CN213619238U

CN213619238U - Amphibious walking mechanism

Info

Publication number: CN213619238U
Application number: CN202022454885.6U
Authority: CN
Inventors: 郑洪标; 刘志国; 万松
Original assignee: Wuhan Easy Sight Technology Co Ltd
Current assignee: Wuhan Easy Sight Technology Co Ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-07-06
Anticipated expiration: 2030-10-28

Abstract

The utility model discloses a be used for amphibious running gear, including drive unit and a plurality of rotary drum that all sets up along controlling the direction, the lower extreme of rotary drum all is equipped with along its length direction and removes the strip, and arbitrary adjacent two be equipped with the soft board between the rotary drum, it is a plurality of the interval sets up around the rotary drum, and all with the drive unit transmission is connected, drive unit drives a plurality of the rotary drum reciprocates respectively, so that a plurality of the rotary drum is the simple harmonic wave form of removal on the front and back direction. The utility model provides a running gear can adapt to the complicated environment beyond conventional land simultaneously.

Description

Amphibious walking mechanism

Technical Field

The utility model relates to a walking equipment field. More specifically, the present invention relates to an amphibious traveling mechanism.

Background

At present, driving devices for walking movement on land and in water are designed into different types according to different use environments, and the traditional driving devices are wheel type, crawler type and blade type (propellers and the like) according to different use environments. The method comprises the following specific steps: the land walking driving mode mainly depends on the form of driving wheels, the mud walking driving mode mainly depends on the form of driving tracks, and the underwater walking driving mode mainly depends on the form of driving blades. In addition, in the aspect of research on amphibious equipment, most of the adopted power driving forms are combinations of the driving forms.

The invention patent 'a propeller' (201910351807.2) proposes a propeller type driver suitable for the design of airplane and ship, which comprises a driving shaft, a propeller shaft and a propeller rod, and is characterized in that the propeller rod with spiral grooves and spiral protrusions automatically rotates when meeting air flow, and generates thrust by using Magnus effect.

Utility model patent "an amphibious vehicle's automobile body" (201920424170.0), mainly provide buoyancy through the gasbag to drive blade device and rotate and provide the thrust that gos forward in aquatic, when walking on the land, adjust running gear and the land contact that has the wheel through hydraulic system, rethread drive wheel realizes the motion of machine on the land.

The invention patent 'amphibious ship of a new kind of actuating devices' (201810748401.3) is through setting up the wheel on the hull, and the wheel hub of the wheel is a structure of the characteristic of propeller type blade, when walking on the land the same as the walking form of the conventional drive wheel, and when moving in the water, drive the hydraulic pressure disk group to carry on the relative rotation, make the wheel twist 90 degrees, so as to regard wheel hub of the propeller type as the power of sailing in the water.

Conventional designs of drive are currently centered around wheeled, tracked and vane configurations, and it is difficult to satisfy the use in a single drive for a variety of environments. In particular, the driving force which can adapt to dry land, wet land, sand, stone, mud and water environment simultaneously is a fresh research. The prior art has the following disadvantages: at present, the conventional driving device is single in environmental adaptability; the amphibious device is mostly combined with conventional design in the aspect of research, the structure is complex, and in the aspect of environmental adaptability, although the amphibious device can adapt to the land and water, the use condition in a specific complex land environment is not researched and discussed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a running gear can adapt to the complicated environment beyond conventional land (dry and wet land) simultaneously.

The utility model provides an above-mentioned technical problem's technical scheme as follows: the utility model provides a running gear for amphibious, includes drive unit and a plurality of rotary drums that all set up along left right direction, the lower extreme of rotary drum all is equipped with the removal strip along its length direction, and arbitrary adjacent two be equipped with the soft board between the rotary drum, a plurality of the rotary drum is the interval setting around, and all with the drive unit transmission is connected, drive unit drives a plurality of the rotary drum reciprocates respectively to make a plurality of the rotary drum be the simple harmonic wave form of removal in the front and back direction.

Preferably, in the amphibious walking mechanism, the driving unit comprises a screw shaft and a limiting assembly, the screw shaft is arranged along the front-back direction and is rotatably connected with the limiting assembly, the left end and the right end of the rotating drum are respectively movably connected with the limiting assembly, a notch penetrating through the rotating drum is arranged on the rotating drum along the radial direction of the rotating drum, and the screw shaft sequentially penetrates through the notches of the rotating drums.

