CN213167611U

CN213167611U - Integrated amphibious robot

Info

Publication number: CN213167611U
Application number: CN202022357607.9U
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 an integrated amphibious robot, which comprises a frame, wherein the frame adopts an open-frame structure, a sealed circuit cabin and a sealed battery cabin are arranged in the frame, a storage battery is arranged in the battery cabin, a circuit board is arranged in the circuit cabin, buoyancy adjusting systems are arranged on two sides of the frame, a cradle head and four ducted propellers are arranged in the frame, the four ducted propellers are annularly arranged around the cradle head at an angle of 45 degrees, two vertical propellers are arranged in the frame, and the two vertical propellers are positioned on two sides of the cradle head; the device adopts an underactuated design, so that the weight and the cost are reduced; the power is provided in the vertical direction through two vertical thrusters; the robot is in a zero-buoyancy state when in an underwater navigation state, can submerge upwards and downwards during suspension by using vertical pushing, and is provided with a buoyancy adjusting device, so that the robot can submerge without power, has stable positive pressure when walking at the bottom of the water, and reduces the sand overturning caused by the vertical pushing operation; and a supporting wheel suspension system is adopted, so that the obstacle crossing performance of the device is improved.

Description

Integrated amphibious robot

Technical Field

The utility model relates to an amphibious robot, specifically be an integral type amphibious robot.

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 integral type amphibious robot to solve the problem that proposes among the above-mentioned background art.

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

an integrated amphibious robot comprises a frame, wherein the frame is of an open-frame structure, a sealed circuit cabin and a sealed battery cabin are arranged in the frame, a storage battery is arranged in the battery cabin, a circuit board is arranged in the circuit cabin, buoyancy adjusting systems are arranged on two sides of the frame, a holder and four ducted propellers are arranged in the frame, the four ducted propellers are annularly arranged around the holder at an angle of 45 degrees, two vertical propellers are also arranged in the frame and are positioned on two sides of the circuit cabin and the battery cabin, two sides of the outer part of the frame are respectively provided with a crawler belt, a driving wheel, a driven wheel and three supporting wheels which are correspondingly arranged are arranged in the crawler belt, the driving wheel, the driven wheel and the supporting wheels are respectively meshed with the inner sides of the crawler belts, the driving wheel and the driven wheel are respectively rotatably connected with the frame, a driving mechanism connected with the driving wheel is arranged in the, the support wheels have a suspension system.

The voltage of the storage battery is 24V, the rated capacity is 266Wh, and the total capacity of the storage battery is 800 Wh; the three supporting wheels are arranged at the bottom of the inner side of the crawler in parallel at equal intervals, the driving wheel and the driven wheel are positioned above the three supporting wheels, and the driving wheel, the driven wheel and the supporting wheels are distributed in a trapezoidal shape; the frame top has outside material that floats, is equipped with inside material that floats simultaneously in frame inside.

As the preferred scheme of the utility model: the magnetic compass support and the USBL support are arranged on the front side of the top of the frame, the magnetic compass and the UBSL are respectively arranged in the magnetic compass support and the USBL support, and meanwhile, the front floating material and the sensor floating material are sleeved on the magnetic compass support and the USBL support.

Compared with the prior art, the beneficial effects of the utility model are that: the device adopts an underactuated design, so that the weight and the cost are reduced; the power is provided in the vertical direction through two vertical thrusters; the robot is in a zero-buoyancy state when in an underwater navigation state, can submerge upwards and downwards during suspension by using vertical pushing, and is provided with a buoyancy adjusting device, so that the robot can submerge without power, has stable positive pressure when walking at the bottom of the water, and reduces the sand overturning caused by the vertical pushing operation; and a supporting wheel suspension system is adopted, so that the obstacle crossing performance of the device is improved.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a bottom view of the internal structure of the present invention.

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

In the figure, 1-frame, 2-external floating material, 3-track, 4-buoyancy regulating system, 5-ducted propeller, 6-vertical propeller, 7-suspension system, 8-driving wheel, 9-driven wheel, 10-supporting wheel, 11-tripod head, 12-circuit cabin, 13-magnetic compass, 14-USBL, 15-internal floating material, 16-battery cabin, 17-magnetic compass bracket, 18-USBL bracket, 19-preposition floating material and 20-sensor floating material.

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. 1-3, an integrated amphibious robot comprises a frame 1, wherein the frame 1 is of an open-frame structure, a sealed circuit cabin 12 and a battery cabin 16 are arranged in the frame 1, a storage battery is arranged in the battery cabin 16, a circuit board is arranged in the circuit cabin 12, the battery board in the circuit cabin 12 is used for controlling a power utilization unit in the device, the storage battery in the battery cabin 16 is used for providing electric energy for the power utilization unit in the device, buoyancy adjusting systems 4 are arranged on two sides of the frame 1 and used for controlling the whole device to ascend and descend in water, a cradle head 11 and four duct type propellers 5 are arranged in the frame 1, the four duct type propellers 5 are annularly arranged around the cradle head 11 at an angle of 45 degrees, two vertical propellers 6 are arranged in the frame 1, the two vertical propellers 6 are arranged on two sides of the circuit cabin 12 and the battery cabin 16, when the water surface moves, the buoyancy adjusting mechanism 3 adopts an underactuated mode to adjust the whole floating and sinking of the device, if the ROLL shaft (turning shaft) or the PITCH shaft (pitching shaft) is twisted, similar to PD control (elastic damping control) in PID control, the device can be restored to a stable state by means of the buoyancy to the torque of the center of mass, and the device can realize rapid lifting and moving in the vertical direction by matching the vertical thruster 6 with the buoyancy adjusting system 4, the four ducted thrusters 5 are used for ensuring the moving direction and speed of the device on the horizontal plane, the two sides of the outer part of the frame 1 are respectively provided with the crawler 3, the crawler 3 is used for realizing the moving of the device on the land, the crawler 3 is internally provided with a driving wheel 8, a driven wheel 9 and three supporting wheels 10 which are correspondingly arranged, the driving wheel 8, the driven wheel 9 and the supporting wheels 10 are all meshed with the inner side of the crawler 3, and driving wheel 8 and follower 9 all rotate with frame 1 and are connected, are equipped with the actuating mechanism who is connected with driving wheel 8 in frame 1 inside, supporting wheel 10 has suspension 7, when the land walking, drives track 3 through driving wheel 8 and rotates to support track 3 through supporting wheel 10 and follower 9, and through suspension 7's setting, when meetting the ground of different slopes, can guarantee that the device removes smoothly.

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

The three supporting wheels 10 are arranged at the bottom of the inner side of the crawler 3 in parallel at equal intervals, the driving wheel 8 and the driven wheel 9 are positioned above the three supporting wheels 10, and the driving wheel 8, the driven wheel 9 and the supporting wheels 10 are distributed in a trapezoidal shape.

The top of the frame 1 is provided with an external floating material 2, the external floating material 2 is used for being matched with a buoyancy adjusting system 4, the device can be guaranteed to move on the water surface to work, meanwhile, an internal floating material 15 is arranged inside the frame 1, and buoyancy and balance of the device are guaranteed from inside to outside.

Example 2:

on the basis of the embodiment 1, the magnetic compass support 17 and the USBL support 18 are arranged on the front side of the top of the frame 1, the magnetic compass 13 and the UBSL14 are respectively arranged in the magnetic compass support 17 and the USBL support 18, the moving direction and the water depth position of the device can be detected, a user can conveniently perform positioning operation, and meanwhile, the front floating material 19 and the sensor floating material 20 are sleeved on the magnetic compass support 17 and the USBL support 18, so that the balance of the device is ensured.

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 utility model provides an integral type amphibious robot, includes frame (1), frame (1) adopts open-shelf structure, be equipped with sealed circuit cabin (12) and battery cabin (16) in frame (1), the battery has in battery cabin (16), the circuit board has in circuit cabin (12), a serial communication port, be equipped with buoyancy governing system (4) in frame (1) both sides, be equipped with cloud platform (11) and four duct formula propellers (5) in frame (1) inside, four duct formula propellers (5) are 45 jiaos of annular arrangement around cloud platform (11), still be equipped with two perpendicular propellers (6) in frame (1) inside, two perpendicular propellers (6) are located circuit cabin (12) and battery cabin (16) both sides, frame (1) outside both sides all are equipped with track (3), be equipped with in track (3) have rather than one action wheel (8) that correspond the setting, The crawler belt type crawler belt driving device comprises a driven wheel (9) and three supporting wheels (10), wherein the driving wheel (8), the driven wheel (9) and the supporting wheels (10) are all meshed with the inner side of a crawler belt (3), the driving wheel (8) and the driven wheel (9) are all rotatably connected with a frame (1), a driving mechanism connected with the driving wheel (8) is arranged inside the frame (1), and the supporting wheels (10) are provided with a suspension system (7).

2. An integrated amphibious robot according to claim 1, characterised in that there are three accumulators, the accumulator voltage is 24V, the rated capacity 266Wh and the total accumulator capacity is 800 Wh.

3. An integrated amphibious robot according to claim 1, characterised in that three support wheels (10) are arranged side by side at equal intervals at the bottom of the inner side of the track (3), the driving wheel (8) and the driven wheel (9) are located above the three support wheels (10), and the driving wheel (8), the driven wheel (9) and the support wheels (10) are distributed in a trapezoidal shape.

4. An integral amphibious robot according to claim 1, 2 or 3, characterised in that the frame (1) has external floats (2) on top, while internal floats (15) are provided inside the frame (1).

5. An integrated amphibious robot according to claim 4, wherein a magnetic compass support (17) and a USBL support (18) are arranged on the front side of the top of the frame (1), a magnetic compass (13) and a UBSL (14) are respectively arranged in the magnetic compass support (17) and the USBL support (18), and a preposed floating material (19) and a sensor floating material (20) are sleeved on the magnetic compass support (17) and the USBL support (18).