CN209008839U - A kind of Wheel leg type walking device based on AUV - Google Patents
A kind of Wheel leg type walking device based on AUV Download PDFInfo
- Publication number
- CN209008839U CN209008839U CN201821448712.XU CN201821448712U CN209008839U CN 209008839 U CN209008839 U CN 209008839U CN 201821448712 U CN201821448712 U CN 201821448712U CN 209008839 U CN209008839 U CN 209008839U
- Authority
- CN
- China
- Prior art keywords
- wheel
- bearing
- shaft
- screw
- hatch door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model belongs to running gear research field, and in particular to a kind of Wheel leg type walking device based on AUV.By outer cover, motor, motor seal mechanism, take turns leg mechanism, switch, worm type of reduction gearing, hatch door rotary shaft, first key, sleeve, chain, first circlip, first shaft end ring, bearing, sprocket wheel, second screw, pedestal, first bolt, nut composition, main connection frame is mounted on the base by the first bolt, pedestal is fixed on the base by the second screw, hatch door rotary shaft is installed in the housing, sprocket wheel is positioned by sleeve and the shaft shoulder, sprocket wheel is mounted in hatch door rotary shaft by the first key, sleeve is mounted in hatch door rotary shaft, outer cover is mounted on shell, first shaft end ring is fixed in hatch door rotary shaft by the second screw, motor is fixed on the base, bearing and sleeve are mounted in hatch door rotary shaft.The utility model can realize the recycling of travelling hour wheel leg mechanism, effectively reduce resistance when ocean navigation, effectively ensure stability when obstacle detouring.
Description
Technical field
The utility model belongs to running gear research field, and in particular to a kind of Wheel leg type walking device based on AUV.
Background technique
AUV type underwater robot is also referred to as unmanned submersible, it is military, seabed search, search and rescue, in terms of have emphatically
The effect wanted, it, which collects economy and safety and deposits, is bordering on all over the body.The operating condition of AUV operation has plenty of rugged bumps, has
Be then flat-satin plane, not only needed the leaping over obstacles when encountering obstacle when walking for unmanned submersible, but also need to exist
High speed, high efficiency when passing through flat surface, this just proposes demand to the deficiency of existing latent device.
The utility model patent of Publication No. CN204322084U disclose it is a kind of by shell and crawler belt form with swim,
The underwater robot for function of creeping, the crawler belt are mounted on the rotation of outer casing bottom and crawler belt by drive shaft on the shell is arranged
Driving, this state limit posture changing of crawler belt, makes the underwater robot can only adapt to single work surface.
The utility model patent of Publication No. CN202379073U discloses a kind of crawler belt and is mounted on underwater operation robot
Rise and fall the underwater operation robots of device two sides, and this structure causes lateral rotation of the robot in water under floating state ineffective
Living, robot manipulating task radius is big, and mobility is restricted.
The application for a patent for invention of Publication No. CN103303449A discloses a kind of wheeled underwater operation robot, operation work
Tool be mounted on the manipulator for the hollow structure being made of motor and gear, this wheeled construction to pressure-bearing not than low work surface
It adapts to very much.
The application for a patent for invention of Publication No. CN103818533A discloses a kind of is adopted under water by crawler type and body frame are fixed
Collect equipment, this structuring limits the posture changings of crawler belt.
In conclusion the problems such as narrow application range, device are not flexible, and mobility is bad exists in the prior art.
Summary of the invention
The purpose of this utility model is to provide a kind of Wheel leg type walking devices based on AUV.The running gear both can be with
Realize that obstacle crossing function meets the needs of high-speed and high-efficiency again.To guarantee that fairing reduces resistance, this walking mechanism can be with
Realize that wheel leg can be recycled to inside submersible, can be stretched from submersible in nearly bottom row time wheel leg in submersible navigation
Out, the purpose realizing obstacle detouring and efficiently walking.