Preferably, in the amphibious walking mechanism, the limiting assembly comprises a bottom plate, a positioning member, a power input shaft, a front connecting member, a rear connecting member and two chains, the screw shaft is arranged below the bottom plate along the front-rear direction, the front end and the rear end of the screw shaft are respectively provided with a front horizontal segment and a rear horizontal segment which are arranged along the front-rear direction, the front horizontal segment and the screw shaft are coaxially arranged, the rear horizontal segment and the screw shaft are eccentrically arranged, the front connecting member and the rear connecting member are both horizontally arranged and are respectively arranged at the front side and the rear side of the screw shaft, the front end of the front horizontal segment penetrates through the front connecting member and then is rotatably connected with the positioning member arranged at the lower end of the bottom plate, the power input shaft and the rear horizontal segment are arranged in parallel, and the front end penetrates through the rear connecting member and then is in transmission connection with the rear horizontal segment through a vertically arranged, the two chains are arranged along the length direction of the spiral shaft, the front end and the rear end of each chain are movably connected with the two ends of the front connecting piece and the two ends of the rear connecting piece respectively, and the rotary drum is arranged between the two chains.

Preferably, in the amphibious traveling mechanism, the rotating drum includes two end covers and two optical axes, the two end covers are arranged at a left-right interval, the two end covers are connected with each other through two positioning plates arranged at an upper-lower interval, the lower end of the positioning plate below is provided with the moving strip, the front end and the rear end of the lower end of the positioning plate below are respectively connected with two soft plates adjacent to the positioning plate, the two end covers are respectively rotatably connected with the two chains, the two optical axes are arranged between the two end covers along a front-rear direction, the left end and the right end of each optical axis are respectively connected with the end covers, and the gap is formed between the two optical axes.

Preferably, in the amphibious walking mechanism, one end of each end cover, which is far away from each other, is provided with a pin shaft along the left-right direction, and the pin shafts penetrate through the corresponding chains and are in transmission connection with the chains.

Preferably, in the amphibious walking mechanism, the chain comprises a plurality of vertically arranged connecting plates, and any two adjacent connecting plates are respectively and rotatably connected with one pin shaft.

Preferably, in the amphibious walking mechanism, a waist circular hole is respectively formed at each of the left end and the right end of each connecting plate, and the pin shaft sequentially penetrates through two adjacent waist circular holes of the two corresponding connecting plates and is slidably arranged in the waist circular holes.

Preferably, in the amphibious walking mechanism, the connecting plate is further provided with two weight-reducing holes.

Preferably, in the amphibious walking mechanism, a plurality of anti-slip strips are arranged at intervals at the lower ends of the moving strips.

Preferably, in the amphibious walking mechanism, the soft plate is a rubber pad.

The utility model discloses a running gear is connected the back through power input shaft and external power supply transmission, and external power supply drives power input shaft and screw axis rotation to drive a plurality of rotary drums and a plurality of soft board motion, when working on the land (wet land, stone futilely), the rotary drum moves behind the minimum, and the removal strip on it contacts with the land, produces frictional force because of the relation of relative motion, makes the drive obtain the driving force of advancing or moving back; when the movable strip works on the ground of sand or mud, the movable strip on the rotary drum is not completely pressed into the sand or mud, the pushing force is obtained by the friction force between the movable strip and the ground, and after the movable strip is pressed into the sand or mud, the soft plate positioned between the rotary drum and the movable strip can be contacted with the sand or mud to generate the friction force to obtain the pushing force for advancing or retreating; when the water-saving device works in water, the rotation of the spiral shaft drives the wave motion of the soft plate to generate driving force in the water.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic structural view of a traveling mechanism according to the present invention;

fig. 2 is a bottom view of the traveling mechanism according to the present invention;

fig. 3 is a schematic structural view of the threaded rod of the present invention;

fig. 4 is a schematic structural view of the chain of the present invention;

fig. 5 is a schematic structural view of the drum according to the present invention;

fig. 6 is a schematic view illustrating the connection between the connection plate and the shaft pin according to the present invention;

fig. 7 is a schematic structural diagram of the movable strip of the present invention.

Detailed Description

The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.

It should be noted that, in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of description, and 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.

Fig. 1 is that the embodiment of the utility model provides a be used for amphibious running gear, including drive unit and a plurality of rotary drum that all sets up along controlling the direction, the lower extreme of rotary drum all is equipped with the removal strip along its length direction, and arbitrary adjacent two be equipped with the soft board between the rotary drum, it is a plurality of the interval sets up around the rotary drum, and all with the drive unit transmission is connected, drive unit drives a plurality of the rotary drum reciprocates respectively, so that a plurality of the rotary drum is the simple harmonic wave form of removal in the front and back direction.

