CN213799130U - Amphibious robot based on connecting rod type transmission - Google Patents
Amphibious robot based on connecting rod type transmission Download PDFInfo
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- CN213799130U CN213799130U CN202022631684.9U CN202022631684U CN213799130U CN 213799130 U CN213799130 U CN 213799130U CN 202022631684 U CN202022631684 U CN 202022631684U CN 213799130 U CN213799130 U CN 213799130U
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Abstract
The utility model discloses an amphibious robot based on connecting rod formula transmission, including robot shell, controller, intermediate lamella, leg mechanism, dual output shaft motor and compound crank rocker slider mechanism, the controller is fixed on the lower plate of robot shell, the intermediate lamella is fixed on the lower plate of robot shell, dual output shaft motor and compound crank rocker slider mechanism are installed on the intermediate lamella, leg mechanism includes four walking legs that distribute in robot shell both sides, compound crank rocker slider mechanism connects four walking legs that set up in robot shell both sides and drives the motion of four walking legs; the utility model discloses an adopt dual-purpose mode of leg mechanism, both can walk on land, can provide thrust in the aquatic swing again, make the robot can realize quick switching under water and land two kinds of environment, solved the fragile problem of adoption screw in aqueous well, work strong adaptability, efficient, can realize the continuous stable work of water and land environment.
Description
Technical Field
The utility model relates to the technical field of robot, more specifically the utility model specifically says, especially relates to an amphibious robot based on connecting rod formula transmission.
Background
In recent years, the application of robotics to various fields has been continuously developed. The operation type robot can replace personnel to perform various complex operations; the mobile robot can carry out the work of terrain exploration, earthquake relief, material transportation and the like on the land; the underwater robot can complete a series of operations in water.
The amphibious robot combines a mobile robot and an underwater robot, can walk on land and in water, can realize quick switching between two different environments, and can work continuously.
The Chinese utility model patent with application number 201510157435.1 discloses an amphibious robot with a deformable structure, wherein switching between two modes is realized by steering of a steering engine, and propellers are embedded in wheels to provide thrust for the robot to sail on the water surface; the Chinese utility model with application number of 201310480381.3 discloses a novel amphibious walking mechanism, which utilizes a clutch device to extend and unfold helical blades in wheels, thus realizing the switching between land and water; the patent of utility model No. 200910222487.7 discloses an amphibious robot based on paddle-foot plate hybrid drive, which can switch between the use of paddle drive and foot plate drive to realize the work in the amphibious environment. However, the above mentioned utility model adopts the way of pushing by the propeller in water, resulting in low pushing force and easy to be entangled by impurities in water and damage the machine body; and also has the problem of complicated switching operation.
In view of the above-mentioned deficiencies, a new amphibious robot needs to be designed and developed, which can complement the deficiencies.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the current amphibious robot switching mode complicated, aquatic thrust inefficiency scheduling problem has proposed an amphibious robot based on connecting rod formula transmission, both can walk on the land through the foot chain, can swing and produce thrust in the aquatic again to reach the fast switch over mode, continuously work steadily in two kinds of environment of land and water.
The utility model discloses a following technical scheme realizes above-mentioned purpose: an amphibious robot based on connecting rod type transmission comprises a robot shell, a controller, an intermediate plate, leg mechanisms, a double-output-shaft motor and a composite crank rocker slider mechanism, wherein the controller is fixed on a lower bottom plate of the robot shell, the intermediate plate is fixed on the lower bottom plate of the robot shell, the double-output-shaft motor and the composite crank rocker slider mechanism are installed on the intermediate plate, the leg mechanisms comprise four walking legs distributed on two sides of the robot shell, the four walking legs are respectively provided with two front side legs and two rear side legs, and the composite crank rocker slider mechanism is connected with the four walking legs arranged on the two sides of the robot shell and drives the four walking legs to move;
