CN208789417U - A kind of spherical shape amphibious robot - Google Patents
A kind of spherical shape amphibious robot Download PDFInfo
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- CN208789417U CN208789417U CN201821206546.2U CN201821206546U CN208789417U CN 208789417 U CN208789417 U CN 208789417U CN 201821206546 U CN201821206546 U CN 201821206546U CN 208789417 U CN208789417 U CN 208789417U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 81
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 17
- 239000000725 suspension Substances 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 5
- 239000002360 explosive Substances 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
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- 241001674044 Blattodea Species 0.000 description 3
- 238000005183 dynamical system Methods 0.000 description 3
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- 238000005299 abrasion Methods 0.000 description 2
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- 230000037230 mobility Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 239000004945 silicone rubber Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 241000252082 Anguilla anguilla Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 229920001971 elastomer Polymers 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a kind of spherical amphibious robot, upper hemispherical shell has the function of buoyancy compensation, robot autonomous suspension may be implemented；And mitigate the load-bearing of horizontal steering engine by rail structure.The spherical shape amphibious robot includes: upper spherical shell, intermediate bulkhead, leg structure and sliding track mechanism, wherein upper spherical shell has the function of buoyancy compensation, robot autonomous suspension may be implemented, adjust the buoyancy of robot by designing equally distributed inlet opening on the different height of enter water tank.Leg structure is connected by sliding track mechanism with the horizontal steering engine shaft for providing power for its movement, horizontally rotate bar one end in sliding track mechanism to fix with leg mechanism of robot, the other end connects bearing and places on the slide rail, to mitigate the load-bearing of horizontal steering engine and horizontal bracket.Dismountable independent battery compartment is provided on the lower end surface of intermediate bulkhead simultaneously.
Description
Technical field
Utility model is related to a kind of robot, and in particular to a kind of ball shape robot.
Background technique
With the scarcity of land resources, the mankind have marched marine resources development.Different from terrestrial environment, marine environment is deposited
In more non-intellectual and complexity.Since to explore marine environment in person limited by the mankind, so underwater robot is as a kind of
With environment sensing ability, autonomous control ability, the device of AUTONOMOUS TASK ability necessarily becomes the important tool of exploitation ocean.
In recent years, underwater robot became the hot spot studied both at home and abroad；But existing underwater robot mostly uses torpedo
Shape streamlined structure and propeller promote, and the fairshaped design of torpedo-shaped causes its turning radius big, cannot achieve narrow space
Operation.Propeller, which promotes, guarantees that underwater robot one-way movement speed is higher, but the strong noise of its dynamical system and propeller
Biggish interference is brought to its ambient enviroment, is difficult to realize highly concealed type.
Compared with the streamlined underwater robot of torpedo-shaped, ball shape robot has more advantages, and symmetry is good, radius of turn
Small, motion model is simple.External aspect, the U.S. study underwater spherical robot more.University of Hawaii has developed ODIN water
Lower ball shape robot is equipped with eight groups of propellers, it can be achieved that six-freedom motion；Massachusetts science and engineering has developed similar egg type robot,
Top half uses waterproof case, is sprayed water using six water pumps from the rubber tube of robot interior outward and realizes that robot promotes；
US military still further developed GuardBot robot, use inverted pendulum model, realize by adjusting the position of centre of gravity of robot
Motion control.Domestic aspect, 2007, Harbin Engineering University was developed in bionical Micro-Robot laboratory a spherical underwater
Latent device, uses two water spray motors as driving device, and water inlet and two water outlets there are two setting.The spherical shape is latent under water
Motion control of the device using the control method of attitude transducer signal feedback adjustment to itself, but since its dynamical system designs phase
To extensive, kinematic dexterity is limited, and mobility is poor.The ball shape robot that the Chinese Academy of Sciences develops is filled using water spray driving movement
There is mechanical arm that can complete to arrest operation.The Sun Hanxu team of 2010 Beijing University of Post & Telecommunications has developed the spherical underwater machine of BYSQ series
Device, Series machine people realize six-freedom degree by the cooperation of its internal double drive steering mechanism and screw propeller
Sub-aqua sport.But the figure of the design is larger, the limited viability under the environment such as shallow water, marsh, beach.