In this embodiment, when the plurality of drums are connected to the driving unit, the initial heights of the drums are different, and the drums are in a harmonic wave shape in the front-rear direction as shown in fig. 1. The driving unit is in transmission connection with an external power source and drives the rotary drums to move up and down respectively, and at the moment, the rotary drums are in simple harmonic waves moving in the front-back direction, so that when the rotary drum works on the land (dry and wet land and stone), a moving strip rotating to the lower end of the rotary drum at the lowest position can be in contact with the land, and friction force is generated due to the relative motion relationship, so that the driving obtains a forward or backward driving force; meanwhile, a soft board is arranged between any two adjacent rotary drums, and when the driving unit drives the rotary drums to move up and down respectively, the soft board can also move up and down in a wavy manner, so that after the movable strip is pressed into sand or mud, the soft board between the rotary drum and the movable strip can be contacted with the sand or mud, and friction force is generated to obtain forward or backward thrust; when working in water, the water-driven electric water heater generates driving force in water by means of the wave motion of the soft board.

Preferably, as another embodiment of the present invention, as shown in fig. 1 to 7, the driving unit includes a screw shaft and a limiting component, the screw shaft is disposed along a front-back direction, and is rotatably connected to the limiting component, the left end and the right end of the rotating drum are respectively movably connected to the limiting component, and a gap 9 is radially disposed on the rotating drum along the rotating drum, and the screw shaft sequentially passes through the gaps 9 of the rotating drum.

Specifically, the limiting assembly comprises a bottom plate 1, a positioning part 3, a power input shaft 4, a front connecting piece 5, a rear connecting piece 6 and two chains, wherein the screw shaft 2 is arranged below the bottom plate 1 along the front-rear direction, a front horizontal section 7 and a rear horizontal section 8 which are arranged along the front-rear direction are respectively arranged at the front end and the rear end of the screw shaft 2, the front horizontal section 7 and the screw shaft 2 are coaxially arranged, the rear horizontal section 8 and the screw shaft 2 are eccentrically arranged, the front connecting piece 5 and the rear connecting piece 6 are both horizontally arranged and are respectively arranged at the front side and the rear side of the screw shaft 2, the front end of the front horizontal section 7 penetrates through the front connecting piece 5 and then is rotatably connected with the positioning part 3 arranged at the lower end of the bottom plate 1, the power input shaft 4 and the rear horizontal section 8 are arranged in parallel, and the front end of the power input shaft penetrates through the rear connecting piece 6 and then, the two chains are arranged along the length direction of the screw shaft 2, the front end and the rear end of the two chains are respectively movably connected with the two ends of the front connecting piece 5 and the two ends of the rear connecting piece 6, the plurality of rotary drums are arranged along the left-right direction and are arranged between the two chains at intervals in the front-back direction, the left end and the right end of each rotary drum are respectively rotatably connected with the two chains, and the screw shaft 2 sequentially penetrates through the gaps 9 of the plurality of rotary drums.

In the embodiment, the power input shaft 4 is in transmission connection with an external driving mechanism, the driving mechanism drives the power output shaft to rotate, the power output shaft drives the screw shaft 2 to synchronously rotate through the eccentric wheel, and when the screw shaft rotates, the side wall of the notch 9 of each rotary drum can be abutted against the screw shaft, so that the rotation can be driven to move along with the rotation. Because both ends all with two coaxial coupling about the rotary drum, and the both ends of two chains are rotated with fixed preceding connecting piece 5, the back connecting piece 6 that sets up respectively and are connected, the position at both ends is unchangeable around the chain like this, and when the screw axis rotated, a plurality of rotations also can form a simple harmonic under the drive of screw axis, can pass through the removal strip 10 and the contact surface contact of a plurality of rotary drums below, drive the robot body and remove.

Preferably, as the utility model discloses another embodiment, the rotary drum includes two end covers 12 and two optical axes 13, two the interval sets up about end cover 12, connects through two locating plates 14 that the interval set up from top to bottom between the two, is located the below the lower extreme of locating plate 14 is equipped with remove strip 10, and is located the below both ends respectively with two rather than adjacent around the locating plate 14 lower extreme soft board 11 is connected, two end cover 12 respectively with two the chain rotates to be connected, two optical axes 13 all sets up two along the fore-and-aft direction between the end cover 12, both ends respectively with end cover 12 is connected, two about it forms between the optical axes 13 breach 9.

Preferably, as another embodiment of the present invention, a pin 15 is disposed at each end of the two end caps 12 away from each other along the left-right direction, and the pin 15 passes through the corresponding chain and is in transmission connection therewith; the chain comprises a plurality of vertically arranged connecting plates 16, and any two adjacent connecting plates 16 are respectively and rotatably connected with one pin shaft 15; the left end and the right end of the connecting plate 16 are respectively provided with a waist round hole 17, and the pin shaft 15 sequentially penetrates through two corresponding waist round holes 17 adjacent to the connecting plate 16 and is slidably arranged in the waist round holes 17.

In the embodiment, the chains are spliced by the connecting pieces, and the two adjacent connecting pieces are movably connected through the corresponding shaft pins, so that the connecting pieces can move along with the corresponding rotary drums.

Preferably, as another embodiment of the present invention, two lightening holes 18 are further provided on the connecting plate 16.