A kind of Wheel leg type walking device based on AUV, by outer cover 1, motor 2, motor seal mechanism, wheel leg mechanism 3, switch
4, worm type of reduction gearing 5, hatch door rotary shaft 6, the first key 7, sleeve 8, chain 9, the first circlip 10, the first shaft end ring
11, bearing 12, sprocket wheel 13, the second screw 14, pedestal 15, the first bolt 16, the first nut 17 composition, main connection frame pass through first
Bolt 16 is mounted on pedestal 15, and pedestal 15 is fixed on the base by the second screw 14, and hatch door rotary shaft 6 is mounted on shell
In, sprocket wheel 13 is positioned by sleeve 8 and the shaft shoulder, and sprocket wheel 13 is mounted in hatch door rotary shaft 6 by the first key 7, and sleeve 8 is mounted on
In hatch door rotary shaft 6, outer cover 1 is mounted on shell, and the first shaft end ring 11 is fixed on hatch door rotary shaft 6 by the second screw 14
On, motor 2 is fixed on the base, and bearing 12 and sleeve 8 are mounted in hatch door rotary shaft 6.
The motor seal mechanism by electric machine rotational axis 200, third screw 201, electric motor end cap 202, the first O-ring 203,
Stator cage 204, clamping cap 205, the first lattice come enclose 206, first bearing 207, the 4th screw 208 composition, electric motor end cap 202
It is fixed on stator cage 204 by third screw 201, the first lattice are mounted on electric machine rotational axis 200 to enclose 206, and first is O-shaped
Circle 203 is fixed with electric motor end cap 202, and first bearing 207 is mounted on electric machine rotational axis 200, and clamping cap 205 is fixed on
On electric motor end cap 202.
The wheel leg mechanism 3 is by the second key 300, wheel 301, shaft coupling 302, wheel shaft 303, the 5th screw 304, first axle
Socket end lid 305, the second lattice enclose 306, second bearing 307, wheel seat 308, the second circlip 309, the 6th screw 310, the 2nd O
Type circle 311, third circlip 312,3rd bearing 313, second bearing end cap 314, bevel gear wheel 315, the second shaft end ring
316, the 7th screw 317, bevel pinion 318, transition piece 319, the second bolt 320, the second nut 321, dome 322, focile
Frame 323, wheel electrical machine 324, motor shaft 325, third key 326, third O-ring composition, 327 compositions, transition piece 319 pass through spiral shell
Nail is fixed on motor housing, and shank skeleton 323 is fixed together by the second bolt 320 with wheel seat 308, wheel electrical machine 324
It is mounted on wheel seat 308, dome 322 is mounted on wheel seat 308, and bevel pinion 318 is mounted on motor shaft by third key 326
On 325, on wheel shaft 303, first bearing end cap 305 is mounted on wheel seat for second bearing 307 and 313 distributing installation of 3rd bearing
On 308, the second lattice are mounted on wheel seat 308 to enclose 306, and shaft coupling 302 is mounted on wheel shaft 303 by the second key 300.
The wheel leg mechanism 3 has four groups, is symmetrically installed on shell.
The utility model has the beneficial effects that:
The utility model realizes the compound motion that AUV underwater propeller promotes and underwater wheel leg type promotes, and wheel leg can be certainly
If stretched out and recycling, underwater robot had not only been improved to the adaptability of complicated landform, but also had been ensured when wheel leg mechanism is non-used
Recycling realizes efficient streamlined travelling.Using static seal plus movable sealing structure, effective fortune of motor can be effectively ensured
Row；It realizes wheel leg to be converted according to work condition environment, structure is simply, conveniently；It, can be real using multi-joint multifreedom motion form
The now recycling of travelling hour wheel leg mechanism, effectively reduces resistance when ocean navigation.It, can be effective using 4 wheel leg symmetrical mechanisms
Ensure stability when obstacle detouring.
Detailed description of the invention
Fig. 1 is the wheel leg organization distribution structural schematic diagram of the utility model；
Fig. 2 is the wheel leg mechanism attachment structure schematic diagram of the utility model；
Fig. 3 is the wheel leg mechanism principle schematic diagram of the utility model；
Fig. 4 is the motor seal schematic illustration of the utility model；
Fig. 5 is the hatch door mechanism for opening/closing partial enlargement structural representation of the utility model；
Fig. 6 is the wheel power transmission partial enlargement structural representation of the utility model.
Specific embodiment
The utility model is described further with reference to the accompanying drawing.