Traditional underwater robot is only suitable for environment under water, and amphibious robot job area is wide, adaptive capacity to environment
By force, the impossible complex task of the mankind can be executed, so the research of amphibious robot is significant.In external research
In, representative is the amphibious snake-shaped robot ACMR5 that Tokyo polytechnical university develops, which is made of simultaneously multi-joint
With amphibious adaptability, when land moves, ACM-R5 is promoted by the wriggling movement of body, is also able to achieve rolling fortune
It is dynamic；When moving under water, ACM-R5 is using the undulatory propulsion for imitating common eel formula.But ACM-R5 robot motion is slower, is only capable of reaching
0.4m/s.McGill University in 2005 has developed a kind of amphibious robot Whegs of imitative cockroach, and propulsive mechanism uses three spoke wheels
The design of paddle leg formula, approximate wheel can be realized high-performance and steady propulsion.Canadian MCGILL university has developed amphibious six sufficient machines
Device people AQUA, AQUA are promoted when land is moved using arcuate leg, and the good spy of arcuate leg mobility height and versatility is utilized
The propelled at high velocity of a variety of terrestrial environments may be implemented in point；Under water, using the flapping locomotion of six paddles, AQUA, which can be realized, to be patrolled
Five boat, lifting, surging, steering, rolling freedom degree movements.Unfortunately due to AQUA land mountain and it is underwater using two sets not
Same propulsive mechanism does not realize the amphibious of real meaning.
In conclusion the presence of existing autonomous underwater vehicle/robot and ball shape robot and amphibious robot
Following problems:
(1) the streamlined underwater robot of existing torpedo-shaped due to figure turning radius it is big, cannot achieve in narrow space
Flexible and high-accuracy operation.Its biggish figure and dynamical system bring biggish interference, Wu Fashi to ambient enviroment simultaneously
Existing high hidden operation.
(2) existing ball shape robot requires height to landform, is not suitable in land generally using the motion mode rolled
Seabed and shoal, the non-structure environments such as islands and reefs；Propeller is mostly used to promote under water, since how exposed propeller is in robot
It outside body, is easily damaged, marine environment is destroyed big.And propeller works noise is big, difficult hidden operation.
(3) current amphibious robot has generallyd use bionic principle design, such as Bionic crab, cockroach and snake,
Bionic crab robot can only carry out land and water-bed and creep, and move distance is closer.Bionic cockroach robot is under water and land
Ground uses different driving structures, when switching under water with Land Movement, requires manual replacement driving structure.Bionical snake machine
People is designed using articulated type, and posture is not easy to control, and its land and sub-aqua sport is slower, is only capable of reaching 0.4m/s.
(4) the spherical amphibious robot designed in the past, since robot volume is excessive, gravity deficiency, robot enters water
In after need to add additional counterweight and could hover in water；And battery module is sealed in episphere, replacement battery needs weight
It is new to dismantle upper spherical shell, it is not easy to replacement battery；Leg mechanism of robot loads on horizontal steering engine completely, causes horizontal steering engine negative
It carries greatly, it is easy to damage.In addition, the problems such as ambient enviroment and displacement speed can not be perceived there is also robot.
Utility model content
In view of this, the present invention provides a kind of spherical amphibious robot, upper hemispherical shell has the function of buoyancy compensation,
Robot autonomous suspension may be implemented；And mitigate the load-bearing of horizontal steering engine by rail structure.
The spherical amphibious robot, comprising: hemispherical shell and be located at hemispherical shell lower end surface it is circumferentially distributed
More than two leg mechanisms；It is characterized by:
The hemispherical shell after enter water tank and sealed compartment docking by forming, wherein the enter water tank is located at hemispheric ball
Top side, sealed compartment are fixed on intermediate bulkhead；The electrical equipment of robot is placed in sealed compartment, is provided on the sealed compartment
More than one cable-through hole；It is used to form on the periphery of the enter water tank spherical shell of the enter water tank and more than two inlet openings is distributed with；
The leg mechanism is connected by rail structure with the horizontal steering engine shaft for providing power for the leg mechanism, described
Rail structure and the leg mechanism correspond, and each rail structure includes: sliding rail, horizontal bracket and horizontally rotates bar,
Connection relationship are as follows: the sliding rail of arcuate structure is fixed on the boss of the lower end surface of the intermediate bulkhead, in intermediate bulkhead lower end surface
The center location of each sliding rail is equipped with horizontal steering engine, the axis of horizontal steering engine shaft perpendicular to intermediate bulkhead, horizontal bracket
One end is connected with corresponding leg mechanism, and the other end is connect by horizontal steering engine steering wheel with horizontal steering engine shaft；Level branch
One end that frame is connected with the leg mechanism is provided with for installing the support for horizontally rotating bar, horizontally rotates one end support of bar
On the support, through bearing support on the sliding rail, the bearing can roll the other end on the sliding rail.
