CN219406061U - Multi-motion-mode underwater hexapod robot - Google Patents
Multi-motion-mode underwater hexapod robot Download PDFInfo
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- CN219406061U CN219406061U CN202321025340.0U CN202321025340U CN219406061U CN 219406061 U CN219406061 U CN 219406061U CN 202321025340 U CN202321025340 U CN 202321025340U CN 219406061 U CN219406061 U CN 219406061U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The utility model discloses a multi-motion-mode underwater hexapod robot, which comprises a shell; the inner part of the shell is provided with a cavity, the front side and the rear side of the outer part of the shell are symmetrically provided with buffer mechanisms, and the left side and the right side of the inner part of the cavity are symmetrically provided with six groups of driving mechanisms; the driving mechanism comprises a first motor, a connecting plate, a rotating rod, a hydraulic cylinder, a second motor and a rotating wheel, wherein the first motor is arranged in the cavity, one end of the first motor is provided with a conductive slip ring, the output end of the first motor penetrates through the outer side of the shell and is fixedly connected with the connecting plate, and one end of the connecting plate is rotatably provided with the rotating rod; according to the utility model, six groups of driving mechanisms are symmetrically arranged at the left side and the right side of the inside of the cavity, and through the arrangement of the driving mechanisms, different movement modes of the device can be selected according to different use environments, so that the device can be used in different environments, and the applicability of the device can be further improved.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a multi-motion-mode underwater hexapod robot.
Background
With the lack of land resources, humans have advanced ocean resource development. Unlike land environments, marine environments are more unknown and complex. Because humans can personally explore the limited marine environment, an underwater robot, as a device having an environment sensing capability, an autonomous control capability, and an autonomous operation capability, is necessarily an important tool for developing the ocean. The traditional underwater robot is only suitable for operation in an underwater environment, and the amphibious robot has wide operation range and strong environment adaptability and can execute complex tasks which cannot be completed by human beings.
When the robot is in long-term use, when the environment that the environment on ground used is different, then if the subaerial highly inhomogeneous time, the distance between the unable quick regulation foot body of personnel and the casing, cause the device unable to satisfy different service environment, and then influence the practicality of device to a certain extent.
When the robot is used for a long time, the robot is suitable for various complex conditions, the outside of the device cannot be protected in the using process, external force can directly act on the surface of the device, damage can be caused to the device, and therefore the service life of the device can be affected to a certain extent.
Disclosure of Invention
The utility model aims to provide a multi-motion-mode underwater hexapod robot so as to solve the problems in the background technology.
The utility model provides the following technical scheme: a multi-motion mode underwater hexapod robot comprises a shell; the inner part of the shell is provided with a cavity, the front side and the rear side of the outer part of the shell are symmetrically provided with buffer mechanisms, and the left side and the right side of the inner part of the cavity are symmetrically provided with six groups of driving mechanisms;
the driving mechanism comprises a first motor, a connecting plate, a rotating rod, a hydraulic cylinder, a second motor and a rotating wheel, wherein the first motor is arranged in the cavity, one end of the first motor is provided with a conductive slip ring, the output end of the first motor penetrates through the outer side of the shell and is fixedly connected with the connecting plate, one end of the connecting plate is rotatably provided with the rotating rod, the inner side of the rotating rod and the inner side of the connecting plate are rotatably provided with the hydraulic cylinder, the inner side of the rotating rod is fixedly provided with the second motor, and the output end of the second motor penetrates through the rotating rod and is fixedly connected with the rotating wheel;
the buffer mechanism comprises a second spring and transparent protection plates, wherein the second spring is symmetrically arranged on the front side and the rear side of the shell, and one end of the second spring is fixedly provided with the transparent protection plates.
Preferably, a protective cover is arranged in the cavity, and fixing grooves are formed in positions, corresponding to the clamping blocks, of two sides of the protective cover.
Preferably, a sealing groove is formed in the periphery of the protective cover above the fixing groove, and a sealing gasket is fixedly arranged in the sealing groove.
Preferably, the side of cavity top is with fixed mounting has the sealing block, and the sealing block matches with the size of seal groove.
Preferably, the inner cavity of the cavity is internally provided with a robot module body, and the inside of the shell is provided with mounting mechanisms at four corners of the cavity at equal intervals.
Preferably, the installation mechanism comprises a placing cavity, a fixing block, an electromagnet, a first spring and a clamping block, wherein the placing cavity is formed in the shell, the shell is close to the inner wall of the cavity, the fixing block is fixedly installed at one end of the inner portion of the placing cavity, the electromagnet is installed at one end of the fixing block in an embedded mode, the first spring is installed on the surface of the fixing block, and the clamping block is slidably installed at one end of the first spring in the inner cavity of the placing cavity.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, six groups of driving mechanisms are symmetrically arranged at the left side and the right side of the inside of the cavity, and through the arrangement of the driving mechanisms, different movement modes of the device can be selected according to different use environments, so that the device can be used in different environments, and the applicability of the device can be further improved.
2. According to the utility model, the buffer mechanisms are symmetrically arranged on the front side and the rear side of the outer part of the shell, and the external force can be buffered through the second springs in the transparent protection plate, so that the external force is prevented from directly acting on the outer part of the shell, the robot module body in the shell can be further protected, the condition that the robot module body is damaged in different environments is avoided, and the service life of the device can be further prolonged.
Drawings
FIG. 1 is a schematic view of a plan view of the present utility model;
FIG. 2 is a schematic side cross-sectional view of the present utility model;
FIG. 3 is a schematic cross-sectional elevation view of the present utility model;
FIG. 4 is a schematic cross-sectional view of the top side of the present utility model;
fig. 5 is an enlarged schematic view of the structure of fig. 2 a according to the present utility model.
In the figure: 1. a housing; 101. a cavity; 2. a protective cover; 201. a fixing groove; 202. sealing grooves; 3. a mounting mechanism; 301. a placement cavity; 302. a fixed block; 303. an electromagnet; 304. a first spring; 305. a clamping block; 4. a buffer mechanism; 401. a second spring; 402. a transparent protection plate; 5. a sealing gasket; 6. a sealing block; 7. a robot module body; 8. a driving mechanism; 801. a first motor; 802. a connecting plate; 803. a rotating lever; 804. a hydraulic cylinder; 805. a second motor; 806. a rotating wheel; 9. an electrically conductive slip ring.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
The technical scheme of the utility model is further elaborated below by referring to the drawings in the specification and the specific embodiments.
Embodiment one:
the application provides a multi-motion-mode underwater hexapod robot, which comprises a shell 1; a cavity 101 is formed in the shell 1, buffer mechanisms 4 are symmetrically arranged on the front side and the rear side of the outer part of the shell 1, and six groups of driving mechanisms 8 are symmetrically arranged on the left side and the right side of the inner part of the cavity 101;
the driving mechanism 8 comprises a first motor 801, a connecting plate 802, a rotating rod 803, a hydraulic cylinder 804, a second motor 805 and a rotating wheel 806, wherein the first motor 801 is arranged in the cavity 101, one end of the first motor 801 is provided with a conductive slip ring 9, the output end of the first motor 801 passes through the outer side of the shell 1 to be fixedly connected with the connecting plate 802, one end of the connecting plate 802 is rotatably provided with the rotating rod 803, the inner side of the rotating rod 803 and the inner side of the connecting plate 802 are rotatably provided with the hydraulic cylinder 804, the inner side of the rotating rod 803 is fixedly provided with the second motor 805, and the output end of the second motor 805 passes through the rotating rod 803 to be fixedly connected with the rotating wheel 806; in this embodiment, the first motor 801 and the second motor 805 are underwater motors.
Specifically, as shown in fig. 1, 2, 3, 4 and 5, when the device is in use, when the robot module body 7 is in use on land, a person can start the second motor 805 by the electronic control module inside the robot module body 7, drive the rotating wheel 806 to rotate through the output end of the second motor 805, drive the robot module body 7 to move forward through the rotating wheel 806 when the second motor 805 drives the rotating wheel 806 to rotate forward, if the device encounters ground environments with different heights, start the hydraulic cylinder 804 according to the electronic control module inside the robot module body 7, drive the rotating rod 803 to rotate inside the connecting plate 802 through the hydraulic cylinder 804, thereby being capable of quickly adjusting the angle between the rotating rod 803 inside the connecting plate 802, quickly adjusting the height of the housing 1 outside the robot module body 7 on the ground, so that the device can be used in different environments, when the device is used under water, the personnel can start the first motor 801 through the electric control device in the device, the first motor 801 drives the whole of the connecting plate 802 and the hydraulic cylinder 804 to rotate outside the shell 1, when the rotating rod 803 can generate an acting force on the water surface in the rotating process, the water can react to the device, so that the device can be rapidly driven forwards, different movement modes can be selected according to different use environments by the arrangement of the driving mechanism 8, the device can be used in different environments, and the applicability of the device can be further improved, meanwhile, the conductive slip ring 9 is connected with the second motor 805 and the hydraulic cylinder 804 through wires, so that the device can be prevented from winding in the rotating process, and the device can be used normally.