In Fig. 1: 1- outer cover, 2- motor, 3- take turns leg mechanism, and 4- is switched, 5- worm type of reduction gearing, 6- hatch door rotary shaft,
The first key of 7-, 8- sleeve, 9- chain, the first circlip of 10-, the first shaft end ring of 11-, 12- bearing, 13- sprocket wheel；
In Fig. 2: the second screw of 14-, 15- pedestal, the first bolt of 16-, the first nut of 17-；
In Fig. 3: the second key of 300-, 301- wheel, 302- shaft coupling, 303- wheel shaft, the 5th screw of 304-, 305- first axle
Socket end lid, the second lattice of 306- enclose, 307- second bearing, 308- wheel seat, the second circlip of 309-, 310- the 6th screw,
311- third O-ring, 312- third circlip, 313- 3rd bearing, 314- second bearing end cap, 315- bevel gear wheel,
The second shaft end ring of 316-, the 7th screw of 317-, 318- bevel pinion, 319- transition piece, the second bolt of 320-, 321- second
Nut, 322- dome, 323- shank skeleton, 324- wheel electrical machine, 325- motor shaft, 326- third key, 327- third O-ring.
In Fig. 4: 200- electric machine rotational axis, 201- third screw, 202- electric motor end cap, the first O-ring of 203-, 204- stator
Casing, 205- clamping cap, the first lattice of 206- enclose, 207- first bearing, 208- the 4th screw；
In Fig. 5: 6- hatch door rotary shaft, the first key of 7-, 8- sleeve, the first circlip of 10-, the first shaft end ring of 11-,
12- bearing, 13- sprocket wheel；
In Fig. 6: 302- shaft coupling, 303- wheel shaft, the 5th screw of 304-, 305- first bearing end cap, the second lattice of 306- come
Circle, 307- second bearing, the second circlip of 309-, 311- third O-ring, 312- third circlip, 313- third axis
It holds, 315- bevel gear wheel, the second shaft end ring of 316-, the 7th screw of 317-, 318- bevel pinion, 327- third O-ring.
Wherein, motor seal mechanism 2 is specifically, be by electric machine rotational axis 200, screw III 201, electric motor end cap 202, O
Type circle I 203, stator cage 204, clamping cap 205, lattice enclose I 206, bearing I 207, screw IV 208.Electric motor end cap 202 passes through
Screw III 201 is fixed on stator cage 204, and lattice are mounted on electric machine rotational axis 200 to enclose I 206, and O-ring I 203 passes through electricity
Generator terminal lid 202 compresses, and bearing I 207 is positioned by electric motor end cap 202 and the shaft shoulder, is mounted on electric machine rotational axis 200, clamping cap
205 are fixed on electric motor end cap 202.
Wherein, wheel leg mechanism 3 is specifically, be by key II 300, wheel 301, shaft coupling 302, wheel shaft 303, screw V
304, bearing (ball) cover I 305, lattice enclose II 306, bearing II 307, wheel seat 308, circlip II 309, screw VI 310, O type circle
II 311, circlip III 312, bearing III 313, bearing (ball) cover II 314, bevel gear wheel 315, shaft end ring II 316, screw VII
317, bevel pinion 318, transition piece 319, bolt II 320, nut 321, dome 322, shank skeleton 323, wheel electrical machine 324,
Motor shaft 325, key III 326, O-ring III 327 form.Transition piece 319 is fixed by screws on motor housing, shank skeleton
323 is fixed together with wheel seat 308 by bolt II 320, and wheel electrical machine 324 is mounted on wheel seat 308, and dome 322 is mounted on wheel
On seat 308, bevel pinion 318 is positioned by shaft end ring II 316 and the shaft shoulder, is mounted on motor shaft 325 by key III 326,
On wheel drive shaft 303, bearing 307 utilizes circlip III 312 and bearing for bearing II 307 and III 313 distributing installation of bearing
End cap II 314 positions, and bearing III 313 is positioned by the shaft shoulder and bearing (ball) cover I 305, and bearing (ball) cover I 305 is mounted on wheel seat 308
On, lattice are mounted on wheel shaft 303 to enclose II 306, and shaft coupling 302 is mounted on wheel shaft 303 by key II 300.
Further, the worm type of reduction gearing 5 meets condition of self-locking, after 4 sensor feedback of door-down switch, energy
It enough realizes self-locking.
