 232 are arranged at spill
The upper and lower ends of fixed plate 230, the 3rd jointed shaft 233 and the 4th jointed shaft 234 are arranged at intervals at two Article 3 shape plates 2241
Remote drive end one end；Two the first stripe boards 2221 are articulated between the first jointed shaft 231 and the 3rd jointed shaft 233,
Two the second stripe boards 2231 are articulated between the second jointed shaft 232 and the 4th jointed shaft 234.
Upper side link 222, lower side link 223 and connecting rod 224 are using two stripe boards being arranged side by side and plate face is relative
Composition, then realized by jointed shaft be hinged.Using two stripe boards, on the one hand, the whole of drive link mechanism 221 can be increased
Body intensity, improve obstacle climbing ability；On the other hand, in increase side link 222, lower side link 223 and connecting rod 224 axial width,
Increase Area of bearing, be favorably improved the stability of the obstacle detouring walking of robot.
As shown in figure 1, each barrier getting over mechanism 220 also includes damper 236, one end of each damper 236 is articulated with
Side link 222, the other end of each damper 236 are articulated with lower side link 223.As shown in figure 1, when upper side link 222, lower company
Hack lever 223 is also wrapped with connecting rod 224 using the two stripe boards composition being arranged side by side and plate face is relative, each barrier getting over mechanism 220
Include two dampers 236, one end of each damper 236 is articulated with first stripe board 2221, each damper 236 it is another
One end is articulated with second stripe board 2231 for being located at the same side with first stripe board 2221.
When running into non-structural road surface, robot rotates the axial direction of two the first omni-directional wheels 210, is switched to obstacle detouring pattern,
Two the first omni-directional wheels 210, which reuse, to be provided with the drive link mechanism 221 of damper 236 and supports to strengthen its obstacle climbing ability,
Contact effect of the omni-directional wheel with ground when can also strengthen omni-directional mode operation simultaneously, makes Omni-mobile more stable, contributes to
Improve the resistance to overturning run under omnidirectional of robot and obstacle detouring pattern.
As shown in figure 1, barrier getting over mechanism 220 also includes steering wheel fixed plate 237 and is arranged at the downside of steering wheel fixed plate 237
U-shaped frame 238, steering wheel 235 are arranged at the upside of steering wheel fixed plate 237, and the output shaft of steering wheel 235 connects through steering wheel fixed plate 237
U-shaped frame 238 is connect, the first omni-directional wheel 210 is rotated and is arranged between two side arms of U-shaped frame 238, the drive end connection of connecting rod 224
In steering wheel fixed plate 237.The output shaft rotation of steering wheel 235, drive U-shaped frame 238 to rotate, and then drive 210 turns of the first omni-directional wheel
It is dynamic, so as to change the rotary centerline of the first omni-directional wheel 210, realize the switching between omni-directional mode and obstacle detouring pattern.
As shown in figure 1, barrier getting over mechanism 220 also includes being arranged at the male connector 2371 of steering wheel fixed plate 237, two the
The drive end of three stripe boards 2241 is connected to the both sides of male connector 2371.It is easily installed drive link mechanism 221
Drive end, while improve the installation strength of steering wheel 235.
As shown in figure 1, barrier getting over mechanism 220 also includes the first motor 239 and bevel gear set 240, two sides of U-shaped frame 238
Rotary shaft 241 is provided between arm, the first omni-directional wheel 210 is sheathed on the outside of rotary shaft 241, and the first motor 239 is arranged at U-shaped
Frame 238, the output shaft of the first motor 239 are connected with a bevel gear in bevel gear set 240, one end and the cone tooth of rotary shaft 241
Another bevel gear connects in wheel group 240.First motor 239 is vertically arranged to the side of U-shaped frame 238, passes through bevel gear set 240
Realize and drive rotary shaft 241 to rotate.One end not being connected with bevel gear set 240 of rotary shaft 241 is arranged 4281 sets of nut, is easy to
Remove and install.First motor 239 is vertically arranged, helps to reduce the mechanism overall volume of the drive end of drive link mechanism 221
Size, it is easy to the course changing control of steering wheel 235.