Further, the mounting mechanism 3 comprises a placing cavity 301, a fixed block 302, an electromagnet 303, a first spring 304 and a clamping block 305, the placing cavity 301 is formed in the shell 1, which is close to the inner wall of the cavity 101, one end of the inside of the placing cavity 301 is fixedly provided with the fixed block 302, one end of the fixed block 302 is embedded with the electromagnet 303, the surface of the fixed block 302 is provided with the first spring 304, one end of the first spring 304 is slidably provided with the clamping block 305 in the inner cavity of the placing cavity 301, the inside of the cavity 101 is provided with a protective cover 2, two sides of the protective cover 2 are provided with fixed grooves 201 at positions corresponding to the clamping block 305, the periphery of the protective cover 2 is provided with sealing grooves 202 above the fixed grooves 201, sealing gaskets 5 are fixedly arranged in the sealing grooves 202, the side of the top of the cavity 101 is fixedly provided with sealing blocks 6, and the sealing blocks 6 are matched with the sealing grooves 202 in size;
specifically, as shown in fig. 1, 2, 3, 4 and 5, when the device is used for a long time, if the robot module body 7 inside the housing 1 is damaged, a person may energize the electromagnet 303 through the external controller, when the magnetic force generated after the electromagnet 303 is energized, the clamping block 305 may be sucked into the interior of the placement cavity 301, so that the clamping block 305 may be taken out from the interior of the fixing groove 201, so that the person may be facilitated to separate the protection cover 2 from the cavity 101 inside the housing 1, so that the person may be facilitated to repair the driving mechanism 8 and the robot module body 7 inside the housing 1, and at the same time, after the person repairs the robot module body 7 and the driving mechanism 8, the person may put the sealing block 6 into the interior of the sealing groove 202 at the side of the protection cover 2, then the inside sealing block 6 of seal groove 202 and the sealed pad 5 of visor 2 outside can further improve the leakproofness between casing 1 and the visor 2, simultaneously personnel outage with electro-magnet 303, fixture block 305 can outwards pop out under the elastic force of first spring 304, thereby can be with fixture block 305 bullet into the outside fixed slot 201 of visor 2, thereby can further fix visor 2 in the inside of casing 1, simultaneously through the setting of installation mechanism 3, thereby can be convenient for personnel dismantle and maintain the inside actuating mechanism 8 of shell 1 and robot module body 7, and personnel appear damaging the in-process of robot module body 7 and actuating mechanism 8 dismantlement and maintenance, can need not with the help of external tool, and then can further improve personnel to its work efficiency of dismantlement and installation.
Different from the first embodiment, the utility model also provides a second embodiment, which is used for solving the problem that when the robot is used for a long time, the robot is suitable for various complex situations, the outside of the device cannot be protected in the using process, external force can directly act on the surface of the device and damage the device, so that the service life of the device can be influenced to a certain extent, the application discloses a multi-motion-mode underwater hexapod robot, the buffer mechanism 4 comprises a second spring 401 and transparent protection plates 402, the second spring 401 is symmetrically arranged on the front side and the rear side of a shell 1, and one end of the second spring 401 is fixedly provided with the transparent protection plates 402;
specifically, as shown in fig. 1, 2, 3, 4 and 5, when the device is in use, if external force impacts the outside of the device, the external force can be buffered through the second spring 401 inside the transparent protection plate 402, so that the external force can be prevented from directly acting on the outside of the housing 1, the robot module body 7 inside the housing 1 can be further protected, the situation that the robot module body 7 is damaged in different environments is avoided, and the service life of the device can be further prolonged.
Working principle: when the robot module body 7 is used on land, personnel can open the second motor 805 through the inside electric control module of the robot module body 7, the output through the second motor 805 drives the rotation wheel 806 and rotates, when the second motor 805 drives the rotation wheel 806 and rotates forward, can drive the robot module body 7 through the rotation wheel 806 and move forward, if meet the ground environment of different heights, can open the pneumatic cylinder 804 according to the inside electric control module of the robot module body 7, drive the dwang 803 and rotate in the inside of connecting plate 802 through the pneumatic cylinder 804, thereby can adjust the angle between the dwang 803 inside the connecting plate 802 fast, thereby can adjust the outside casing 1 of the robot module body 7 in the height with subaerial, thereby can make the device use under the different environment, when the device is used under water, these personnel can open first motor 801 through the electric control device of device inside, can drive connecting plate 802 and pneumatic cylinder 804 through first motor 801, whole rotates in the outside of shell 1, can make the inside of the device can be directly to the external force in the outside through the first device, can be to the inside the outside device is avoided, can be directly to the external force is directly to the outside at the inside of the device 401, can be to the outside when the device is used to the outside, the outside device is can be directly to the outside the device is protected, the inside can be directly when the device is used to the inside the outside device is can be directly to the outside the device is protected, the inside the device 401, and the external force can be 401 is avoided.