Further, the wheel leg mechanism 3 has four groups, is symmetrically installed on shell.
Further, in the motor seal mechanism 2, O-ring 203, lattice come to enclose 206, electric motor end cap 202 be 2,
It is uniformly distributed on electric machine rotational axis 200.
The AUV Wheel leg type walking device work when, motor 2, worm type of reduction gearing 5 power transmission under, sprocket wheel 13
It drives chain 9 to rotate, realizes the unlatching of unmanned submersible's hatch door, under sensing of the door-down switch 4 to predetermined position, worm and gear
Retarder 5 realizes that alignment is self-locking, and hatch door reaches predetermined position.3 joint drive motor driven wheel legs 3 be stretched over creep it is scheduled
Position, when by rugged concave-convex, wheel drive motors are locked, and wheel 301 is finished to the end of leg structure 3, close 3
Under the driving for saving driving motor, 3 leaping over obstacles of leg structure.When by gentle smooth surface, joint motor driving leg structure 3 is arrived
Predetermined position is slided, motor realizes that joint is locked, and wheel 301 rotates under driving motor 324, power is transmitted through wheel shaft 303,
Realization is slided.
When the AUV Wheel leg type walking device does not work, under the driving of 3 joint motors, leg structure 3 is recycled to by desired trajectory
Inside submersible, motor 2, worm type of reduction gearing 5 power transmission under, sprocket wheel 13 drives chain 9 to rotate, and realizes that nobody is latent
The closing of hydrophone hatch door, under sensing of the door-down switch 4 to predetermined position, worm type of reduction gearing 5, which is realized, is directed at self-locking, hatch door
Reach predetermined position.
Finally it should be noted that listed above is only specific embodiment of the utility model.Obviously, this is practical new
Type is not limited to above embodiments, can also there is many variations.For example, sealing ring can be other kinds of sealing ring；Each part
Between other connection types except screw also can be used.The common technology people of this field can be from disclosed by the utility model interior
All deformations for directly exporting and associating in appearance are considered the protection scope of the utility model.
Claims (4)
1. a kind of Wheel leg type walking device based on AUV, by outer cover (1), motor (2), motor seal mechanism, wheel leg mechanism (3),
Switch (4), worm type of reduction gearing (5), hatch door rotary shaft (6), the first key (7), sleeve (8), chain (9), the first circlip
(10), the first shaft end ring (11), bearing (12), sprocket wheel (13), the second screw (14), pedestal (15), the first bolt (16),
One nut (17) composition, it is characterised in that: main connection frame is mounted on pedestal (15) by the first bolt (16), and pedestal (15) is logical
It crosses the second screw (14) to fix on the base, hatch door rotary shaft (6) is installed in the housing, and sprocket wheel (13) passes through sleeve (8) and axis
Shoulder positioning, sprocket wheel (13) are mounted on hatch door rotary shaft (6) by the first key (7), and sleeve (8) is mounted on hatch door rotary shaft (6)
On, outer cover (1) is mounted on shell, and the first shaft end ring (11) is fixed on hatch door rotary shaft (6) by the second screw (14),
Motor (2) is fixed on the base, and bearing (12) and sleeve (8) are mounted on hatch door rotary shaft (6).
2. a kind of Wheel leg type walking device based on AUV according to claim 1, which is characterized in that the motor seal
Mechanism is by electric machine rotational axis (200), third screw (201), electric motor end cap (202), the first O-ring (203), stator cage
(204), clamping cap (205), the first lattice come enclose (206), first bearing (207), the 4th screw (208) composition, electric motor end cap
(202) it is fixed on stator cage (204) by third screw (201), the first lattice are mounted on electric machine rotational axis to enclose (206)
(200) on, the first O-ring (203) is fixed with electric motor end cap (202), and first bearing (207) is mounted on electric machine rotational axis
(200) on, clamping cap (205) is fixed on electric motor end cap (202).