the four walking legs of the leg mechanism are identical in structure, each walking leg comprises a supporting leg, an upper steering engine support, a lower steering engine support, a front steering engine support, a rear steering engine support, a rotating shaft, a leg bearing seat, a leg bearing, a leg connecting key, a first steering engine, a second steering engine and a third steering engine, one end of each upper steering engine support and one end of each lower steering engine support are hinged with the supporting legs through first hinge shafts, first hinge shafts are fixed on the supporting legs, the first steering engines are fixed on the upper steering engine supports, and output shafts of the first steering engines are connected with the first hinge shafts; the other end of the upper steering engine support and the other end of the lower steering engine support are hinged with one end of the front steering engine support and the other end of the rear steering engine support through second hinge shafts, the second hinge shafts are fixed on the upper steering engine support and the lower steering engine support, and the second steering engines are fixed on the front steering engine support and the rear steering engine support, and output shafts of the second steering engines are connected with the second hinge shafts; the other end of the front steering engine support and the other end of the rear steering engine support are hinged with one end of the rotating shaft through a third hinge shaft, the third hinge shaft is fixed on the front steering engine support and the rear steering engine support, the third steering engine is fixed on the rotating shaft, and an output shaft of the third steering engine is connected with the third hinge shaft; the rotating shaft is sleeved with a leg bearing seat, the leg bearing seat is connected with the rotating shaft through a leg bearing, and the outer side of the leg bearing seat is fixed on a robot shell; the end part of the rotating shaft is provided with a leg connecting key for connecting a gear transmission device;
the composite crank rocker sliding block mechanism comprises a first base, a second base, a first crank, a second crank, a rocker, a first sliding block, a second sliding block, a third sliding block, a driving wheel, a driven wheel and a synchronous belt, wherein the first base and the second base are both fixed on an intermediate plate, output shafts of a motor with double output shafts are supported on the first base through bearings, one end of the first crank is fixed on an output shaft of the motor with double output shafts, the other end of the first crank is hinged with the third sliding block, one end of the second crank is provided with a first sliding groove matched with the third sliding block, and the third sliding block is sleeved in the first sliding groove of the second crank; one end of the rocker is hinged to the second base, a sliding block hinged shaft arranged parallel to the axis of the driving wheel is arranged at the position, close to the edge, of the driving wheel, the second sliding block is fixed at one end of the sliding block hinged shaft, a sliding rod matched with the first sliding block is arranged at the other end of the rocker, and the second sliding block is sleeved on the sliding rod of the rocker; a second sliding groove matched with the first sliding block is formed in the middle of the rocker, a first sliding block is hinged to one end, away from the first sliding groove, of the second crank, and the first sliding block is sleeved in the second sliding groove of the rocker; the driving wheel is fixedly arranged on a rotating shaft of the rear side leg, and the driven wheel is fixedly arranged on a rotating shaft of the front side leg; when the motor with the double output shafts works, the first crank is driven to rotate around the output shaft of the motor with the double output shafts, the third sliding block is driven to slide in the first sliding groove of the second crank, and therefore the first sliding block at the other end of the second crank is driven to slide in the second sliding groove of the rocker, and the driving wheel is driven to swing back and forth;
the composite crank rocker sliding block mechanisms are symmetrically arranged on the left and right sides, and the two composite crank rocker sliding block mechanisms are respectively connected with two output shafts of the double-output-shaft motor to provide walking power for the four walking legs.
Furthermore, the robot housing comprises a front side plate, a rear side plate, a left side plate, a right side plate, an upper base plate and a lower base plate, wherein the front side plate, the rear side plate, the left side plate, the right side plate, the upper base plate and the lower base plate jointly form a sealed robot housing.
Furthermore, the upper bottom plate and the lower bottom plate have the same structure, the upper bottom plate and the lower bottom plate are arranged in parallel, the upper end and the lower end of the front side plate are respectively fixed at the front sides of the upper bottom plate and the lower bottom plate, the upper end and the lower end of the rear side plate are respectively fixed at the rear sides of the upper bottom plate and the lower bottom plate, the upper end and the lower end of the left side plate are respectively fixed at the left sides of the upper bottom plate and the lower bottom plate, and the upper end and the lower end of the right side plate are respectively fixed at the right sides of the upper bottom plate and the lower bottom plate; the front side plate, the rear side plate, the left side plate and the right side plate are all perpendicular to the upper base plate and the lower base plate. The front side plate, the rear side plate, the left side plate and the right side plate are connected with the upper bottom plate and the lower bottom plate in a clamping groove and bolt connection mode, and a sealing ring is arranged at the joint for integral sealing; or integrally formed after the upper bottom plate is removed.
Furthermore, the intermediate plate is fixed on the lower bottom plate of the shell of the robot through copper columns uniformly distributed at the bottom of the intermediate plate, and the intermediate plate is fixed on the copper columns through bolts.
Furthermore, a small hole which forms an angle of 90 degrees with the hub of the driving wheel is arranged on the driving wheel. The small hole is a mounting hole of a sliding block hinge shaft, and the sliding block hinge shaft is sleeved in the small hole.
Furthermore, the driving wheel and the driven wheel are fixed on the rotating shaft through keys.
The beneficial effects of the utility model reside in that:
1. the utility model discloses an adopt dual-purpose mode of leg mechanism, both can walk on land, can provide thrust in the aquatic swing again, make the robot can realize quick switching under two kinds of environment of land and water, solved well and adopted the screw to be fragile problem in the aquatic, need not to equip extra underwater propulsion equipment, work strong adaptability, efficient, can realize the continuous stable work of land and water environment.
2. The utility model discloses adopt the steering wheel of installing on the supporting legs to drive when land walking mode, the aquatic adopts the motor of installing inside the organism to drive during the mode of moving about, and two kinds of control mode divide the worker clear and definite, difficult coupling.
3. The utility model discloses a compound crank rocker slider mechanism only needs the rotation speed of control motor folk prescription to, need not control motor's positive and negative rotation, just can drive the luffing motion of supporting legs in the certain limit, and then the forward velocity of control robot in aqueous.
4. The utility model discloses utilize dual output shaft motor and hold-in range mechanism can realize that 4 supporting legss of single motor control swing in aqueous with the same frequency, make it the motion mode law orderly, need not additionally to design 4 foot wobbling order modes.
Drawings
Fig. 1 is a schematic view of the overall structure of an amphibious robot based on link transmission.
Fig. 2 shows the posture of the amphibious robot in water based on the link transmission.
Fig. 3 is the internal structure diagram of the amphibious robot based on the link transmission.
Fig. 4 is a schematic structural view of the leg mechanism of the present invention.
Fig. 5 is a schematic structural diagram of the composite crank rocker slider mechanism of the present invention.
Fig. 6 is a schematic diagram of the land walking structure of the present invention.
Fig. 7 is the structure diagram of the initial state of the utility model in water.
Fig. 8 is a schematic diagram of the maximum swing angle structure of the utility model when swimming in water.
In the figure, 1-an upper side plate, 2-a leg mechanism, 3-a front side plate, 4-a right side plate, 5-a composite crank rocker slider mechanism, 6-a middle plate, 7-a synchronous belt, 8-a control plate, 9-a lower bottom plate, 10-a double-output-shaft motor, 11-a support leg, 12-a first steering engine, 13-an upper steering engine support, a lower steering engine support, 14-a second steering engine, 15-a third steering engine, 16-a front steering engine support, 17-a rotating shaft, 18-a leg bearing seat, 19-a leg bearing, 20-a leg connecting key, 21-a second base, 22-a rocker, 23-a first base, 24-a first slider and 25-a driving wheel. 26-second slide, 27-second crank, 28 first crank.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in figures 1-8, an amphibious robot based on link transmission is characterized in that: including robot shell, controller 8, intermediate lamella 6, leg mechanism 2, dual output shaft motor 10 and compound crank rocker slider mechanism 5, controller 8 fixes on the lower plate 9 of robot shell, and intermediate lamella 6 is fixed on the lower plate 9 of robot shell, dual output shaft motor 10 and compound crank rocker slider mechanism 5 install on intermediate lamella 6, and leg mechanism 2 is including four walking legs of distribution in robot shell both sides, and four walking legs are two front side legs and two rear side legs respectively, and compound crank rocker slider mechanism 5 connects four walking legs that set up in robot shell both sides and drives the motion of four walking legs.
The four walking legs of the leg mechanism 2 are identical in structure, each walking leg comprises a supporting leg 11, an upper steering engine support 13, a lower steering engine support 13, a front steering engine support 16, a rear steering engine support 16, a rotating shaft 17, a leg bearing block 18, a leg bearing 19, a leg connecting key 20, a first steering engine 12, a second steering engine 14 and a third steering engine 15, one end of each upper steering engine support 13 is hinged to the supporting leg 11 through a first hinge shaft, a first hinge shaft is fixed to the supporting leg 11, the first steering engine 12 is fixed to the upper steering engine support 13, and an output shaft of the first steering engine 12 is connected with the first hinge shaft; the other end of the upper steering engine support 13 and the other end of the lower steering engine support 13 are hinged with one end of the front steering engine support 16 and the other end of the rear steering engine support 16 through second hinge shafts, the second hinge shafts are fixed on the upper steering engine support 13 and the lower steering engine support 13, the second steering engines 14 are fixed on the front steering engine support 16 and the output shafts of the second steering engines 14 are connected with the second hinge shafts; the other end of the front steering engine support 16 and the other end of the rear steering engine support 16 are hinged with one end of the rotating shaft 17 through a third hinge shaft, the third hinge shaft is fixed on the front steering engine support 16 and the rear steering engine support 16, the third steering engine 15 is fixed on the rotating shaft 17, and an output shaft of the third steering engine 15 is connected with the third hinge shaft; the rotating shaft 17 is sleeved with a leg bearing seat 18, the leg bearing seat 18 is connected with the rotating shaft 17 through a leg bearing 19, and the outer side of the leg bearing seat 18 is fixed on a robot shell; the end of the rotating shaft 17 is provided with a leg connection key 20 for connecting a gear transmission.
The composite crank rocker slider mechanism 5 comprises a first base 23, a second base 21, a first crank 28, a second crank 27, a rocker 22, a first slider 24, a second slider 26, a third slider, a driving wheel 25, a driven wheel and a synchronous belt 7, wherein the first base 23 and the second base 21 are both fixed on an intermediate plate 6, an output shaft of a motor 10 with double output shafts is supported on the first base 23 through a bearing, one end of the first crank 28 is fixed on the output shaft of the motor 10 with double output shafts, the other end of the first crank 28 is hinged with the third slider, one end of the second crank 27 is provided with a first sliding groove matched with the third slider, and the third slider is sleeved in the first sliding groove of the second crank 27; one end of the rocker 22 is hinged on the second base 21, a sliding block hinge shaft arranged parallel to the axis of the driving wheel 25 is arranged at the position of the driving wheel 25 close to the edge, a second sliding block 26 is fixed at one end of the sliding block hinge shaft, a sliding rod matched with the first sliding block 24 is arranged at the other end of the rocker 22, and the second sliding block 26 is sleeved on the sliding rod of the rocker 22; a second sliding groove matched with the first sliding block 24 is formed in the middle of the rocker 22, a first sliding block 24 is hinged to one end, away from the first sliding groove, of the second crank 27, and the first sliding block 24 is sleeved in the second sliding groove of the rocker 22; the driving wheel 25 and the driven wheel are connected through a synchronous belt 7, the driving wheel 25 is fixedly arranged on the rotating shaft 17 of the rear side leg, and the driven wheel is fixedly arranged on the rotating shaft 17 of the front side leg; when the motor 10 with double output shafts works, the first crank 28 is driven to rotate around the output shaft of the motor 10 with double output shafts, and the third slide block is driven to slide in the first slide slot of the second crank 27, so that the first slide block 24 at the other end of the second crank 27 is driven to slide in the second slide slot of the rocker 22, and the driving wheel 25 is driven to swing back and forth.
The compound crank rocker sliding block mechanisms 5 are symmetrically arranged at left and right sides, and the two compound crank rocker sliding block mechanisms 5 are respectively connected with two output shafts of the double-output-shaft motor 10 to provide walking power for four walking legs.
The robot shell comprises a front side plate 3, a rear side plate, a left side plate, a right side plate 4, an upper bottom plate 1 and a lower bottom plate 9, wherein the front side plate 3, the rear side plate, the left side plate, the right side plate 4, the upper bottom plate 1 and the lower bottom plate 9 jointly form a sealed robot shell.
The upper bottom plate 1 and the lower bottom plate 9 are completely the same in structure, the upper bottom plate 1 and the lower bottom plate 9 are arranged in parallel, the upper end and the lower end of the front side plate 3 are respectively fixed on the front sides of the upper bottom plate 1 and the lower bottom plate 9, the upper end and the lower end of the rear side plate are respectively fixed on the rear sides of the upper bottom plate 1 and the lower bottom plate 9, the upper end and the lower end of the left side plate are respectively fixed on the left sides of the upper bottom plate 1 and the lower bottom plate 9, and the upper end and the lower end of the right side plate 4 are respectively fixed on the right sides of the upper bottom plate 1 and the lower bottom plate 9; the front side plate 3, the rear side plate, the left side plate and the right side plate 4 are all arranged perpendicular to the upper base plate 1 and the lower base plate 9.
The middle plate 6 is fixed on a lower bottom plate 9 of the robot shell through copper columns uniformly distributed at the bottom of the middle plate 6, and the middle plate 6 is fixed on the copper columns through bolts.
The driving wheel 25 is provided with a small hole which forms an angle of 90 degrees with the hub of the driving wheel 25, and the driving wheel 25 and the driven wheel are fixed on the rotating shaft 17 through keys.
The utility model discloses have two kinds of mode of land mobile mode and aquatic mode of moving about, concrete working process as follows:
in the land movement mode, as shown in fig. 6, when the robot leg mechanism 2 is controlled by a program, the height of the robot body from the ground is controlled by the first steering engine 12 and the second steering engine 14, the supporting legs 11 are controlled to be turned up and down, the axis of the third steering engine 15 is perpendicular to the ground, and the front and back walking directions of the robot are controlled. In this mode, the walking power of the robot comes from three steering engines on each leg mechanism, and the speed and the direction are controlled by the steering engines.
When the robot swims in the water mode, as shown in fig. 7-8, in the water mode, the robot leg mechanism 2 is in an L shape and retracts inwards, and the steering engine is locked; the double-output-shaft motor 10 starts to work to drive the composite crank rocker slider mechanism 5 to rotate, the first crank 28 makes a revolving motion, and the driving wheel 25 makes an up-and-down swinging motion; the driving wheel 25 is connected with the rotating shaft 17 of the leg mechanism 2 and drives the leg mechanism 2 to move through the transmission force of the key 20; and the driving wheel 25 brings the same movement to the other leg mechanism 2 on the same side through the synchronous belt 7; in this way, the supporting feet 11 of the four leg mechanisms 2 all perform the same up-and-down swinging movement, thereby generating thrust and leading the robot to swim in water.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.
Claims (6)
1. An amphibious robot based on link transmission, its characterized in that: the robot comprises a robot shell, a controller (8), an intermediate plate (6), leg mechanisms (2), a double-output-shaft motor (10) and a composite crank rocker slider mechanism (5), wherein the controller (8) is fixed on a lower bottom plate (9) of the robot shell, the intermediate plate (6) is fixed on the lower bottom plate (9) of the robot shell, the double-output-shaft motor (10) and the composite crank rocker slider mechanism (5) are installed on the intermediate plate (6), the leg mechanisms (2) comprise four walking legs distributed on two sides of the robot shell, the four walking legs are respectively two front legs and two rear legs, and the composite crank rocker slider mechanism (5) is connected with the four walking legs arranged on two sides of the robot shell and drives the four walking legs to move;
the four walking legs of the leg mechanism (2) are identical in structure, each walking leg comprises a supporting leg (11), an upper steering engine support (13), a lower steering engine support (13), a front steering engine support (16), a rear steering engine support (16), a rotating shaft (17), a leg bearing seat (18), a leg bearing (19), a leg connecting key (20), a first steering engine (12), a second steering engine (14) and a third steering engine (15), one end of each upper steering engine support (13) and one end of each lower steering engine support (13) are hinged to the supporting leg (11) through a first hinge shaft, the first hinge shafts are fixed to the supporting legs (11), the first steering engines (12) are fixed to the upper steering engine supports (13) and the lower steering engine supports (13), and output shafts of the first steering engines (12) are connected with the first hinge shafts; the other end of the upper steering engine support (13) and the other end of the lower steering engine support (13) are hinged with one end of the front steering engine support (16) and the rear steering engine support (16) through second hinge shafts, the second hinge shafts are fixed on the upper steering engine support (13) and the lower steering engine support (13), the second steering engines (14) are fixed on the front steering engine support (16) and the output shafts of the second steering engines (14) are connected with the second hinge shafts; the other end of the front steering engine support (16) and the other end of the rear steering engine support (16) are hinged with one end of the rotating shaft (17) through a third hinge shaft, the third hinge shaft is fixed on the front steering engine support (16) and the rear steering engine support (16), the third steering engine (15) is fixed on the rotating shaft (17), and an output shaft of the third steering engine (15) is connected with the third hinge shaft; the robot is characterized in that a leg bearing seat (18) is sleeved on the rotating shaft (17), the leg bearing seat (18) is connected with the rotating shaft (17) through a leg bearing (19), and the outer side of the leg bearing seat (18) is fixed on a robot shell; a leg connecting key (20) for connecting a gear transmission device is arranged at the end part of the rotating shaft (17);