For being arranged in battery flat for the battery of robot interior power electrical apparatus, the battery flat is detachably installed
In intermediate bulkhead lower end surface.
More than two universal wheels are installed in the bottom of the battery flat.
The utility model has the advantages that
(1) the spherical shape amphibious robot uses hemispherical dome structure, it can be achieved that no-radius rotates；Upper hemispherical shell is mended with buoyancy
Function is repaid, robot autonomous suspension may be implemented, by designing equally distributed inlet opening on the different height of enter water tank
Adjust the buoyancy of robot, after robot is immersed in the water without add additional weight can dive, save robot energy,
It solves the problems, such as that amphibious robot sinks to needing additional addition counterweight, realizes entirely autonomous amphibious.
(2) for horizontal actuator load weight, problem easy to damage, leg mechanism of robot weight can be shared by devising, and be subtracted
The rail structure of the flat steering engine rotational resistance of light-water.Bar one end will be horizontally rotated to fix with leg mechanism of robot, other end connection
Bearing is simultaneously placed on semicircle sliding rail, to mitigate the load-bearing of horizontal steering engine and horizontal bracket.
(3) aiming at the problem that amphibious robot battery designed in the past is not easy to replacement, dismountable independent electrical is devised
Pond cabin, battery are completely enclosed in battery flat, and the positive and negative polar curve drawn from fairlead is connect with water proof switch head, reduce replacement
The abrasion of battery bring.
(4) battery flat bottom belt universal wheel increases for robot and slides gait.
(5) binocular camera is also equipped on the amphibious robot, real-time perception ambient enviroment is, it can be achieved that target following
And monitoring；Pressure sensor real-time measurement robot speed is installed, convenient for more accurately controlling.
Detailed description of the invention
Fig. 1 is the front view of the spherical amphibious robot of the utility model；
Fig. 2 is the bottom view of the spherical amphibious robot of the utility model；
Fig. 3 is that the spherical amphibious robot of the utility model faces explosive view；
Fig. 4 is upper spherical shell amplification front elevation；
Fig. 5 enter water tank top view；
Fig. 6 sealed compartment top view；
Fig. 7 rail structure explosive view；
Fig. 8 rail structure partial enlarged view；
Fig. 9 sliding rail bottom view；
Figure 10 sliding rail looks up explosive view；
The sliding equipment exploded view of Figure 11 leg mechanism；
Figure 12 horizontally rotates bar installation explosive view；
Figure 13 battery flat normal axomometric drawing；
That bottom view of Figure 14 battery flat；
Figure 15 battery flat installs explosive view；
Wherein: 1- enter water tank, 2- sealed compartment, 3- intermediate bulkhead, 4- battery flat, 5- leg mechanism, 1-1- hydrophone, 1-2-
Binocular camera, 1-3- enter water tank spherical shell mounting hole A, 1-4- inlet opening A, 1-5- enter water tank spherical shell mounting hole B, 1-6- optical fiber head
Mounting hole, 1-7- enter water tank spherical shell mounting hole C, 1-8- hydrophone mounting hole, 1-9- binocular camera mounting hole, 1-10- water inlet
Hole C, 1-11- enter water tank spherical shell, the inlet opening 1-12- B, 2-1- sealed compartment spherical shell, 2-2- pressure sensor, 2-3- binocular camera
Cable-through hole, 2-4- sealed compartment spherical shell threaded hole B, 2-5- optical fiber cable-through hole, 2-6- sealed compartment spherical shell fixed mounting hole, 2-7- sealing
Cabin spherical shell threaded hole C, 2-8- hydrophone cable-through hole, 2-9- water proof switch cable-through hole, the spare cable-through hole of 2-10-, 2-11- sealed compartment
The spare cable-through hole of spherical shell threaded hole A, 2-12-, 3-1- sliding rail, the centre 3-2- mounting hole, the side 3-3- mounting hole, 3-4- hydroplane
Machine shaft, 3-5- ellipse boss mounting hole, 3-6- round boss mounting hole, 4-2- battery flat screw top hole, 4-6- battery flat
Lid, 4-7- universal wheel, 4-8- battery flat fairlead, 4-9- battery flat mounting screw, 4-10- battery flat bottom mounting apertures, 4-11-
The hollow connecting column of battery flat, 5-1- elastic collar A, 5-2- horizontal through hole, 5-3- card slot A, 5-4- bearing, 5-5- elastic collar B,
5-6- card slot B, 5-7- horizontally rotate bar, the horizontal steering engine steering wheel of 5-8-, 5-9- horizontal bracket.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is described in detail.