Finally, what is to be described is: the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the examples, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered by the scope of the claims of the present utility model.
Claims (6)
1. The multi-motion-mode underwater hexapod robot comprises a shell (1); the method is characterized in that: a cavity (101) is formed in the shell (1), buffer mechanisms (4) are symmetrically arranged on the front side and the rear side of the outer part of the shell (1), and six groups of driving mechanisms (8) are symmetrically arranged on the left side and the right side of the inner part of the cavity (101);
the driving mechanism (8) comprises a first motor (801), a connecting plate (802), a rotating rod (803), a hydraulic cylinder (804), a second motor (805) and a rotating wheel (806), wherein the first motor (801) is arranged in the cavity (101), one end of the first motor (801) is provided with a conductive slip ring (9), the output end of the first motor (801) penetrates through the outer side of the shell (1) and is fixedly connected with the connecting plate (802), one end of the connecting plate (802) is rotatably provided with the rotating rod (803), the inner side of the rotating rod (803) and the inner side of the connecting plate (802) are rotatably provided with the hydraulic cylinder (804), the inner side of the rotating rod (803) is fixedly provided with the second motor (805), and the output end of the second motor (805) penetrates through the rotating rod (803) and is fixedly connected with the rotating wheel (806);
the buffer mechanism (4) comprises a second spring (401) and a transparent protection plate (402), wherein the second spring (401) is symmetrically arranged on the front side and the rear side of the shell (1), and the transparent protection plate (402) is fixedly arranged at one end of the second spring (401).
2. A multi-motion modality underwater hexapod robot according to claim 1, wherein: the cavity (101) is internally provided with a protective cover (2), and fixing grooves (201) are formed in positions, corresponding to the clamping blocks (305), on two sides of the protective cover (2).
3. A multi-motion modality underwater hexapod robot according to claim 2, wherein: a sealing groove (202) is formed in the periphery of the protective cover (2) above the fixing groove (201), and a sealing gasket (5) is fixedly arranged in the sealing groove (202).
4. A multi-motion modality underwater hexapod robot according to claim 1, wherein: and the side of the top of the cavity (101) is fixedly provided with a sealing block (6), and the sealing block (6) is matched with the sealing groove (202) in size.
5. A multi-motion modality underwater hexapod robot according to claim 1, wherein: the robot module body (7) is installed in the inner cavity of the cavity (101), and the installation mechanisms (3) are arranged in the shell (1) at four corners of the cavity (101) at equal intervals.
6. The multi-motion modality underwater hexapod robot of claim 5, wherein: the mounting mechanism (3) comprises a placing cavity (301), a fixing block (302), an electromagnet (303), a first spring (304) and a clamping block (305), wherein the placing cavity (301) is arranged in the shell (1) close to the inner wall of the cavity (101), the fixing block (302) is fixedly mounted at one end of the inside of the placing cavity (301), the electromagnet (303) is mounted at one end of the fixing block (302) in an embedded mode, the first spring (304) is mounted on the surface of the fixing block (302), and the clamping block (305) is slidably mounted at one end of the first spring (304) in the inner cavity of the placing cavity (301).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321025340.0U CN219406061U (en) | 2023-05-04 | 2023-05-04 | Multi-motion-mode underwater hexapod robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321025340.0U CN219406061U (en) | 2023-05-04 | 2023-05-04 | Multi-motion-mode underwater hexapod robot |
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| Publication Number | Publication Date |
|---|---|
| CN219406061U true CN219406061U (en) | 2023-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321025340.0U Active CN219406061U (en) | 2023-05-04 | 2023-05-04 | Multi-motion-mode underwater hexapod robot |
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| CN (1) | CN219406061U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117087366A (en) * | 2023-10-18 | 2023-11-21 | 青岛海洋科技中心 | Amphibious robot for underwater geological exploration and motion control method thereof |
-
2023
- 2023-05-04 CN CN202321025340.0U patent/CN219406061U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117087366A (en) * | 2023-10-18 | 2023-11-21 | 青岛海洋科技中心 | Amphibious robot for underwater geological exploration and motion control method thereof |
| CN117087366B (en) * | 2023-10-18 | 2024-01-05 | 青岛海洋科技中心 | Amphibious robot for underwater geological exploration and motion control method thereof |
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