As shown in figure 4, Lu Hang robots also include bascule, bascule includes chassis 101 and is symmetricly set in bottom
Two supporting plates 321 of disk 101, side wheel system 300 also include two drive mechanisms 322, and each drive mechanism 322 is arranged at one
Individual supporting plate 321；Each drive mechanism 322 includes electric machine support 323, the second motor 324, side wheel axle 325 and the setting of ring-type
In the installation bearing 326 of bearing block 329, electric machine support 323 and bearing block 329 are arranged at supporting plate 321, the second 324 sets of motor
Located at electric machine support 323, side wheel axle 325 is arranged in installation bearing 326, one end of side wheel axle 325 and the output of the second motor 324
Axle is connected by shaft coupling 327, and the other end of side wheel axle 325 is connected by ring flange 328 with the second omni-directional wheel 310, side wheel axle
325 axial line overlaps with the diameter line corresponding to chassis 101.
Drive mechanism 322 is installed using supporting plate 321, output shaft and the side wheel axle 325 of the second motor 324 pass through shaft coupling
327 connections, the output shaft and the axial line of side wheel axle 325 of the second motor 324 overlap, and the output shaft of the second motor 324 and side
Diametric(al) of the axial line of wheel shaft 325 along chassis 101 is set, and is ensured that dynamic equilibrium is realized on chassis 101, is improved robot row
The stationarity walked.
Bascule also includes control system；Control system includes posture detecting unit and processing unit, attitude detection
Unit is connected with chassis 101, and processing unit is connected with posture detecting unit and the second motor 324 respectively, and posture detecting unit is used
In detection chassis 101 and the inclination angle of horizontal plane, processing unit controls the second omni-directional wheel 310 according to inclination angle by the second motor 324
Rotate.
Posture detecting unit uses gyroscope, and amphibious robot is during operation is accelerated forwardly, due to there is one
Acceleration forward, car body can turn forward, and now gyroscope detects that inclination angle is more than 0 (inclination angle is 0 when horizontal), and processor connects
Receiving signal made for two wheel moments raise speed, the inclination before overcoming, and coordinates the PID at inclination angle to adjust and is adjusted with the PID of speed, makes two
Robot of dwelling can be adjusted quickly to balance；When tilting backwards, now gyroscope detect inclination angle be less than 0, regulation process with
Inclination angle is similar more than 0 adjustment process.This way it is ensured that stability of the amphibious robot in moving process, so as to improve
The reliability of investigation is performed out of doors.
Robot center section sets the gyroscope, overcomes because middle only have two the second omni-directional wheels 310 to support,
Unstable situation occurs in structure, 4 cans is realized what 6-8 wheel of existing barrier getting over mechanism 220 could be realized
Effect.
As shown in figure 5, push structure part (propulsion system 400 in water) includes omnidirectional's drive mechanism 410 in water, omnidirectional drives
Motivation structure 410 includes four and divides equally interval annular spread and the propeller 414 that can be swung.Realize robot in the horizontal plane
Omni-mobile.
Robot jointly controls the omnidirectional moving realized in body plane using waterproof steering wheel 411 and four propellers 414.
Four propellers 414 in the presence of waterproof steering wheel 411 can circumferentially direction swing and swaying direction it is identical, i.e., at the same along
Swing clockwise or along counter clockwise direction, realize the adjustment control to traffic direction under robot water.Robot is under water
Movement all around in plane is achieved in that the direction that four propellers 414 are adjusted using waterproof steering wheel 411,
Exactly adjust the moving direction of robot, then using the speed difference of four blades of propeller 414 rotation drive robot towards
One of direction movement, such as, the only adjacent propeller 414 of two of which rotates, and will promote robot direction and two
Opposite direction is moved between propeller 414, and two propellers 414 in optional four propellers 414 rotate, and can realize machine
Device people in moving process is adjusted using waterproof steering wheel 411 planar towards the direction movement in all around
The direction of four propellers 414 and then the steering for adjusting robot.The robot rotation in plane under water, then it is in four spiral shells
Revolve when making a concerted effort along the circumferential direction of the circle corresponding to annular spread of the rotation of oar 414.Complete the omnidirectional moving in underwater plane.