The present embodiment provides one kind towards the amphibious environment of transition, is suitble to narrow environment operation, has high maneuverability, height hidden
Property, multi-locomotion mode, the spherical amphibious robot that cruise duration is long, bearing capacity is strong, recyclable.
As shown in Figure 1-3, in order to make the ball shape robot it is more intelligent, it is more autonomous, more easily complete under amphibious environment
Task, the ball shape robot use the upper spherical shell, independent battery compartment and the cunning for mitigating horizontal actuator load of buoyancy force adjustable
Rail mechanism.Specifically, the spherical shape amphibious robot includes: upper spherical shell, intermediate bulkhead 3, leg structure 5 and sliding track mechanism.
After pervious amphibious robot enters in water, since robot volume is excessive, gravity deficiency needs additionally to add and match
Weight just can be such that it is suspended under water.However the waste of additional counterweight energy when not only causing robot motion, but also cause machine
Load is too big when device people land moves.In order to solve this problem, the spherical amphibious robot in this programme is using adjustable
The upper spherical shell of robot buoyancy realizes robot without counterweight self-suspending.
As shown in figures 3 to 6, spherical shell consists of two parts on this, respectively enter water tank 1 and sealed compartment 2, enter water tank 1 and close
Batten down 2 forms hemispheric upper spherical shell after docking, and wherein enter water tank 1 is located at hemispheric top dome, forms the shell of enter water tank 1
For enter water tank spherical shell 1-11, the shell for forming sealed compartment 2 is sealed compartment spherical shell 2-1, circumferentially distributed on enter water tank spherical shell 1-11
There are three enter water tank spherical shell mounting hole (respectively enter water tank spherical shell mounting hole A1-3, enter water tank spherical shell mounting hole B1-5 and water inlets
Cabin spherical shell mounting hole C1-7), corresponding, circumferentially distributed on sealed compartment spherical shell 2-1 there are three sealed compartment spherical shell threaded hole (difference
For sealed compartment spherical shell threaded hole A2-11, sealed compartment spherical shell threaded hole B2-4 and sealed compartment spherical shell threaded hole C2-7), three water inlets
After cabin spherical shell mounting hole and three sealed compartment spherical shell threaded holes correspond, fixed with screw connection, thus by enter water tank spherical shell
1-11 is coaxially fixed in the diameter small end of sealed compartment spherical shell 2-1, and being relatively large in diameter for sealed compartment spherical shell 2-1 is held by multiple along week
Sealed compartment spherical shell fixed mounting hole 2-6 and intermediate bulkhead 3 to distribution is fixed.Sealed compartment 2 be closed structure, robot it is electrical
Equipment is placed in sealed compartment 2, and binocular camera cable-through hole 2-3, hydrophone cable-through hole 2- are machined on sealed compartment spherical shell 2-1
8, optical fiber cable-through hole 2-5, water proof switch cable-through hole 2-9 and two spare cable-through hole 2-10 and 2-12；Each cable-through hole is passing through
It after electric wire, is shut with cure silicone rubber, constitutes the sealed compartment 2 of closed waterproof.
Be uniformly distributed circumferentially on the periphery of enter water tank spherical shell 1-11 Yu the butt end sealed compartment spherical shell 2-1 there are three into
The section of water hole A1-4, inlet opening A1-4 are U-shaped, the open end of U-shaped inlet opening A1-4 and enter water tank spherical shell 1-11 and sealed compartment
The end face of the butt end spherical shell 2-1 is concordant；Inlet opening B1- there are three being uniformly distributed circumferentially on enter water tank spherical shell 1-11 periphery
12, inlet opening B1-12 compare inlet opening A1-4 closer to the top enter water tank spherical shell 1-11；In enter water tank spherical shell 1-11 top end surface
On be uniformly distributed circumferentially there are four inlet opening C1-10.
