CN219214635U

CN219214635U - Amphibious special operation robot

Info

Publication number: CN219214635U
Application number: CN202320334950.2U
Authority: CN
Inventors: 王林; 陈宇飞; 陈雨洁; 朱梓聪; 韩松
Original assignee: Changshu Institute of Technology
Current assignee: Changshu Institute of Technology
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-06-20
Anticipated expiration: 2033-02-28

Abstract

The utility model discloses an amphibious special operation robot, which comprises a frame serving as an operation robot main body, wherein both sides of the frame are provided with rotary transmission mechanisms, the lower part of each rotary transmission mechanism is connected with a traveling device through a connecting rod, and each traveling device is provided with an independent transmission motor; the rotary transmission mechanism is driven to rotate by the driving motor, so that a connecting rod connected with the rotary transmission mechanism is driven to rotate around the position of the rotary transmission mechanism by an angle of 0-180 degrees, the state of the robot is changed, and the robot is switched from a land walking mode to a water walking mode; the center of mass of the robot moving along the front-back direction is changed by rotating the connecting rod and the frame within the range of-72 degrees to-72 degrees, the robot is allowed to pitch upwards by moving backwards and accelerating, and finally the function of cleaning the inside of the pipeline, which is suitable for complex sewer pipelines, is realized.

Description

Amphibious special operation robot

Technical Field

The utility model relates to the field of small machinery for auxiliary operation of amphibious pipelines, in particular to an amphibious special operation robot.

Background

Sewer pipes in cities are important components in urban planning, and the integrity and sundry blockage of the pipes can bring regional drainage system paralysis, so that ponding is even more serious. In order to adapt to sewer pipes with different complicated degrees designed in different cities, the difficulty of inspection and maintenance work is increased due to various sizes and sundries accumulated in the pipelines for many years, and the cleaning and maintenance operation of the pipelines is seriously hindered. Therefore, the amphibious special operation robot is designed to solve the problems.

Disclosure of Invention

The utility model aims to: the utility model aims to provide an amphibious special operation robot which can be suitable for complex sewer pipes and can clean the inside of the pipelines.

The technical scheme is as follows: the amphibious special operation robot comprises a frame serving as an operation robot main body, wherein a driving motor, a microcontroller and a battery are arranged in the frame and serve as a control center and a power center, the driving motor is respectively and electrically connected with the microcontroller and the battery, two side edges of the frame are respectively provided with a rotary transmission mechanism, each rotary transmission mechanism is connected with the driving motor in the frame through a transmission gear, a walking device is connected below the rotary transmission mechanism through a connecting rod, and each walking device is internally provided with an independent transmission motor.

Preferably, the rotary transmission mechanism comprises a transmission shell, a screw and a turbine, wherein the transmission shell is connected with the driving motor through a transmission gear, the screw is arranged inside the transmission shell, after penetrating through the transmission gear, the screw is driven by the transmission gear to rotate along the axial direction of the frame, the rotation range is between 0 and 180 degrees, two ends of the screw are rotationally connected with the frame through screw shafts, the turbine is meshed below the screw, and the turbine rotates along with the rotation of the screw.

The power center outputs power to the rotary transmission mechanism through the transmission gear to drive the screw rod to rotate, so as to drive the rotary transmission mechanism to rotate, and finally drive the connecting rod connected with the rotary transmission mechanism to rotate around the angle between 0-180 degrees of the position of the rotary transmission mechanism, so that the state of the robot is changed, the land walking mode is switched into the underwater walking mode or the body is inverted, and the robot is further suitable for various different terrain environments.

Preferably, one end of the connecting rod is rotationally connected with the turbine along the axial direction of the frame through an upper rivet, the rotation angle is between-72 degrees and 72 degrees, and the other end of the connecting rod is rotationally connected with the traveling device along the axial direction of the frame through a lower willow nail.

By rotating the link and frame between-72 ° -72 °, the center of mass of the robot can be changed to move in a fore-and-aft direction, allowing the robot to pitch upward by moving backward and accelerating, or avoid tipping by moving forward while climbing over an obstacle, and this extension can also reduce the height of the robot, enabling it to climb under an obstacle.

Preferably, the running gear is including the gear groove, the outside of gear groove is provided with two pairs of walking wheels, and the inboard is provided with two pairs of impellers, walking wheel and impeller one-to-one pass through the long gear hub connection, the inside a plurality of cylindrical gears that are used for the transmission that are provided with side by side of gear groove, intermeshing between the cylindrical gears, the outer wall of gear groove is provided with driving motor, and driving motor's output shaft passes through the short gear shaft and is connected with the cylindrical gear that is located central point, runs through in the cylindrical gear that is located the outermost and has long gear shaft, drives walking wheel and impeller rotation.

Preferably, the long gear shaft is connected with the travelling wheels through a flat key I, and a check ring is arranged at the position of the long gear shaft extending out of the travelling wheels; the long gear shaft is connected with the impeller through a flat key II, and a check ring is arranged at the position, extending out of the impeller, of the long gear shaft; the long gear shaft is connected with the cylindrical gear through a flat key three, two ends of the connection position of the long gear shaft and the cylindrical gear shaft are respectively provided with a bearing for supporting the long gear shaft to rotate, friction coefficient in the motion process is reduced, rotation precision is guaranteed, and the outer side of each bearing is provided with a bearing cover for positioning.

The beneficial effects are that:

(1) The running gear is controlled by the independent transmission motor, and further differential driving is performed by controlling the rotating speed of the transmission motor, so that the steering of the robot can be realized;

(2) According to the method, the land mode and the in-water mode are switched through the combination of the travelling wheels and the impellers and by matching with the rotary transmission mechanism, the robot is changed in form, and the participation capacity in different terrain environments is improved;

(3) The angle between the connecting rod and the frame in the axial direction of the frame is adjusted, the mass center of the robot is moved along the front-back direction in a changing mode, the robot is allowed to tilt upwards through backward movement and acceleration, or overturning is avoided through forward movement when the robot climbs over an obstacle, and the height of the robot can be reduced through stretching, so that the robot can climb under the obstacle.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a front view of the present utility model;

FIG. 3 is a top view of the present utility model with the top housing end cap removed;

FIG. 4 is a schematic diagram of a rotary drive mechanism;

FIG. 5 is a schematic view of the rotary drive mechanism after rotation;

FIG. 6 is a front cross-sectional view of the rotary drive mechanism;

FIG. 7 is a top view of the rotary actuator;

FIG. 8 is a side cross-sectional view of the rotary drive mechanism;

fig. 9 is a plan sectional view of the running gear.

In fig. 1 to 9, the names of the structures are:

the bicycle comprises a bicycle frame 1, a rotary transmission mechanism 2, a transmission gear 3, a connecting rod 4, a traveling device 5, a first flat key 6, a first check ring 7, a second flat key 8, a second check ring 9, a third flat key 10, a bearing 11, a bearing cover 12, a transmission shell 21, a screw 22, a turbine 23, a screw shaft 24, an upper willow nail 41, a lower willow nail 42, a gear groove 51, a traveling wheel 52, an impeller 53, a long gear shaft 54, a cylindrical gear 55, a transmission motor 56 and a short gear shaft 57.

Detailed Description

The present application is further illustrated below in conjunction with specific embodiments.

As shown in fig. 1-9, which are schematic structural views of the present application, in this embodiment, the present disclosure includes a frame 1 as a main body of a working robot, in which a driving motor, a microcontroller, and a battery are disposed inside the frame 1 as a control center and a power center, and the driving motor is electrically connected to the microcontroller and the battery, respectively.

In this embodiment, two sides of the frame 1 are provided with rotary transmission mechanisms 2, each rotary transmission mechanism 2 is connected with a driving motor inside the frame 1 through a transmission gear 3, a traveling device 5 is connected below the rotary transmission mechanism 2 through a connecting rod 4, and an independent transmission motor 56 is arranged in each traveling device 5.

In this embodiment, the rotary transmission mechanism 2 includes a transmission housing 21, a screw 22 and a turbine 23, the transmission housing 21 is connected with a driving motor through a transmission gear 3, the screw 22 is disposed inside the transmission housing 21, after penetrating through the transmission gear 3, the screw is driven by the transmission gear 3 to rotate along the axial direction of the frame 1, the rotation range is between 0 ° and 180 °, two ends of the screw 22 are rotationally connected with the frame 1 through a screw shaft 24, the turbine 23 is meshed below the screw 22, the turbine 23 rotates along with the rotation of the screw 22, the power center outputs power to the rotary transmission mechanism 2 through the transmission gear 3 to drive the screw 22 to rotate, and then drives the whole rotary transmission mechanism 2 to rotate, finally drives a connecting rod 4 connected with the rotary transmission mechanism 2 to rotate around the position of the rotary transmission mechanism 2 by an angle between 0 ° and 180 °, so as to change the state of the robot, switch from a land walking mode to a water walking mode or invert the body, and adapt to various different terrain environments.

In this embodiment, one end of the connecting rod 4 is rotatably connected with the turbine 23 along the axial direction of the frame 1 through the upper rivet 41, the rotation angle is between-72 deg., and the other end is rotatably connected with the running gear 5 along the axial direction of the frame 1 through the lower rivet 42, the center of mass of the robot can be changed by rotating between-72 deg. between the connecting rod 4 and the frame 1, the robot is allowed to tilt upward by moving backward and accelerating, or the robot is prevented from tilting by moving forward when climbing over an obstacle, and the extension can also reduce the height of the robot so that the robot can climb under the obstacle.

In this embodiment, the running gear 5 includes a gear groove 51, two pairs of running wheels 52 are disposed on the outer side of the gear groove 51, two pairs of impellers 53 are disposed on the inner side of the gear groove 51, the running wheels 52 are in one-to-one correspondence with the impellers 53 and are connected through

long gear shafts

54, 7 cylindrical gears 55 for transmission are disposed in parallel in the gear groove 51, a transmission motor 56 is disposed on the outer wall of the gear groove 51, an output shaft of the transmission motor 56 is connected with the cylindrical gear 55 located at the central position through a short gear shaft 57, a long gear shaft 54 penetrates through the cylindrical gear 55 located at the outermost side, and the transmission motor 56 completes power transmission through the meshed cylindrical gears 55 to drive the running wheels 52 and the impellers 53 to rotate.