As shown in figure 5, the outside of propeller 414 is provided with ring-shaped sleeve, ring-shaped sleeve can reduce propeller 414 in water
Middle rotation enwinds other suspensions so that the probability that can not be rotated that is stuck.
As shown in figure 5, omnidirectional's drive mechanism 410 includes 412, four waterproof steering wheel 411, external tooth wheel drive circle a quarters
External gear point circle 413 and four propellers 414, waterproof steering wheel 411 drive and control external tooth wheel drive circle 412 to rotate, and four outer
Gear divides circle 413 circumferentially distributed in the outside of external tooth wheel drive circle 412 and engaged respectively with external tooth wheel drive circle 412, four spiral shells
Rotation oar 414 is circumferentially distributed in the outside of external tooth wheel drive circle 412 and to be respectively arranged at external gear point circle 413.
Waterproof steering wheel 411 drives external tooth wheel drive circle 412 to rotate clockwise, then four external gear point circles 413 turn counterclockwise
It is dynamic, while four propellers 414 drive external tooth wheel drive circle 412 to rotate counterclockwise with swing, waterproof steering wheel 411, then four
External gear point circle 413 rotates clockwise, while four propellers 414 are with swing；By 411 adjustment control of waterproof steering wheel four
The swaying direction and swing angle of propeller 414, realize the adjustment control turned to robot.
Four external gears point circle 413 and four propellers 414 are circumferentially distributed, on the one hand, adjustment control robot is to difference
Directional steering and movement；On the other hand, circumferentially interval setting is divided equally in direction to four propellers 414, is favorably improved again
The operation stability of overall robot.
As shown in figure 5, omnidirectional's drive mechanism 410 also includes four mounting assemblies 415, each mounting assembly 415 is installed on
One external gear point circle 413, each mounting assembly 415 include propeller supporting plate 416, propeller bracket 417 and have waterproof
The propeller motor 418 of function, propeller supporting plate 416 are fixed on external gear point circle 413, and propeller bracket 417 is arranged at spiral shell
Oar supporting plate 416 is revolved, propeller motor 418 is sheathed on propeller bracket 417, and propeller motor 418 drives 414 turns of propeller
It is dynamic.
Waterproof steering wheel 411 does not start, and four propellers 414 are not swung, and waterproof steering wheel 411 starts, and passes through external gear point
The driving of circle 413 propeller supporting plates 416 are swung, be arranged at four propellers 414 of propeller supporting plate 416 simultaneously clockwise or
Person's circumferential reciprocally swinging back and forth counterclockwise, realizes the adjustment control to robot direction.Then four blades of propeller 414 are utilized
The speed difference driving robot of rotation moves towards one of direction, such as, the only adjacent propeller 414 of two of which revolves
Turn, robot will be promoted to be moved towards the direction opposite between two propellers 414, two in optional four propellers 414
Individual propeller 414 rotates, and robot can be realized planar towards the direction movement in all around, in moving process
Equally it is the steering for the direction and then regulation robot that four propellers 414 are adjusted using waterproof steering wheel 411.
The waterproof steering wheel 411 that swings by of propeller 414 is driven, and the rotation of propeller 414, that is, the rotation of blade are led to
Propeller motor 418 is crossed to drive.Propeller motor 418 drives the blade of propeller 414 to rotate, and realizes robot under water along one
Persistently move in individual direction.
As shown in Figure 3 and Figure 5, omnidirectional's drive mechanism 410 also includes four hinged support parts 419, and hinged support part 419 wraps
Include spin axis screw rod 4191 and be arranged at the flange form bearing 4192 on chassis 101, spin axis screw rod 4191 is vertically arranged in flange form axle
4192 are held, external gear point circle 413, middle part and the spin axis spiral shell of propeller supporting plate 416 are fixed in one end of propeller supporting plate 416
The top connection of bar 4191.Propeller supporting plate 416 is around the circumferentially direction reciprocally swinging back and forth of hinged support part 419, outside
Gear driving encloses 412 and drives external gear point circle 413 to rotate, and external gear divides one end that circle 413 drives propeller supporting plates 416 towards one
Individual direction is swung.Hinged support part 419 plays support helix oar supporting plate and labour-saving effect.