the composite crank rocker slider mechanism (5) comprises a first base (23), a second base (21), a first crank (28), a second crank (27), a rocker (22), a first slider (24), a second slider (26), a third slider, a driving wheel (25), a driven wheel and a synchronous belt (7), wherein the first base (23) and the second base (21) are fixed on an intermediate plate (6), an output shaft of a double-output-shaft motor (10) is supported on the first base (23) through a bearing, one end of the first crank (28) is fixed on an output shaft of the double-output-shaft motor (10), the other end of the first crank (28) is hinged with the third slider, one end of the second crank (27) is provided with a first sliding groove matched with the third slider, and the third slider is sleeved in the first sliding groove of the second crank (27); one end of the rocker (22) is hinged to the second base (21), a sliding block hinge shaft which is parallel to the axis of the driving wheel (25) is arranged at the position, close to the edge, of the driving wheel (25), a second sliding block (26) is fixed at one end of the sliding block hinge shaft, a sliding rod which is matched with the first sliding block (24) is arranged at the other end of the rocker (22), and the second sliding block (26) is sleeved on the sliding rod of the rocker (22); a second sliding groove matched with the first sliding block (24) is formed in the middle of the rocker (22), a first sliding block (24) is hinged to one end, away from the first sliding groove, of the second crank (27), and the first sliding block (24) is sleeved in the second sliding groove of the rocker (22); the driving wheel (25) and the driven wheel are connected through a synchronous belt (7), the driving wheel (25) is fixedly arranged on a rotating shaft (17) of the rear side leg, and the driven wheel is fixedly arranged on the rotating shaft (17) of the front side leg; when the motor (10) with the double output shafts works, the first crank (28) is driven to rotate around the output shaft of the motor (10) with the double output shafts, the third sliding block is driven to slide in the first sliding groove of the second crank (27), and therefore the first sliding block (24) at the other end of the second crank (27) is driven to slide in the second sliding groove of the rocker (22) and the driving wheel (25) is driven to swing back and forth;
the composite crank rocker sliding block mechanisms (5) are symmetrically arranged at left and right sides, and the two composite crank rocker sliding block mechanisms (5) are respectively connected with two output shafts of a double-output shaft motor (10) to provide walking power for four walking legs.
2. A link-based amphibious robot according to claim 1, where: the robot shell comprises a front side plate (3), a rear side plate, a left side plate, a right side plate (4), an upper base plate (1) and a lower base plate (9), wherein the front side plate (3), the rear side plate, the left side plate, the right side plate (4), the upper base plate (1) and the lower base plate (9) jointly form a sealed robot shell.
3. A link-based amphibious robot according to claim 2, where: the structure of the upper base plate (1) is completely the same as that of the lower base plate (9), the upper base plate (1) and the lower base plate (9) are arranged in parallel, the upper end and the lower end of the front side plate (3) are respectively fixed on the front sides of the upper base plate (1) and the lower base plate (9), the upper end and the lower end of the rear side plate are respectively fixed on the rear sides of the upper base plate (1) and the lower base plate (9), the upper end and the lower end of the left side plate are respectively fixed on the left sides of the upper base plate (1) and the lower base plate (9), and the upper end and the lower end of the right side plate (4) are respectively fixed on the right sides of the upper base plate (1) and the lower base plate (9); the front side plate (3), the rear side plate, the left side plate and the right side plate (4) are all arranged perpendicular to the upper base plate (1) and the lower base plate (9).
4. A link-based amphibious robot according to claim 3, where: the middle plate (6) is fixed on a lower bottom plate (9) of the robot shell through copper columns uniformly distributed at the bottom of the middle plate (6), and the middle plate (6) is fixed on the copper columns through bolts.
5. A link-based amphibious robot according to claim 1, where: the driving wheel (25) is provided with a small hole which forms an angle of 90 degrees with the hub of the driving wheel (25).
6. A link-based amphibious robot according to claim 1, where: the driving wheel (25) and the driven wheel are fixed on the rotating shaft (17) through keys.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022631684.9U CN213799130U (en) | 2020-11-15 | 2020-11-15 | Amphibious robot based on connecting rod type transmission |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022631684.9U CN213799130U (en) | 2020-11-15 | 2020-11-15 | Amphibious robot based on connecting rod type transmission |
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| CN213799130U true CN213799130U (en) | 2021-07-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112265420A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Amphibious robot |
| CN116278553A (en) * | 2023-05-12 | 2023-06-23 | 崂山国家实验室 | Amphibious driving device and amphibious motion control method |
-
2020
- 2020-11-15 CN CN202022631684.9U patent/CN213799130U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112265420A (en) * | 2020-11-15 | 2021-01-26 | 浙江工业大学 | Amphibious robot |
| CN112265420B (en) * | 2020-11-15 | 2024-02-23 | 浙江工业大学 | Amphibious robot |
| CN116278553A (en) * | 2023-05-12 | 2023-06-23 | 崂山国家实验室 | Amphibious driving device and amphibious motion control method |
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