Upper spherical shell buoyancy adjustment principle are as follows:
After robot is immersed in the water, since gravity sinks, 2 upper surface of sealed compartment was just flooded when sinking down into water
When, water starts to enter enter water tank 1 from three inlet opening A1-4, and compared to completely enclosed upper spherical shell, robot arranges the body of water
Product reduces, and buoyancy reduces, and robot continues to sink；Subsequent three inlet opening B1-12 begin with water entrance, until water did not almost have
Entire robot, four inlet opening C1-10 at the top of enter water tank spherical shell 1-11 have water slowly to enter.Entire dive process, because
There is water persistently to intake robot enter water tank 1, the volume that robot arranges water reduces, to achieve the purpose that adjust buoyancy.
The single leg mechanism of underwater robot caused horizontal steering engine easy to damage, made completely by horizontal steering engine load-bearing in the past
It is short with the service life, the problems such as horizontal bracket is easily-deformable.In order to solve this problem, this programme use can mitigate horizontal steering engine load-bearing
Rail structure.Leg mechanism 5 is connected by rail structure with the horizontal steering engine shaft 3-4 for providing power for its movement.
As shown in Fig. 7-Figure 10, sliding rail 3-1 is provided on intermediate bulkhead 3, specifically: sliding rail 3-1 is semicircle, four knots
The identic sliding rail 3-1 of structure and four leg mechanisms 5 correspond, four sliding rail 3-1 successively join end to end to be formed it is petal,
The both ends of each sliding rail 3-1 are machined with side mounting hole 3-3, and middle part is machined with intermediate mounting hole 3-2, and sliding rail 3-1 passes through centre
Mounting hole 3-2 and side mounting hole 3-3 respectively with the round boss mounting hole 3-6 and ellipse of corresponding position on intermediate bulkhead 7
Boss mounting hole 3-5 is connected and fixed with screw, so that four sliding rails are fixedly mounted on the lower end surface of intermediate bulkhead 7.Simultaneously
It is fixed in the annular region that four sliding rail 3-1 are surrounded on the lower end surface of intermediate bulkhead 7 and is corresponded with four sliding rail 3-1
Horizontal steering engine, power output shaft, that is, horizontal steering engine shaft 3-4 of horizontal steering engine be located at corresponding sliding rail 3-1 the center of circle position
It sets, and the axis of horizontal steering engine shaft 3-4 is perpendicular to intermediate bulkhead 7.
Each leg mechanism 5 and a sliding rail 3-1 cooperate, and can slide along corresponding sliding rail, specifically: as schemed
Shown in 11 and Figure 12, the horizontal bracket 5-9 being connected with leg mechanism 5 passes through horizontal steering engine steering wheel 5-8 and horizontal steering engine shaft 3-4
Connection drives leg machine by horizontal steering engine shaft 3-4 when horizontal steering engine steering wheel 5-8 drives horizontal steering engine shaft 3-4 rotation
Structure 5 is rotated around the axis of horizontal steering engine shaft 3-4.
Each leg mechanism 5 horizontally rotates bar 5-7 and corresponding sliding rail 3-1 contact by two, makes leg mechanism 5
It is slided along sliding rail 3-1, i.e., sliding rail 3-1 play the guiding role to the movement of leg mechanism 5.Specifically: horizontal bracket 5-9 and leg machine
The connected one end of structure 5 is provided with for installing two supports for horizontally rotating bar 5-7, and two horizontally rotate bar 5-7 and are arranged in parallel,
Horizontally rotate axis of the axis perpendicular to horizontal steering engine shaft 3-4 of bar 5-7.Bar 5-7 is horizontally rotated on horizontal bracket 5-9
After horizontal through hole 5-2 on support, towards one end of leg mechanism 5 by being stuck in horizontal bracket 5-9 annular slot A5-3
Elastic collar A5-1 to its axially position, the other end is set with bearing 5-4, and bearing 5-4 is located on sliding rail 3-1, can be in cunning
It is rolled on rail 3-1, and bearing 5-4 is between sliding rail 3-1 and intermediate bulkhead 3.The one end bearing 5-4 is by being stuck in horizontal bracket 5-
Elastic collar B5-5 in 9 annular slot B5-6 carries out axially position, and the other end (with the opposite end horizontal through hole 5-2) passes through setting
Axially position is carried out horizontally rotating the shaft shoulder on bar 5-7.