As shown in figure 5, chassis 101 is provided with multiple mounting posts 440, closing housing 102 is fixed on multiple mounting posts 440
Top, multiple mounting posts 440 are divided for internal layer support group 450 and outer layer support group 460, internal layer support group 450 and outer layer support group
460 include four mounting posts 440 respectively；Internal layer support group 450 divides equally the outside for being arranged at intervals at external tooth wheel drive circle 412, outside
Layer support group 460 divides equally the outside for being arranged at intervals at internal layer support group 450, and each mounting post 440 is located in outer layer support group 460
Between two adjacent external gears point circle 413.Mounting post 440 realizes envelope using internal layer support group 450 and outer layer support group 460
The uniform stressed of closed shell body 102, during ensureing that robot runs under water, closing housing 102 will not run-off the straight etc. it is existing
As.The connection reinforced simultaneously between closing housing 102 and chassis 101.
As shown in fig. 6, the top on chassis 101 is provided with closing housing 102, propulsion system 400 also includes lifting drive in water
Motivation structure 420, lift drive mechanism 420 include being arranged at least one drive component 421 closed in housing 102, at least one
It is individual to fill drain assembly 422, closing housing 102 be provided with it is at least one fill discharge outlet 423, filling drain assembly 422 includes piston 424
With cylinder barrel 425, the both ends open of cylinder barrel 425 is set, and one end of cylinder barrel 425, which is slided, is embedded with piston 424, cylinder barrel 425 it is another
Hold and connected with filling discharge outlet 423；Drive component 421 drives piston 424 to move back and forth back and forth.
In order that robot can also obtain good stability and flexibility under water, the application using dynamic efficiency compared with
The high pushing structure of propeller 414.In the horizontal direction, robot makes a concerted effort to promote using four propellers 414, each by controlling
The rotating speed of individual propeller 414, it is possible to achieve robot in horizontal plane scope all-around mobile (including all around move with
And rotate)；In the motion orientation perpendicular to horizontal plane, robot uses water-filling discharge structure, by changing self gravitation profit
The lifting in water is realized with the buoyancy of water, robot underwater 3 D is achieved that coordinating with the motion structure in horizontal direction
Approximate Omni-mobile under space environment.
Piston 424 moves back and forth, and cylinder barrel 425 changes the closing gravity of housing 102, profit from the water suction draining of discharge outlet 423 is filled
The lifting in water is realized with the buoyancy of water.Lift drive mechanism 420 is sealed in closing housing 102, suitable for underwater operation.
As shown in fig. 6, drive component 421 includes mounting bracket 426, motor 427, screw mandrel 428 and connected with piston 424
The piston fixed plate 429 connect, motor 427 are arranged in closing housing 102 by mounting bracket 426, motor 427
Output shaft is connected with screw mandrel 428, and the outside of screw mandrel 428 is provided with nut 4281, and nut 4281 is connected with piston fixed plate 429.
The drive screw 428 of motor 427 rotates, and nut 4281 moves axially along screw mandrel 428 toward the direction, so as to drive work
Fixed plate 429 to be filled in move axially along towards same direction, the steering of screw mandrel 428 changes, and nut 4281 reversely moves axially,
Axial direction of the nut 4281 towards opposite direction along screw mandrel 428 is moved, and band piston fixed plate 429 is moved along the direction
Dynamic, i.e. the rotating of screw mandrel 428, driving piston fixed plate 429 moves back and forth back and forth, realizes the water-filling draining of cylinder barrel 425.
As shown in fig. 6, fill drain assembly 422 set it is multiple, wherein four fill drain assembly 422 it is rectangular distribution composition one
Individual to fill drainage mechanism group 430, the drive end of four pistons 424 for filling drain assembly 422 is individually fixed in piston fixed plate 429,
Each filling drainage mechanism group 430 is correspondingly arranged a drive component 421, and drive component 421 is arranged at four and fills drain assembly
Between 422, screw mandrel 428 is rotated by bearing mounting base through piston fixed plate 429 and is arranged at the inner side of closing housing 102.