In this embodiment, two lightening holes 18 are made in the link plate 16 to reduce the weight of the link plate 16 and thus the chain.

Preferably, as another embodiment of the present invention, a plurality of anti-slip strips 19 are provided at intervals at the lower end of the moving strip 10.

In this embodiment, a plurality of anti-slip strips 19 are spaced at the lower end of the moving strip 10 to increase the friction between the moving strip 10 and the contact surface.

Preferably, as another embodiment of the present invention, the soft board 11 is a rubber pad.

In this embodiment, the rubber pad has high strength and light weight, which can ensure the normal use of the soft board 11.

While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields suitable for the invention, and further modifications may be readily made by those skilled in the art, and the invention is therefore not limited to the specific details and embodiments shown and described herein, without departing from the general concept defined by the claims and their equivalents.

Claims

1. The amphibious walking mechanism is characterized by comprising a driving unit and a plurality of rotary drums, wherein the rotary drums are arranged along the left and right directions, moving strips (10) are arranged at the lower ends of the rotary drums along the length directions of the rotary drums, soft boards are arranged between any two adjacent rotary drums, the rotary drums are arranged at intervals in the front and back direction and are in transmission connection with the driving unit, and the driving unit drives the rotary drums to move up and down respectively, so that the rotary drums are in simple harmonic waves moving in the front and back directions.

2. An amphibious walking mechanism as defined in claim 1, wherein said driving unit comprises a screw shaft (2) and a limiting assembly, said screw shaft (2) is arranged along the front-back direction, and is rotatably connected with said limiting assembly, the left and right ends of said rotary drum are movably connected with said limiting assembly respectively, and said rotary drum is provided with a notch (9) extending through it along the radial direction, and said screw shaft (2) sequentially passes through a plurality of notches (9) of said rotary drum.

3. The amphibious traveling mechanism according to claim 2, wherein the limiting assembly comprises a bottom plate (1), a positioning member (3), a power input shaft (4), a front connecting member (5), a rear connecting member (6) and two chains, the screw shaft (2) is arranged below the bottom plate (1) along a front-rear direction, a front horizontal section (7) and a rear horizontal section (8) are respectively arranged at front and rear ends of the screw shaft (2), the front horizontal section (7) and the screw shaft (2) are coaxially arranged, the rear horizontal section (8) is eccentrically arranged with respect to the screw shaft (2), the front connecting member (5) and the rear connecting member (6) are both horizontally arranged and are respectively arranged at front and rear sides of the screw shaft (2), a front end of the front horizontal section (7) penetrates through the front connecting member (5) and then is rotatably connected with the positioning member (3) arranged at a lower end of the bottom plate (1), the power input shaft (4) and the rear horizontal section (8) are arranged in parallel, the front end of the power input shaft penetrates through the rear connecting piece (6) and then is in transmission connection with the rear horizontal section (8) through a vertically arranged eccentric wheel, the two chains are arranged along the length direction of the screw shaft (2), the front end and the rear end of the power input shaft are respectively movably connected with the two ends of the front connecting piece (5) and the two ends of the rear connecting piece (6), and the rotary drum is arranged between the two chains.

4. A travel mechanism for amphibious according to claim 3, wherein said drum comprises two end covers (12) and two optical shafts (13), said two end covers (12) are spaced from each other left and right, and are connected to each other by two positioning plates (14) spaced from each other up and down, said movable bar (10) is disposed at the lower end of said lower positioning plate (14), and the front and rear ends of the lower end of said lower positioning plate (14) are respectively connected to two soft plates (11) adjacent thereto, said two end covers (12) are respectively rotatably connected to two chains, said two optical shafts (13) are both disposed between said two end covers (12) in the front and rear direction, and the left and right ends of said optical shafts are respectively connected to said end covers (12), and said gap (9) is formed between said two optical shafts (13).

5. An amphibious vehicle as claimed in claim 4, wherein the ends of the end caps (12) remote from each other are provided with a pin (15) in the left-right direction, respectively, said pin (15) passing through the respective chain and being in driving connection therewith.

6. An amphibious walking mechanism according to claim 5, wherein said chain comprises a plurality of vertically arranged link plates (16), any two adjacent link plates (16) being rotatably connected to one of said pins (15).

7. An amphibious vehicle as claimed in claim 6, wherein the left and right ends of the connecting plates (16) are each provided with a waist circular hole (17), and the pin (15) is slidably disposed through and in two adjacent waist circular holes (17) of two corresponding connecting plates (16).

8. An amphibious vehicle according to claim 6, where the attachment plate (16) is further provided with two lightening holes (18).

9. An amphibious vehicle according to any of claims 1-8, where the lower end of the runner (10) is provided with a number of cleats (19) at intervals.

10. An amphibious walking mechanism as defined in any one of claims 1-8, characterised in that said soft board (11) is a rubber pad.