CN213616720U - Amphibious operation robot that cruises - Google Patents
Amphibious operation robot that cruises Download PDFInfo
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- CN213616720U CN213616720U CN202021770985.3U CN202021770985U CN213616720U CN 213616720 U CN213616720 U CN 213616720U CN 202021770985 U CN202021770985 U CN 202021770985U CN 213616720 U CN213616720 U CN 213616720U
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Abstract
The utility model relates to the field of cruising operation, in particular to an amphibious cruising operation robot, which comprises a shell, a buoyancy adjusting unit, an on-road walking unit, an attitude adjusting unit, a control unit and a sampling unit; the shell plays the roles of protecting internal components and beautifying the device; the mechanism design of the land walking unit enables the land walking unit to be suitable for more environmental conditions, and has the advantages of the land walking unit in obstacle crossing; the propellers on the two sides of the attitude adjusting unit rotate around the shaft circumference to adjust the water spraying direction of the propellers, so that underwater actions such as side movement are realized, and the propeller has better trafficability in some narrow environments; the control unit is the brain of the whole device and is responsible for controlling the normal operation of the device and feeding back external information; the sampling device during operation, the arm clamp is got the sample and is put into and carry the thing box, and the user can install end effector at the end of arm additional by oneself according to the sampling kind of oneself to make the arm can realize different effects, thereby improve work efficiency.
Description
Technical Field
The utility model relates to an operation field of cruising, specific amphibious operation robot that cruises that says so.
Background
In recent years, people increasingly demand secondary utilization of resources, environmental protection and the like, and the secondary utilization problem of waste mines generated in the coal mining process is continuously paid attention by people. However, the construction of pumped storage power stations and underground reservoirs using waste mines as underground reservoirs is premised on accurate knowledge of the conditions of waste mines, such as: water seepage, leakage and storage conditions in some areas, structural strength of some areas and whether there is a collapse condition, etc. On the other hand, some conventional cruise robots are less suitable for working environments, and some conventional cruise robots are low in working efficiency. In view of this, people can find out that a working robot which can be adapted to more environmental conditions and has higher working efficiency is urgently needed, namely an amphibious cruise working robot, and the specific beneficial effects are as follows:
1. an amphibious operation robot that cruises, its design has referred to the variable crawler-type running gear's in position design scheme, this design is adaptable in more environmental aspect, has its self advantage in the aspect of crossing the barrier.
2. An amphibious operation robot that cruises, its underwater moving mechanism has adopted three screw collaborative work's mode to the screw of both sides can also be around the rotation of axle circumference and then adjust the water spray direction of screw, thereby realized actions such as the robot is on one's side under water, better trafficability characteristic has in some constrictive environment.
3. An amphibious operation robot that cruises, it is provided with the arm clamp and gets the sample and put into and carry the thing box, the user can install end effector at the end of arm by oneself according to the sampling kind of oneself in addition to make the arm can realize different effects, thereby improve work efficiency.
SUMMERY OF THE UTILITY MODEL
In order to make up the defects of the prior art, the utility model provides an amphibious cruising operation robot, the land running gear of the amphibious cruising operation robot researched and designed refers to the design scheme of the crawler running gear with the variable position in the design, the design can be adapted to more environment conditions, and the robot has the advantages of crossing obstacles; the underwater moving mechanism adopts a mode of cooperative work of three propellers, and the propellers on two sides can also rotate around the circumference of a shaft so as to adjust the water spraying direction of the propellers, so that the robot can move sideways under water and the like, and has better trafficability in some narrow environments; the mechanical arm clamps and puts a sample into the loading box, and in addition, a user can install the end effector at the tail end of the mechanical arm according to the sampling type of the user, so that the mechanical arm can realize different functions, and the working efficiency is improved.
The utility model provides a technical scheme that its technical problem adopted is: an amphibious cruising operation robot comprises a shell, a buoyancy adjusting unit, a road walking unit, an attitude adjusting unit, a control unit and a sampling unit; the shell consists of an upper shell and a lower shell, wherein the upper shell is a curved surface, so that the attractiveness of the robot is improved; the buoyancy adjusting unit is positioned between the upper shell and the lower shell, so that the space utilization rate is improved; the road walking units are positioned at the left side and the right side of the shell, and two road walking units are arranged at each side to ensure that the road walking units can stably move; the posture adjusting units are positioned between the two road walking units on each side and on two sides of the shell; the control unit is positioned below the buoyancy regulating unit and is responsible for controlling the operation of the robot and making corresponding feedback to the outside; the sampling unit is positioned in front of the shell and used for collecting mine samples.
As a preferred scheme of the utility model, the buoyancy adjusting unit in the utility model comprises a rear water tank, a front water tank, and an air inlet/outlet, a pipeline, a three-position three-way reversing valve, an air pump, an air storage tank, an electromagnetic valve and an air inlet/outlet port between the rear water tank and the front water tank; the air inlet/outlet is positioned above the middle of the rear water tank and the front water tank, so that air suction and exhaust are facilitated; the pipeline is positioned between the two water tanks, and is respectively connected with the rear water tank and the front water tank in the front and at the back, the upper part of the pipeline is connected with the air inlet/outlet, and the lower part of the pipeline is connected with the three-position three-way reversing valve, the air pump, the air storage tank and the water inlet/outlet; the gas storage tank is positioned between the rear water tank and the front water tank and is inclined to the right; the three-position three-way reversing valve and the air pump are positioned in front of the rear water tank and are in contact with the rear water tank; the water inlet/outlet is positioned between the rear water tank and the front water tank and is inclined downwards, so that the space utilization rate can be improved, and the floating and sinking of the water inlet/outlet can be well controlled.
As a preferred scheme of the utility model, the road walking unit comprises a crawler belt, a driving wheel, a bearing, a bevel gear transmission, a transmission motor, a guide wheel and a transmission wheel; the driving wheel and the guide wheel are positioned on the inner side of the track, and the driving wheel can drive the track to move so as to realize the forward and backward movement of the robot; the bearing and the transmission motor are positioned on the inner side of the driving wheel, so that the forward friction force can be reduced; the transmission motor is positioned on the inner side of the road walking unit, and the rotation direction of the transmission motor can be changed through a bevel gear.
As a preferred scheme of the utility model, the posture adjusting unit comprises wings, a rotating motor, a fairing, fan blades, a propelling motor, a wheel belt and a gear; the rotary motor is positioned inside the wing, the fairing is connected with the wing, the fan blade is positioned inside the fairing, and the propulsion motor is fixedly connected with the fan blade, so that the fan blade can be ensured to normally move under various conditions; the rotating motor drives the fairing to rotate through the wheel belt and the gear, and the whole steering of the robot can be realized.
As a preferred scheme of the utility model, the sampling unit comprises a left mechanical arm, a right mechanical arm and a carrying box; the left mechanical arm and the right mechanical arm are fixedly connected with the upper shell; the object carrying box is fixedly connected with the lower shell, and in addition, a user can additionally install an end effector at the tail end of the mechanical arm according to the sampling type of the user, so that the mechanical arm can realize different functions.
The utility model has the advantages that:
1. an amphibious operation robot that cruises, its design has referred to the variable crawler-type running gear's in position design scheme, this design is adaptable in more environmental aspect, has its self advantage in the aspect of crossing the barrier.
2. An amphibious operation robot that cruises, its underwater moving mechanism has adopted three screw collaborative work's mode to the screw of both sides can also be around the rotation of axle circumference and then adjust the water spray direction of screw, thereby realized actions such as the robot is on one's side under water, better trafficability characteristic has in some constrictive environment.
3. An amphibious operation robot that cruises, it is provided with the arm clamp and gets the sample and put into and carry the thing box, the user can install end effector at the end of arm by oneself according to the sampling kind of oneself in addition to make the arm can realize different effects, thereby improve work efficiency.
Drawings
The present invention will be further described with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic perspective view of the hidden upper case of the present invention viewed from the left rear;
fig. 2 is a schematic perspective view of the buoyancy adjusting unit of the present invention;
FIG. 3 is a schematic perspective view of a land walking unit according to the present invention;
FIG. 4 is a schematic view of a part of the structure of the land walking unit of the present invention;
fig. 5 is a schematic perspective view of the posture adjusting unit of the present invention;
fig. 6 is a schematic perspective view of the sampling unit of the present invention;
in the figure: the device comprises a shell 1, an upper shell 11, a lower shell 12, a buoyancy adjusting unit 2, a rear water tank 21, an air inlet/outlet 22, a pipeline 23, a three-position three-way reversing valve 24, an air pump 25, an air storage tank 26, an electromagnetic valve 27, a front water tank 28, an air inlet/outlet 29, an on-road walking unit 3, a crawler 31, a driving wheel 32, a bearing 33, a bevel gear transmission 34, a transmission motor 35, a guide wheel 36, a transmission wheel 37, an attitude adjusting unit 4, a wing 41, a rotating motor 42, a fairing 43, fan blades 44, a propelling motor 45, a wheel belt 46, a gear 47, a sampling unit 6, a left mechanical arm 61, a right mechanical arm 62 and a carrying box 63.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand and understand, the present invention is further described below with reference to the following embodiments.
As shown in fig. 1 to fig. 6, the amphibious cruising operation robot of the present invention includes a casing 1, a buoyancy adjusting unit 2, a road walking unit 3, a posture adjusting unit 4, a control unit and a sampling unit 6; the shell 1 consists of an upper shell 11 and a lower shell 12, and the upper shell 11 and the lower shell 12 can protect the internal structure; the buoyancy adjusting unit 2 is positioned between the upper shell 11 and the lower shell 12 and is responsible for controlling the robot to float up and submerge; the road walking units 3 are positioned at the left side and the right side of the shell 1, and two road walking units 3 are arranged at each side to ensure that the road walking units can move stably; the posture adjusting unit 4 is positioned between the two road walking units 3 on each side and on both sides of the shell 1 and is responsible for steering and swimming of the robot; the control unit is positioned below the buoyancy regulating unit 2 and is the brain of the whole device; the sampling unit 6 is positioned in front of the shell 1 and is responsible for collecting mine samples.
As shown in fig. 1 to 6, the robot for amphibious cruising operation of the present invention, the buoyancy adjusting unit 2 of the present invention includes a rear water tank 21, a front water tank 28, and an air inlet/outlet 22, a pipeline 23, a three-position three-way directional valve 24, an air pump 25, an air storage tank 26, an electromagnetic valve 27, and an air inlet/outlet 29 therebetween; when the amphibious cruising operation robot enters water and floats on the water surface, the electromagnetic valve 27 of the front/rear water tank connected with the water inlet/outlet 29 is controlled to work, water enters the water tank, when the total weight of the robot is larger than the buoyancy force, the robot begins to sink, when the robot sinks and floats in the water, the electromagnetic valve 27 of the air storage tank 26 connected with the front/rear water tank is opened, the water discharge amount of the front/rear water tank is controlled independently, and the robot can realize the function of forward tilting or backward tilting; when the robot is in water, the electromagnetic valve 27 connected with the water tank is opened, high-pressure gas is filled into the water tank from the gas storage tank 26, water is discharged from the water tank, the total weight of the robot body is smaller than the buoyancy, and the robot floats upwards until the robot reaches the water surface; and the communication condition of the channels is changed by controlling the three-position three-way reversing valve 24, so that the air inlet/outlet 22 is connected with the air pump 25, and the air pump 25 can draw air from the outside and compress the air into the air tank, thereby supplementing the consumption of high-pressure air in the air tank. If the fixing device is connected to the air pump 25 by controlling the three-position three-way selector valve 24, the operating state of the fixing device can be controlled by controlling the rotation direction of the air pump 25.
As shown in fig. 1 to fig. 6, the road walking unit 3 of the amphibious cruise robot of the present invention includes a track 31, a driving wheel 32, a bearing 33, a bevel gear transmission 34, a transmission motor 35, a guide wheel 36 and a transmission wheel 37; the amphibious cruise operation robot comprises four travelling mechanisms which are distributed on two sides of the robot in parallel, when the travelling mechanisms on the two sides are at the same speed, the robot can move forwards or backwards, and when the travelling mechanisms on the two sides are at different speeds, the robot can realize the steering function; the transmission motor 35 drives the whole walking mechanism to rotate on a vertical plane around the transmission shaft through bevel gear transmission 34; the driving motor drives the driving wheel 37, and the driving wheel 37 is meshed with the driving wheel 32, so that the crawler 31 is driven to rotate; when the robot travels on land and encounters an obstacle in front, the transmission motor 35 works, the guide wheels 36 are lifted upwards, and then the robot can cross the obstacle, and the obstacle-crossing type of the land traveling mechanism comprises ground protrusions, steps, gullies and the like.
As shown in fig. 1 to 6, in an amphibious cruise operation robot according to the present invention, the attitude adjustment unit 4 includes a wing 41, a rotating electrical machine 42, a fairing 43, a fan blade 44, a propulsion electrical machine 45, a belt 46 and a gear 47; the main function of the wing 41 is that when the robot moves forward in water, the wing 41 enables the robot to move forward more stably through the fluid dynamics principle; the rotating motor 42 allows the propeller to rotate around the horizontal axis of the body; when the propellers on the two sides have the same speed, the propellers are used for matching with a main propeller at the rear end of the robot to enable the robot to move forwards or backwards; when the propellers on the two sides are in differential speed, the robot can be steered in water; by controlling the rotating motor 42, the propulsion direction of the propeller can be controlled, and if the propulsion direction of the propeller on one side is changed from horizontal to upward, the body can be turned to one side, and the function is favorable for the robot to pass through some special underwater terrains.
As shown in fig. 1 to 6, the user can install the end effector at the end of the mechanical arm according to the sampling type of the user, so that the mechanical arm can realize different functions.
When the amphibious cruising operation robot works, the amphibious cruising operation robot is placed in a waste mine, and can advance and retreat, float and dive according to the requirements of people, reach a target position, perform sampling, photographing and the like, and acquire important information.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and the description are only illustrative of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, and these changes and modifications are all within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An amphibious cruising operation robot, characterized in that: comprises a shell (1), a buoyancy adjusting unit (2), a road walking unit (3), a posture adjusting unit (4), a control unit and a sampling unit (6); the shell (1) consists of an upper shell (11) and a lower shell (12); the buoyancy adjusting unit (2) is positioned between the upper shell (11) and the lower shell (12); the road walking units (3) are positioned at the left side and the right side of the shell (1), and each side is provided with two road walking units (3); the posture adjusting unit (4) is provided with two road walking units (3) positioned between two road walking units on each side and two sides of the shell (1), and the other one is positioned behind the shell (1); the control unit is positioned below the buoyancy regulating unit (2); the sampling unit (6) is positioned in front of the shell (1).
2. An amphibious cruise operation robot according to claim 1, characterised in that: the buoyancy adjusting unit (2) comprises a rear water tank (21), a front water tank (28), an air inlet/outlet (22/outlet), a pipeline (23), a three-position three-way reversing valve (24), an air pump (25), an air storage tank (26), an electromagnetic valve (27) and an air inlet/outlet (29) which are arranged between the rear water tank and the front water tank; the air inlet/outlet (22) is positioned above the middle of the rear water tank (21) and the front water tank (28); the pipeline (23) is positioned between the two water tanks, the front part and the rear part of the pipeline are respectively connected with the rear water tank (21) and the front water tank (28), the upper part of the pipeline is connected with the air inlet/outlet (22), and the lower part of the pipeline is connected with the three-position three-way reversing valve (24), the air pump (25), the air storage tank (26) and the water inlet/outlet (29); the air storage tank (26) is positioned between the rear water tank (21) and the front water tank (28) and is inclined to the right; the three-position three-way reversing valve (24) and the air pump (25) are positioned in front of the rear water tank (21) and are in contact with the rear water tank (21); the water inlet/outlet (29) is positioned at the lower middle part between the rear water tank (21) and the front water tank (28).
3. An amphibious cruise operation robot according to claim 1, characterised in that: the road walking unit (3) comprises a crawler belt (31), a driving wheel (32), a bearing (33), a bevel gear transmission (34), a transmission motor (35), a guide wheel (36) and a transmission wheel (37); the driving wheel (32) and the guide wheel (36) are positioned on the inner side of the crawler belt (31); the bearing (33) and the transmission motor (35) are positioned on the inner side of the driving wheel (32); the transmission motor (35) is positioned at the inner side of the road walking unit (3).
4. An amphibious cruise operation robot according to claim 1, characterised in that: the posture adjusting unit (4) comprises wings (41), a rotating motor (42), a fairing (43), fan blades (44), a propulsion motor (45), a belt wheel (46) and a gear (47); the rotating motor (42) is positioned inside the wing (41), the fairing (43) is connected with the wing (41), the fan blade (44) is positioned inside the fairing (43), and the propulsion motor (45) is fixedly connected with the fan blade (44); the rotating motor (42) drives the fairing (43) to rotate through the belt pulley (46) and the gear (47).
5. An amphibious cruise operation robot according to claim 1, characterised in that: the control unit is positioned under the air pump (25).
6. An amphibious cruise operation robot according to claim 1, characterised in that: the sampling unit (6) comprises a left mechanical arm (61), a right mechanical arm (62) and a carrying box (63); the left mechanical arm (61) and the right mechanical arm (62) are fixedly connected with the upper shell; the loading box (63) is fixedly connected with the lower shell.
7. An amphibious cruise operation robot according to claim 1, characterised in that: the buoyancy adjusting unit (2) changes the communication condition of the channel by controlling the three-position three-way reversing valve (24), so that the air inlet/outlet (22) is connected with the air pump (25), and the air pump (25) can draw air from the outside and retract the air into the air storage tank (26) at the moment, thereby supplementing the consumption of high-pressure air in the air storage tank (26); if the fixing device is connected with the air pump by controlling the three-position three-way reversing valve (24), the working state of the fixing device can be controlled by controlling the steering of the air pump.
8. An amphibious cruise operation robot according to claim 1, characterised in that: the road walking unit (3) is characterized in that the walking mechanism only has one degree of freedom, namely can only rotate around a transmission shaft connected with the machine body.
9. An amphibious cruise operation robot according to claim 1, characterised in that: the sampling unit (6) can enable a user to additionally install an end effector at the tail end of the mechanical arm according to the sampling type of the user, so that the mechanical arm can achieve different functions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021770985.3U CN213616720U (en) | 2020-08-19 | 2020-08-19 | Amphibious operation robot that cruises |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021770985.3U CN213616720U (en) | 2020-08-19 | 2020-08-19 | Amphibious operation robot that cruises |
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| CN213616720U true CN213616720U (en) | 2021-07-06 |
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| CN202021770985.3U Active CN213616720U (en) | 2020-08-19 | 2020-08-19 | Amphibious operation robot that cruises |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941438A (en) * | 2020-08-19 | 2020-11-17 | 安徽理工大学 | Amphibious operation robot that cruises |
| CN114013649A (en) * | 2021-11-10 | 2022-02-08 | 沈阳航空航天大学 | Triphibian cross-medium transverse tilting dual-rotor aircraft |
| CN114659824A (en) * | 2022-03-31 | 2022-06-24 | 济南瑞源智能城市开发有限公司 | Amphibious multipurpose vehicle |
| KR102517851B1 (en) * | 2022-11-02 | 2023-04-04 | 한경국립대학교 산학협력단 | Amphibious ecological disturbance plant removal device |
-
2020
- 2020-08-19 CN CN202021770985.3U patent/CN213616720U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941438A (en) * | 2020-08-19 | 2020-11-17 | 安徽理工大学 | Amphibious operation robot that cruises |
| CN114013649A (en) * | 2021-11-10 | 2022-02-08 | 沈阳航空航天大学 | Triphibian cross-medium transverse tilting dual-rotor aircraft |
| CN114659824A (en) * | 2022-03-31 | 2022-06-24 | 济南瑞源智能城市开发有限公司 | Amphibious multipurpose vehicle |
| KR102517851B1 (en) * | 2022-11-02 | 2023-04-04 | 한경국립대학교 산학협력단 | Amphibious ecological disturbance plant removal device |
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