The rotating of screw mandrel 428 driving piston fixed plate 429 moves back and forth back and forth, and then with the reciprocal shifting back and forth of piston 424
Dynamic, four are filled the rectangular distribution composition one of drain assembly 422 and fill drainage mechanism group 430, on the one hand, realize that big yield fills row
Water, change the underwater rising of method control machine people of self gravitation using the draining of stretching of four groups of pistons 424 and sink, the opposing party
Face, realize the reasonable setting for filling drain assembly 422.
As shown in fig. 6, filling drainage mechanism group 430 sets two, two are filled drainage mechanism group 430 and are arranged side by side, and two are filled
One end setting direction connected with closing housing 102 of the cylinder barrel 425 of drainage mechanism group 430 is opposite.Guarantee is filled in drainage procedure,
Closing housing 102 is at dynamic balance state, ensures normal operation under robot water.
As shown in fig. 6, the lower casing 1022 that closing housing 102 includes upper lid 1021 and open-top is set, lower casing 1022
Top edge is provided with sealed groove 1023, and sealed groove 1023 is provided with sealing ring, the upper fixing seal lower casing 1022 of lid 1021.
Realize that closing housing 102 seals, the installation and maintenance of easy of rise drive mechanism 420.
Above-mentioned, front wheel system 200 is held, propulsion system 400 realizes that the land and water of robot is transported jointly in side wheel system 300 and water
OK.The set-up mode of three systems is as follows.
As shown in figure 4, pedestal 100 includes chassis 101 and is arranged at the closing housing 102 of the top of chassis 101, promoted in water
System 400 includes omnidirectional's drive mechanism 410 and lift drive mechanism 420；Front wheel system 200 is arranged at the outer of closing housing 102
Side, side wheel system 300 are arranged at the downside on chassis 101, and omnidirectional's drive mechanism 410 is arranged at the upside on chassis 101 and positioned at envelope
The downside of closed shell body 102, lift drive mechanism 420 are arranged in closing housing 102；Each propeller 414 is in circumferential direction
Between adjacent the first omni-directional wheel 210 and the second omni-directional wheel 310.
On ground, robot is realized complete by the direction of the rotary centerline of the first omni-directional wheel of adjustment control 210 of steering wheel 235
Switching to pattern and obstacle detouring pattern.In water, robot jointly controls machine using waterproof steering wheel 411 and four propellers 414
Structure realizes the omnidirectional moving in body plane, using the piston 424 in lift drive mechanism 420 stretch draining change self gravitation
The underwater rising of method control machine people sink, both combinations can realize the underwater 3 D approximation omnidirectional moving of robot.
Side wheel system 300 and omnidirectional's drive mechanism 410 are arranged at the both sides up and down on chassis 101, and installation is reasonable, and guarantee is played on chassis 101
The effect of robot resistance to overturning.When robot travels on land, side wheel system 300 and front wheel system 200 travel on ground,
Omnidirectional's drive mechanism 410 is hanging, will not hinder the normally travel of side wheel system 300 and front wheel system 200, underwater operation, omnidirectional
Drive mechanism 410 is arranged between front wheel system 200 and side wheel system 300, smoothly robot can be driven to run, and ensures land and water
Ground smoothly travels.
The amphibious robot that the application provides overcomes that existing amphibious robot movement velocity is slow, the free degree
Less, obstacle climbing ability and pass through insufficient existing for poor performance etc., there is provided one kind can in land omnidirectional moving, water approximate three-dimensional
Omnidirectional moving and the amphibious robot structure with certain obstacle climbing ability.The robot architecture is compact, has omni-directional mode,
Obstacle detouring pattern, underwater exercise pattern Three models and good obstacle performance, one is provided for inshore ocean development and utilization
The effective technological means of kind.
The present embodiment additionally provides amphibious Reconnaissance system, including investigation equipment and amphibious robot, investigation are set
The standby upside for being arranged at pedestal 100.Being inspired by amphibian animal, amphibious robot can promote by it on land,
The characteristic that and can is cruised in water, can complete the mobile robot of single propulsion mode in many land or water can not complete
Amphibious task, such as geological disaster get rid of the danger rescue, agricultural land status monitoring, amphibious battle reconnaissance communication etc. complexity
Operation under environment, thus it is of interest by the increasing researcher in the whole world.Amphibious robot has that job area is extensive,
The advantages of easily laying with recovery, can serve as and scout operation, rescue system, the carrier of communication system, apply in these environment
In.
Investigation equipment is arranged at amphibious robot, disclosure satisfy that the work requirements investigated under various complex environments.
Preferred embodiment of the present utility model is these are only, is not limited to the utility model, for this area
Technical staff for, the utility model can have various modifications and variations.It is all within the spirit and principles of the utility model,
Any modification, equivalent substitution and improvements made etc., should be included within the scope of protection of the utility model.
Claims (10)
1. a kind of Lu Hang robots, it is characterised in that including pedestal, front wheel system and side wheel system, the front wheel system includes
Two barrier getting over mechanism and two the first omni-directional wheels, the side wheel system include two the second omni-directional wheels；Two second omnidirectionals
Symmetrical rotate of wheel is arranged at the pedestal and rotary centerline coincidence, and two first omni-directional wheels are with two second omnidirectionals
Line is oppositely arranged and rotates setting centered on the rotary centerline of wheel；Each barrier getting over mechanism includes drive link mechanism
And steering wheel, the drive link mechanism are arranged at the pedestal, the steering wheel and first omni-directional wheel are arranged at the driving
The drive end of linkage, the direction of the first omni-directional wheel described in the servos control rotate.
2. Lu Hang robots according to claim 1, it is characterised in that the drive link mechanism include upper side link,
One end of lower side link and connecting rod, the upper side link and the lower side link is hingedly connected to the pedestal, the upper frame linking
The other end of bar and the lower side link is hingedly connected to the connecting rod；Spacing between two pin joints of the upper side link
Less than the spacing between two pin joints of the lower side link, the lower end of the connecting rod is the drive end.
3. Lu Hang robots according to claim 2, it is characterised in that the drive link mechanism is also fixed including spill
Plate, the first jointed shaft, the second jointed shaft, the 3rd jointed shaft and the 4th jointed shaft, the upper side link includes being arranged side by side and plate
Two relative the first stripe boards of face, the lower side link include two the second stripe boards being arranged side by side and plate face is relative, institute
State two Article 3 shape plates that connecting rod includes being arranged side by side and plate face is relative；First jointed shaft and second jointed shaft are set
The upper and lower ends of the spill fixed plate are placed in, the 3rd jointed shaft and the 4th jointed shaft are arranged at intervals at described in two
One end of the remote drive end of Article 3 shape plate；Two first stripe boards are articulated with first jointed shaft and the 3rd
Between jointed shaft, two second stripe boards are articulated between second jointed shaft and the 4th jointed shaft.
4. Lu Hang robots according to claim 3, it is characterised in that each barrier getting over mechanism also includes two dampings
Device, one end of each damper are articulated with first stripe board, and the other end of each damper is articulated with
It is located at second stripe board of the same side with first stripe board.
5. Lu Hang robots according to claim 2, it is characterised in that the barrier getting over mechanism also include steering wheel fixed plate and
The U-shaped frame of the downside of the steering wheel fixed plate is arranged at, the steering wheel is arranged at the upside of the steering wheel fixed plate, the steering wheel
Output shaft connect the U-shaped frame through the steering wheel fixed plate, first omni-directional wheel rotates and is arranged at the two of the U-shaped frame
Between individual side arm, the drive end of the connecting rod is connected to the steering wheel fixed plate.