3. according to a kind of Wheel leg type walking device based on AUV described in claim 1, which is characterized in that the wheel leg mechanism (3)
By the second key (300), wheel (301), shaft coupling (302), wheel shaft (303), the 5th screw (304), first bearing end cap
(305), the second lattice enclose (306), second bearing (307), wheel seat (308), the second circlip (309), the 6th screw
(310), the second O-ring (311), third circlip (312), 3rd bearing (313), second bearing end cap (314), auger tooth
Take turns (315), the second shaft end ring (316), the 7th screw (317), bevel pinion (318), transition piece (319), the second bolt
(320), the second nut (321), dome (322), shank skeleton (323), wheel electrical machine (324), motor shaft (325), third key
(326), third O-ring forms, and (327) composition, transition piece (319) is fixed by screws on motor housing, shank skeleton
(323) it is fixed together by the second bolt (320) with wheel seat (308), wheel electrical machine (324) is mounted on wheel seat (308), circle
Lid (322) is mounted on wheel seat (308), and bevel pinion (318) is mounted on motor shaft (325) by third key (326), and second
On wheel shaft (303), first bearing end cap (305) is mounted on wheel seat for bearing (307) and 3rd bearing (313) distributing installation
(308) on, the second lattice are mounted on wheel seat (308) to enclose (306), and shaft coupling (302) is mounted on wheel shaft by the second key (300)
(303) on.
4. a kind of Wheel leg type walking device based on AUV according to claim 1 or 3, which is characterized in that the wheel leg machine
Structure (3) has four groups, is symmetrically installed on shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821448712.XU CN209008839U (en) | 2018-09-05 | 2018-09-05 | A kind of Wheel leg type walking device based on AUV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821448712.XU CN209008839U (en) | 2018-09-05 | 2018-09-05 | A kind of Wheel leg type walking device based on AUV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209008839U true CN209008839U (en) | 2019-06-21 |
Family
ID=66832341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821448712.XU Active CN209008839U (en) | 2018-09-05 | 2018-09-05 | A kind of Wheel leg type walking device based on AUV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209008839U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050841A (en) * | 2018-09-05 | 2018-12-21 | 哈尔滨工程大学 | A kind of Wheel leg type walking device based on AUV |
-
2018
- 2018-09-05 CN CN201821448712.XU patent/CN209008839U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050841A (en) * | 2018-09-05 | 2018-12-21 | 哈尔滨工程大学 | A kind of Wheel leg type walking device based on AUV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107225587B (en) | Shape self-adaptive manipulator structure for nondestructive fishing of benthos | |
| CN203186566U (en) | Mechanical pectoral fin biomimetic robot fish | |
| CN106184452A (en) | A kind of all fours type electromagnetic adsorption climbing robot | |
| CN209008839U (en) | A kind of Wheel leg type walking device based on AUV | |
| CN106828655A (en) | With multivariant climbing robot | |
| CN107161308A (en) | A kind of modified propulsive mechanism of imitative case Molidae machine fish pectoral fin | |
| CN109278887A (en) | A kind of claw robot obstacles-surmounting wheel | |
| CN105857557A (en) | Double-freedom-degree bionic pectoral fin propelling mechanism based on ostraciidae fishes | |
| CN207360550U (en) | No paddle promotes underwater robot | |
| Shachaf et al. | RSAW, a highly reconfigurable wave robot: Analysis, design, and experiments | |
| CN104875215B (en) | A kind of two-freedom apery wrist device | |
| CN211543841U (en) | Novel bionic jellyfish robot | |
| CN106217357A (en) | Six-degree-of-freedom humanoid mechanical arm based on serial-parallel mirror and robot | |
| CN201342916Y (en) | Amphibious snake-shaped robot | |
| CN215227282U (en) | Nuclear power high-altitude wall-climbing nuclear cleaning robot | |
| CN109050841A (en) | A kind of Wheel leg type walking device based on AUV | |
| CN207157471U (en) | A kind of modified propulsive mechanism of imitative case Molidae machine fish pectoral fin | |
| Kim et al. | Mechanical design of six-legged walking robot, Little Crabster | |
| CN206011130U (en) | A kind of hollow wrist structure of spray robot | |
| CN211809923U (en) | Investigation robot with four-foot auxiliary wheel | |
| CN104590408B (en) | Walking mechanism of wheel-tracked leg | |
| CN106428492A (en) | Bionic robotic fish | |
| Hari et al. | Android application controlled water trash bot using internet of things | |
| Yang et al. | Preliminary development of a biomimetic amphibious robot capable of multi-mode motion | |
| Li et al. | Development of an amphibious snake-like robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |