CN213167610U

CN213167610U - Amphibious robot with layered layout of crawler belts and paddles

Info

Publication number: CN213167610U
Application number: CN202022354276.3U
Authority: CN
Inventors: 陈晨; 王玉甲
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-05-11
Anticipated expiration: 2030-10-21

Abstract

The utility model discloses a land and water amphibious robot of track and oar layering overall arrangement, including the frame, the frame inboard is equipped with cloud platform and buoyancy adjustment mechanism, all is equipped with the track in the frame both sides, has the center pin in the frame, and cloud platform and buoyancy adjustment mechanism are located the center pin bottom, be equipped with four propellers in the frame, four propellers and center pin are 45 jiaos of annular arrangement, still are equipped with battery compartment and circuit cabin in the frame inside, and propeller and buoyancy adjustment mechanism all are connected with the battery compartment through the circuit cabin, have control circuit in the circuit cabin for the working method of control buoyancy adjustment mechanism and propeller; the device adopts an underactuated design, namely a buoyancy adjusting mechanism, does not use a propeller to provide power in the vertical direction, and reduces the weight and the cost; the floating center is higher than the center of gravity, and can recover to a stable state by means of the torque of the buoyancy to the center of mass; besides passive suspension, a pre-aiming control system is also mounted to enhance the terrain trafficability.

Description

Amphibious robot with layered layout of crawler belts and paddles

Technical Field

The utility model relates to an amphibious robot, specifically are amphibious robot of track and oar layering overall arrangement.

Background

With the continuous expansion of the human activity range, the problem of environmental pollution is more serious, the main research range of human is on land, river and offshore, and the research on places far away from the human activity range, such as oceans, swamps, unmanned islands and the like, is difficult to develop; drowning accidents of people can happen in shoals, rivers and seas, and manual search and rescue wastes time and labor, and rescue personnel are easy to be injured; compared with the water surface and ground robots, the amphibious robot with the capabilities of water surface navigation, underwater walking and water bottom land crawling is more beneficial to battle in the aspect of military information detection.

The common robot can only move on land or in water flow, and cannot simultaneously carry out amphibious operation planning to comprehensively analyze the current development situation at home and abroad in one task, and the existing amphibious robot mainly based on a bionic type and a paddle type has the problems of poor obstacle crossing performance, redundant mechanical structure, poor environmental adaptability and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an amphibious robot of track and oar layering overall arrangement to solve the problem that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a amphibious robot with layered arrangement of tracks and paddles comprises a frame, wherein a holder and a buoyancy adjusting mechanism are arranged on the inner side of the frame, tracks are arranged on two sides of the frame, the buoyancy adjusting mechanism is located at the position of the center of mass of the whole robot, four propellers are arranged in the frame, the four propellers are located at the inner bottom of the frame and are symmetrically arranged in a ring shape, a battery cabin and a circuit cabin are further arranged inside the frame, the propellers and the buoyancy adjusting mechanism are connected with the battery cabin through the circuit cabin, a control circuit is arranged in the circuit cabin, batteries are arranged in the battery cabin, the inner side of each track is provided with a driving wheel, a driven wheel and three supporting wheels which are correspondingly arranged, a frame is further arranged on the inner side of each track, the three supporting wheels are arranged at the bottom of the inner side of each track in an equidistant mode, the driving wheel and the driven wheel are located above the three supporting wheels, the cradle head is positioned on one side of the frame close to the driving wheel, the track is independently suspended by adopting a single longitudinal arm, and pre-aiming control systems are also arranged on two sides of the frame.

The battery has three blocks, the voltage of the battery is 24V, the rated capacity is 266Wh, the model of the battery is LB18, and the total capacity of the battery is about 800 Wh; the driving wheel, the driven wheel and the supporting wheel are all meshed with the inner side of the crawler belt, and a driving motor connected with the driving wheel is arranged in the frame; the pre-aiming control system comprises a brushless motor, a motor base, a lead screw and a lead screw nut, the motor base is rotatably installed on the frame through a rotating shaft, the upper end and the lower end of the frame are rotatably connected with the frame through the rotating shaft, the brushless motor is fixed on the motor base, the lead screw is arranged at the output end of the brushless motor, the lead screw penetrates through the lead screw nut and is rotatably connected with the lead screw nut through threads, and the lead screw nut is rotatably connected with the frame.