6. Lu Hang robots according to claim 5, it is characterised in that the barrier getting over mechanism also includes the first motor and cone
Gear train, rotary shaft is provided between two side arms of the U-shaped frame, and first omni-directional wheel is sheathed on the outer of the rotary shaft
Side, the first motor are arranged at the U-shaped frame, and the output shaft of first motor connects with a bevel gear in the bevel gear set
Connect, one end of the rotary shaft is connected with another bevel gear in the bevel gear set.
7. Lu Hang robots according to claim 1, it is characterised in that the Lu Hang robots also include bascule,
The bascule includes chassis and is symmetricly set in two supporting plates on the chassis, and the side wheel system also includes two drives
Motivation structure, each drive mechanism are arranged at a supporting plate；Each drive mechanism includes the motor branch of ring-type
Frame, the second motor, side wheel axle and the installation bearing for being arranged at bearing block, the electric machine support and the bearing block are arranged at described
Supporting plate, second motor set are located at the electric machine support, and the side wheel axle is arranged in the installation bearing, the side wheel axle
One end be connected with the output shaft of second motor by shaft coupling, the other end of the side wheel axle by ring flange with it is described
Second omni-directional wheel connects, and the axial line of the side wheel axle overlaps with the diameter line corresponding to the chassis.
8. Lu Hang robots according to claim 7, it is characterised in that the bascule also includes control system；Institute
Stating control system includes posture detecting unit and processing unit, and the posture detecting unit is connected with the chassis, the place
Unit is managed to be used to detect the bottom with the posture detecting unit and second motor connection, the posture detecting unit respectively
The inclination angle of disk and horizontal plane, the processing unit second omnidirectional according to the inclination angle by second motor control rotate
It is dynamic.
9. Lu Hang robots according to claim 7, it is characterised in that the pedestal includes being arranged at the upper of the chassis
The body of side, the front wheel system are installed on the body.
10. a kind of amphibious robot, it is characterised in that including any one in propulsion system in water and claim 1 to 9
Described Lu Hang robots, in the water propulsion system include four divide equally interval annular spread and can swinging be arranged at it is described
The propeller of pedestal, relative two propeller swaying directions are opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720760879.9U CN207088875U (en) | 2017-06-27 | 2017-06-27 | Lu Hang robots and amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720760879.9U CN207088875U (en) | 2017-06-27 | 2017-06-27 | Lu Hang robots and amphibious robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207088875U true CN207088875U (en) | 2018-03-13 |
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ID=61553934
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720760879.9U Expired - Fee Related CN207088875U (en) | 2017-06-27 | 2017-06-27 | Lu Hang robots and amphibious robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN110789634A (en) * | 2019-09-30 | 2020-02-14 | 浙江理工大学 | Spiral propelling type operation platform suitable for complex terrain |
| CN112026461A (en) * | 2020-08-31 | 2020-12-04 | 哈尔滨工业大学 | Paddle-leg type deformable amphibious six-legged robot |
| CN112265421A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Gear-type transmission-based amphibious robot |
| CN112319158A (en) * | 2020-10-22 | 2021-02-05 | 四川嘉纳环保咨询有限公司 | Amphibious sampling robot |
-
2017
- 2017-06-27 CN CN201720760879.9U patent/CN207088875U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN109911052B (en) * | 2019-03-18 | 2024-04-30 | 华南理工大学 | Wheel leg type multi-mode inspection search and rescue robot |
| CN110789634A (en) * | 2019-09-30 | 2020-02-14 | 浙江理工大学 | Spiral propelling type operation platform suitable for complex terrain |
| CN112026461A (en) * | 2020-08-31 | 2020-12-04 | 哈尔滨工业大学 | Paddle-leg type deformable amphibious six-legged robot |
| CN112319158A (en) * | 2020-10-22 | 2021-02-05 | 四川嘉纳环保咨询有限公司 | Amphibious sampling robot |
| CN112319158B (en) * | 2020-10-22 | 2022-06-14 | 四川嘉纳环保咨询有限公司 | Amphibious sampling robot |
| CN112265421A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Gear-type transmission-based amphibious robot |
| CN112265421B (en) * | 2020-11-15 | 2024-02-23 | 浙江工业大学 | Amphibious robot based on gear type transmission |
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