The working principle of rail structure are as follows: horizontal bracket 5-9 rotation, level branch are driven when horizontal steering engine shaft 3-4 is rotated
Frame 5-9 drives leg mechanism 5 to rotate, while bearing 5-4 is moved on sliding rail 3-1, plays guiding to the movement of leg mechanism 5 and makees
With horizontally rotating the presence of bar 5-7 and bearing 5-4 and sliding rail 3-1, leg mechanism can be prevented too heavy and make horizontal bracket 5-
9 deformations, while can reduce resistance when horizontal steering engine shaft 3-4 rotation, extend the service life of horizontal steering engine.
The abrasion of battery bring is replaced in order to reduce repeatedly teardown of engine people, dismountable independent electrical is designed in this programme
Pond cabin 4.Battery flat 4 is mounted on 3 lower end surface middle position of intermediate bulkhead, specifically: battery flat 4 is rectangular configuration, four angles
Position is provided with the hollow connecting column 4-11 of battery flat, is provided with battery flat screw top hole at the top of the hollow connecting column 4-11 of battery flat
4-3, bottom are provided with battery flat bottom mounting apertures 4-10, and battery flat mounting screw 4-9 passes through the hollow connecting column 4-11 of battery flat
Afterwards, by with battery flat screw top hole 4-3 and be arranged in 3 lower end surface of intermediate bulkhead oval boss mounting hole 3-5 cooperate
Battery flat 4 is fixedly mounted on intermediate bulkhead 3.4 one side end face of battery flat is provided with battery hatch 4-6, opens battery hatch
After 4-6, battery can be placed into battery flat 4.Battery flat fairlead 4-8 is provided on 4 bottom end face of battery flat, battery
Positive and negative anodes terminals are placed on the side battery flat fairlead 4-8, and use waterproof cure silicone rubber by battery lead hole after line is drawn
4-8 is poured and is sealed battery hatch 4-6.The independent battery compartment designed in this programme is easy to disassemble, facilitates robot replacement electricity
Pond.
And universal wheel is installed in the bottom of battery flat 4, function is, first is that can use in flat road surface robot
Gait is slided, second is that the support as robot, mitigates the task of leg mechanism 5 specifically: in each battery when necessary
One universal wheel 4-7 is installed in the shell bottom mounting apertures 4-10 of cabin.5 liftable of leg mechanism of the amphibious robot, when leg machine
When structure 5 rises to the universal wheel top position 4-7, robot on the ground, passes through universal wheel 4- by four universal wheel 4-7 supports
7 carry out robot using gait is slided；When needing to carry out Auxiliary support by universal wheel, leg mechanism 5 is risen
Extremely with universal wheel 4-7 flush position, robot passes through leg mechanism 5 and universal wheel 4-7 is supported on the ground jointly.
To make the amphibious robot have the function of perception ambient enviroment and robot speed, the water at the top of enter water tank is listened
Hydrophone 1-1 is installed in device mounting hole 1-8, it is circumferentially distributed on the periphery of sealed compartment to have multiple pressure sensor 2-2,
Binocular camera 1-2 is installed in binocular camera mounting hole 1-9 on the periphery of enter water tank.The signal wire of hydrophone 1-1
It is connected across hydrophone cable-through hole 2-8 with the control unit in sealed compartment 2, the signal wire of binocular camera 1-2 is imaged across mesh
Head cable-through hole 2-3 is connected with the control unit in sealed compartment 2, thus, it is possible to it is more intelligent to robot realization, more accurately transport
Dynamic control.
In conclusion the above is only the preferred embodiments of the present utility model only, it is not intended to limit the utility model
Protection scope.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all wrap
Containing being within the protection scope of the utility model.
Claims (7)
1. it is a kind of spherical shape amphibious robot, comprising: hemispherical shell and positioned at hemispherical shell lower end surface it is circumferentially distributed two
A above leg mechanism (5)；It is characterized by:
The hemispherical shell after enter water tank (1) and sealed compartment (2) docking by forming, wherein the enter water tank (1) is located at hemisphere
The top dome side of shape, sealed compartment (2) are fixed on intermediate bulkhead (3)；The electrical equipment of robot is placed in sealed compartment (2), institute
It states and is provided with more than one cable-through hole on sealed compartment (2)；It is used to form the circle of the enter water tank spherical shell (1-11) of the enter water tank (1)
More than two inlet openings are distributed on circumferential surface；
The leg mechanism (5) provides horizontal steering engine shaft (3-4) phase of power by rail structure and for the leg mechanism (5)
Even, the rail structure and the leg mechanism (5) correspond, and each rail structure includes: sliding rail (3-1), horizontal bracket
(5-9) and horizontally rotate bar (5-7), connection relationship are as follows: the sliding rail (3-1) of arcuate structure is fixed on the intermediate bulkhead (3)
Lower end surface boss on, horizontal steering engine, water are installed in the center location of each sliding rail in intermediate bulkhead (3) lower end surface (3-1)
The axis of flat steering engine shaft (3-4) is perpendicular to intermediate bulkhead (3), one end of horizontal bracket (5-9) and corresponding leg machine
Structure (5) is connected, and the other end is connect by horizontal steering engine steering wheel (5-8) with horizontal steering engine shaft (3-4)；Horizontal bracket (5-9) with
The connected one end of the leg mechanism (5) is provided with for installing the support for horizontally rotating bar (5-7), horizontally rotates bar (5-7)
One end be supported on the support, the other end is supported on the sliding rail (3-1) by bearing (5-4), bearing (5-4) energy
It is enough to be rolled on the sliding rail (3-1).
2. spherical shape amphibious robot as described in claim 1, which is characterized in that for being robot interior power electrical apparatus
Battery setting in the battery flat (4), the battery flat (4) is removably mounted at intermediate bulkhead (3) lower end surface.
3. spherical shape amphibious robot as claimed in claim 2, which is characterized in that be equipped in the bottom of the battery flat (4)
More than two universal wheels (4-7).
4. spherical shape amphibious robot as claimed in claim 1 or 2, which is characterized in that the circle of the enter water tank spherical shell (1-11)
More than two inlet opening groups are distributed on circumferential surface, each inlet opening group includes more than two along its circumferential equally distributed water inlet
Hole, and more than two inlet openings group is distributed at the different height of the enter water tank spherical shell (1-11)；In the enter water tank spherical shell
More than two inlet openings are distributed in (1-11) top end surface.
5. spherical shape amphibious robot as claimed in claim 1 or 2, which is characterized in that in the top end surface of the enter water tank
It is equipped with hydrophone (1-1), the signal wire of the hydrophone (1-1) passes through the hydrophone cable-through hole being arranged on sealed compartment (2)
(2-8) is connected with the control unit in sealed compartment (2)；The signal wire is after hydrophone cable-through hole (2-8) in hydrophone mistake
Watertight processing is carried out at string holes (2-8).
6. spherical shape amphibious robot as claimed in claim 1 or 2, which is characterized in that the edge on the periphery of the sealed compartment
It is circumferentially distributed that there are two pressure above sensor (2-2).
7. spherical shape amphibious robot as claimed in claim 1 or 2, which is characterized in that set on the periphery of the enter water tank
It is equipped with camera, the signal wire of the camera, which passes through, to be arranged after the camera cable-through hole on sealed compartment (2) and sealed compartment (2)
Interior control unit is connected；The signal wire carries out watertight processing after passing through camera cable-through hole at camera cable-through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821206546.2U CN208789417U (en) | 2018-07-27 | 2018-07-27 | A kind of spherical shape amphibious robot |
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| CN201821206546.2U CN208789417U (en) | 2018-07-27 | 2018-07-27 | A kind of spherical shape amphibious robot |
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| CN208789417U true CN208789417U (en) | 2019-04-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108859637A (en) * | 2018-07-27 | 2018-11-23 | 北京理工大学 | A kind of spherical shape amphibious robot |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108859637A (en) * | 2018-07-27 | 2018-11-23 | 北京理工大学 | A kind of spherical shape amphibious robot |
| CN108859637B (en) * | 2018-07-27 | 2023-11-14 | 北京理工大学 | Spherical amphibious robot |
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Granted publication date: 20190426 Effective date of abandoning: 20231114 |
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| AV01 | Patent right actively abandoned |
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| AV01 | Patent right actively abandoned |