As the preferred scheme of the utility model: and the frame is also provided with an adjusting system, the adjusting system is connected with the pre-aiming control system, and the adjusting system comprises a camera and a single board computer.

Compared with the prior art, the beneficial effects of the utility model are that: the device adopts an underactuated design, namely a buoyancy adjusting mechanism, does not use a propeller to provide power in the vertical direction, and reduces the weight and the cost; the floating center is higher than the center of gravity, and can recover to a stable state by means of the torque of the buoyancy to the center of mass; the single longitudinal arm is adopted for independent suspension, so that the obstacle crossing performance is improved; besides passive suspension, a pre-aiming control system is also mounted to enhance the terrain trafficability.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a perspective view of the present invention.

Fig. 4 is a diagram of an installation mode of the pre-aiming control system of the present invention.

In the figure, 1-a vehicle frame, 2-a tripod head, 3-a buoyancy regulating mechanism, 4-a crawler, 5-a circuit cabin, 6-a propeller, 7-a pre-aiming control system, 8-a driving wheel, 9-a driven wheel, 10-a supporting wheel, 11-a brushless motor, 12-a motor base, 13-a screw rod, 14-a screw rod nut, 15-a frame and 16-a rotating shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-4, a amphibious robot with layered arrangement of tracks and paddles comprises a frame 1, wherein a pan-tilt 2 and a buoyancy adjusting mechanism 3 are arranged on the inner side of the frame 1, tracks 4 are arranged on two sides of a frame 15, the buoyancy adjusting mechanism 3 is located at the center of the whole mass of the robot, the buoyancy adjusting mechanism 3 and the tracks 4 are respectively used for realizing the water surface action and the ground action of the robot, four propellers 6 are arranged in the frame 1, the four propellers 6 are located at the bottom of the frame 1 and are symmetrically arranged in a ring shape, when the water surface moves, the buoyancy adjusting mechanism 3 adjusts the whole floating and sinking of the robot in an underactuated mode, and if a ROLL shaft (ROLL-over shaft) or a PITCH shaft (PITCH shaft) is twisted, the robot is similar to a PD control (elastic damping control) in a PID control, and can recover the torque of the mass center to a stable state by means of buoyancy; the propeller 6 is used for ensuring the adjustment of the moving direction and the speed of the device on the horizontal plane, the frame 1 is also internally provided with a battery compartment and a circuit compartment 5, the propeller 6 and the buoyancy adjusting mechanism 3 are both connected with the battery compartment through the circuit compartment 5, the circuit compartment 5 is internally provided with a control circuit for controlling the working modes of the buoyancy adjusting mechanism 3 and the propeller 6, the battery compartment is internally provided with a battery for providing electric energy for the work of the buoyancy adjusting mechanism 3 and the propeller 6, the inner side of the crawler 4 is provided with a driving wheel 8, a driven wheel 9 and three supporting wheels 10 which are correspondingly arranged, the inner side of the crawler 4 is also provided with a frame 15, the three supporting wheels 10 are arranged at the bottom of the inner side of the crawler 4 in parallel at equal intervals, the driving wheel 8 and the driven wheel 9 are positioned above the three supporting wheels 10, the driving wheel 8, the driven wheel 9 and the supporting wheels 10 are distributed in a trapezoid shape, the crawler 4 is independently suspended by a single longitudinal arm, and pre-aiming control systems 7 are arranged on two sides of the frame 1.

The battery has three blocks, the voltage of the battery is 24V, the rated capacity is 266Wh, the model of the battery is LB18, and the total capacity of the battery is about 800 Wh.

The driving wheel 8, the driven wheel 9 and the supporting wheel 10 are all meshed with the inner side of the crawler 4, and a driving motor connected with the driving wheel 8 is arranged inside the frame 1.