In the embodiment, the long gear shaft 54 is connected with the travelling wheel 52 through a flat key I6, and a check ring I7 is arranged at the position, extending out of the travelling wheel 52, of the long gear shaft 54; the long gear shaft 54 is connected with the impeller 53 through a flat key II 8, and a check ring II 9 is arranged at the position, extending out of the impeller 53, of the long gear shaft 54; the long gear shaft 54 is connected with the cylindrical gear 55 through the third flat key 10, two ends of the shaft connection position of the long gear shaft 54 and the cylindrical gear 55 are respectively provided with a bearing 11 for supporting the long gear shaft 54 to rotate, reducing friction coefficient in the moving process and guaranteeing rotation precision, and the outer sides of the bearings 11 are respectively provided with a bearing cover 12 for positioning.

When the robot is in operation, the cylindrical gear 55 is driven to rotate by the transmission motor 56, so that the travelling wheel 52 and the impeller 53 are driven to rotate, and the forward and backward movement of the robot is realized; the driving motor drives the transmission gear 3 to rotate, power is output to the rotary transmission mechanism 2, the screw rod 22 is driven to rotate, the rotary transmission mechanism 2 is driven to rotate, and finally the connecting rod 4 connected with the rotary transmission mechanism 2 is driven to rotate around the position of the rotary transmission mechanism 2 by an angle of 0-180 degrees, so that the state of the robot is changed, the state is changed from a land walking mode to a water walking mode or the body is inverted, and the robot is further suitable for various different terrain environments; by rotating the link 4 with the frame 1 in the range-72 ° -72 °, the centre of mass of the robot can be changed to move in the fore-and-aft direction, allowing the robot to pitch upwards by moving backwards and accelerating, or to avoid tipping by moving forwards when climbing over an obstacle, and this extension also reduces the height of the robot to enable it to climb under an obstacle; meanwhile, independent transmission motors are arranged on the running devices on two sides of the frame of the robot, and the steering of the robot can be realized by controlling the rotating speeds of the transmission motors to carry out differential driving.

Claims

1. The amphibious special operation robot comprises a frame serving as a main body of the operation robot, and is characterized in that: the automatic bicycle is characterized in that a driving motor, a microcontroller and a battery are arranged in the bicycle frame and serve as a control center and a power center, the driving motor is electrically connected with the microcontroller and the battery respectively, rotary transmission mechanisms are arranged on two side edges of the bicycle frame, each rotary transmission mechanism is connected with the driving motor in the bicycle frame through a transmission gear, a walking device is connected below the rotary transmission mechanism through a connecting rod, and each walking device is provided with an independent transmission motor.

2. An amphibious specialty work robot according to claim 1, wherein: the rotary transmission mechanism comprises a transmission shell, a screw and a turbine, wherein the transmission shell is connected with a driving motor through a transmission gear, the screw is arranged inside the transmission shell, after penetrating through the transmission gear, the screw is driven by the transmission gear to rotate along the axial direction of the frame, the rotation range is between-72 degrees and 72 degrees, two ends of the screw are rotationally connected with the frame through screw shafts, the turbine is meshed below the screw, and the turbine rotates along with the rotation of the screw.

3. An amphibious specialty work robot according to claim 2, wherein: one end of the connecting rod is rotationally connected with the turbine along the axial direction of the frame through an upper rivet, the rotation angle is between 0 and 180 degrees, and the other end of the connecting rod is rotationally connected with the traveling device along the axial direction of the frame through a lower willow nail.

4. An amphibious specialty work robot according to claim 1, wherein: the walking device comprises a gear groove, two pairs of walking wheels are arranged on the outer side of the gear groove, two pairs of impellers are arranged on the inner side of the gear groove, the walking wheels are connected with the impellers in a one-to-one correspondence manner through long gear shafts, a plurality of cylindrical gears used for transmission are arranged in parallel in the gear groove, the cylindrical gears are meshed with each other, a transmission motor is arranged on the outer wall of the gear groove, an output shaft of the transmission motor is connected with the cylindrical gears located at the central position through short gear shafts, and long gear shafts penetrate through the cylindrical gears located at the outermost sides to drive the walking wheels and the impellers to rotate.

5. An amphibious specialty work robot according to claim 4, wherein: the long gear shaft is connected with the travelling wheels through a flat key I, and a check ring is arranged at the position of the long gear shaft extending out of the travelling wheels; the long gear shaft is connected with the impeller through a flat key II, and a check ring is arranged at the position, extending out of the impeller, of the long gear shaft; the long gear shaft is connected with the cylindrical gear through a flat key three, two ends of the connection position of the long gear shaft and the cylindrical gear shaft are respectively provided with a bearing for supporting the long gear shaft to rotate, friction coefficient in the motion process is reduced, rotation precision is guaranteed, and the outer side of each bearing is provided with a bearing cover for positioning.