The pre-aiming control system 7 comprises a brushless motor 11, a motor base 12, a screw rod 13 and a screw rod nut 14, the motor base 12 is rotatably installed on the frame 1 through a rotating shaft 16, the upper end and the lower end of a frame 15 are rotatably connected with the frame 1 through the rotating shaft 16, the brushless motor 11 is fixed on the motor base 12, the screw rod 13 is arranged at the output end of the brushless motor 11, the screw rod 13 penetrates through the screw rod nut 14 and is rotatably connected with the screw thread of the screw rod nut, the screw rod nut 14 is rotatably connected with the frame 15, when the brushless motor 11 works to drive the screw rod 13 to rotate, the screw rod nut 14 rotates relative to the screw rod 13 due to the limiting effect of the rotating shaft 16, and then the frame 15 is driven to displace along the direction of the screw rod 13, so that the angle between the crawler 4 and the ground is changed to adapt to.

Example 2:

on the basis of the embodiment 1, the frame 1 is further provided with an adjusting system, the adjusting system is connected with the pre-aiming control system 7, the adjusting system is used for controlling the pre-aiming control system 7 to automatically perform adjusting work, the adjusting system comprises a camera and a single board computer, road surface information is collected through the camera and is conveyed to the single board computer, and the single board computer calculates an adjusting angle and controls the brushless motor 11 to work.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The amphibious robot with the layered arrangement of the tracks and the paddles comprises a frame (1) and is characterized in that a holder (2) and a buoyancy adjusting mechanism (3) are arranged on the inner side of the frame (1), the tracks (4) are arranged on two sides of a frame (15), the buoyancy adjusting mechanism (3) is located at the position of the whole mass center of the robot, four propellers (6) are arranged in the frame (1), the four propellers (6) are located at the inner bottom of the frame (1) and are arranged in an annular symmetrical mode, a battery cabin and a circuit cabin (5) are further arranged inside the frame (1), the propellers (6) and the buoyancy adjusting mechanism (3) are connected with the battery cabin through the circuit cabin (5), a control circuit is arranged in the circuit cabin (5), batteries are arranged in the battery cabin, one driving wheel (8), one driven wheel (9) and three supporting wheels (10) which correspond to the inner sides of the tracks (4), and still be equipped with frame (15) in track (4) inboard, three supporting wheel (10) equidistant parallel arrangement is in track (4) inboard bottom, and action wheel (8) and follower (9) are located three supporting wheel (10) top, and action wheel (8), follower (9) and supporting wheel (10) are trapezoidal distribution, and cloud platform (2) are located frame (1) and are close to action wheel (8) one side, and track (4) adopt single trailing arm independent suspension, still is equipped with in advance and aims at control system (7) in frame (1) both sides.

2. The amphibious robot with layered crawler and paddles as claimed in claim 1, wherein the number of the batteries is three, the voltage of the batteries is 24V, the rated capacity is 266Wh, and the total capacity of the batteries is 800 Wh.

3. A amphibious robot with layered tracks and paddles as claimed in claim 1, characterised in that the driving wheel (8), the driven wheel (9) and the support wheel (10) are all meshed with the inner side of the track (4), and a driving motor connected with the driving wheel (8) is arranged inside the frame (1).

4. The amphibious robot with layered crawler belts and paddles as claimed in claim 1, 2 or 3, wherein the pre-aiming control system (7) comprises a brushless motor (11), a motor base (12), a lead screw (13) and a lead screw nut (14), the motor base (12) is rotatably mounted on the frame (1) through a rotating shaft (16), the upper end and the lower end of the frame (15) are rotatably connected with the frame (1) through the rotating shaft (16), the brushless motor (11) is fixed on the motor base (12), the lead screw (13) is arranged at the output end of the brushless motor (11), the lead screw (13) penetrates through the lead screw nut (14) and is rotatably connected with the lead screw nut in a threaded manner, and the lead screw nut (14) is rotatably connected with the frame (15).

5. A amphibious robot with layered layout of tracks and paddles as claimed in claim 4, wherein an adjusting system is further arranged on the frame (1), the adjusting system is connected with the pre-aiming control system (7), and the adjusting system comprises a camera and a single board computer.