KR20150015366A - Amphibious Vehicle - Google Patents

Abstract

The present invention relates to an amphibious vehicle which can travel on water with an operational panel disposed in the vehicle controlled in a case where the vehicle is moved from the ground to the water, or is moved from the water to the ground. According to the present invention, a vehicle body includes: a pair of piston propellants mounted on a lower surface of a rear bumper of the vehicle body, and operated to cross each other to push the water on the water surface backwards while moving downward during a rotary motion toward one side; first and second motors which generates a preset driving force in the pair of piston propellants in accordance with the control by the operation panel disposed in the vehicle body; first and second crankshafts which are moved to rotate in a certain direction by the driving of the first and second motors; and first and second cylinders which form a linear motion path of the first and second pistons executing a linear reciprocating motion while being connected and fixated to the respective end parts of the first and second connecting rods.

Description

Amphibious Vehicle

The present invention relates to an amphibious vehicle which is lowered in a lower direction of a bellows floating body attached to and detached from a bottom of a vehicle and is capable of being driven from land to water, and capable of driving a structural vertical lifting body and a piston propulsion device during watercraft operation.

In general, amphibious vehicles are cars that have wheels or caterpillars to drive the athletics and structures (buoyant propulsion, propelled by propeller or webboard) to navigate the water.

In Korean Patent Publication No. 2010-0087535 (2010.08.05), a rubber boat detachably attached to the bottom of a vehicle is provided, so that the movement can be carried out not only on land but also in water and sea water, A two-car vehicle is described.

However, in this prior art, the driver must attach the rubber boat to the bottom of the vehicle in order for the user to use the vehicle at the water level, and the driver must remove the rubber boat in order to use the vehicle in the overland.

In order to solve such disadvantages, Korean Patent Laid-Open Publication No. 2010-0133520 (2010.12.22) discloses that a pair of propellers are provided at the bottom of the body of an amphibious vehicle so as to be able to move at a higher speed in water, An amphibious vehicle is described in which an amphibious vehicle can be rotated 360 ° left / right to improve the rotatability of the amphibious vehicle and to be able to move backward at a high speed even when the vehicle is backward.

However, in this prior art, there is a problem that the height of the propulsion device in which the propeller is accommodated is fixed, cavitation is generated when the water is rotated in the water, and the propeller is often damaged. Here, the cavitation phenomenon is a phenomenon that when the liquid is flowing, the pressure of the certain point is lower than the pressure of the liquid at that time, and the air and steam in the liquid are separated to generate bubbles and make cavities.

Accordingly, there is a demand for development of a simple structure body 100 that can be easily installed by ordinary people in a situation where flood damage caused by frequent local rainfall or flood is frequently generated due to global warming.

An object of the present invention is to provide an amphibious vehicle which can be conveniently and economically applied to a currently produced or sold automobile at low cost, in order to solve the problems of the conventional art described above.

Another object of the present invention is to provide a hydraulic pump capable of increasing the lifetime of a vehicle component because a pair of piston propulsion members is installed on a rear bumper of the vehicle when the vehicle is running on a watercourse, To provide a car.

As described above, the amphibious vehicle according to the preferred embodiment of the present invention is mounted on the underside of the rear bumper of the vehicle body, and moves downward from the upper portion when rotating in one direction, A pair of piston propellants; Wherein the pair of piston propulsors comprise: a pair of first and second motors for generating a predetermined driving force under the control of an operation panel installed in the vehicle body; First and second crankshafts rotating in a predetermined direction by driving the pair of first and second motors; And first and second cylinders connected to and fixed to the end portions of the first and second connecting rods to form a linear motion path of the first and second pistons that perform a linear reciprocating motion.

The above-described amphibious vehicle of the present invention has the following advantages.

First, the amphibious vehicle of the present invention has a simple structure so that it can be very conveniently applied to a currently produced or sold land vehicle, and it is possible to provide an amphibious vehicle without requiring the driver to attach / The car can be implemented.

Therefore, not only can the vehicle run smoothly from water to rescue even if the vehicle is dropped off or landed on land, but the driver can enter the aqueduct from the land for leisure purposes.

Second, when the vehicle is running on the watercourse, a pair of piston propellants is installed on the rear bumper of the vehicle, so that cavitation does not occur during running of the watercraft, thereby extending the service life of the vehicle parts.

Therefore, since the propellers installed in general amphibious vehicles are not used, it is possible to minimize maintenance and repair costs by minimizing replacement of parts or components.

1 is a perspective view showing the entire outline of an amphibious vehicle according to a preferred embodiment of the present invention;
2 is a view showing the configuration of a piston propulsion body of an amphibious vehicle according to a preferred embodiment of the present invention;
3 is a view for explaining a configuration of a steering key of an amphibious vehicle according to a preferred embodiment of the present invention;
4 is a view for explaining the operation of front-end opening of an amphibious vehicle according to a preferred embodiment of the present invention;
5 is a view for explaining the operation of the bellows floating body of an amphibious vehicle according to a preferred embodiment of the present invention;
FIG. 6 is a view for explaining a process in which a desired foot bottom robot of the present invention catches a cable from a rear bumper to a front bumper across a bottom of a bellows support; FIG.
7 is a view for explaining the operation of a steering key of an amphibious vehicle according to a preferred embodiment of the present invention;
8 is a view for explaining the operation of the magnetic air ball center weight located in the bellows floating body of the amphibious vehicle according to the preferred embodiment of the present invention;
FIG. 9 is a view for explaining the operation of the float body gravity and buoyancy of an amphibious vehicle according to a preferred embodiment of the present invention;
FIG. 10 is a view for explaining the operation of a horizontal floater of an amphibious vehicle according to a preferred embodiment of the present invention; FIG.
Figure 11 is an amphibious view according to a preferred embodiment of the present invention. Figure 8 is a side view of a robot arm of a motor vehicle, which is mounted on the bottom of a bellows of a bellows, And performing a horizontal movement while moving.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In the drawings, like reference numerals are used to denote like elements, And the like. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements.

FIG. 1 is a perspective view showing the overall outline of a vehicle body 100 according to a preferred embodiment of the present invention.

The amphibious vehicle according to the preferred embodiment of the present invention is mounted on the underside of the rear bumper 120 of the vehicle body 100 so as to push the water of the water surface downward in the downward direction A pair of piston propellants (200, 300) that are alternately operated; A pair of steering knobs 120 mounted on the left and right lower surfaces of the rear bumper 120 positioned between the pair of piston propellants 200 and 300 and adapted to adjust the moving direction in a direction perpendicular to the traveling direction of the vehicle body 100, (400); A front-end opening 500 mounted on a vehicle body 100 located on a bottom surface of a front bumper 110 of the vehicle body 100 and extending forward according to a user's operation; The front bumper 110 is mounted between the front wheel 130 and the rear wheel 140 of the vehicle body 100 positioned at the bottom of the side seal panel 150 of the vehicle body in the interior of the vehicle body 100 according to the user's control operation, And a rear bumper (120) to cover the front wheel (130) and the rear wheel (140) of the vehicle; A spatula foot robot 800 installed at a center of a bottom surface of the bellows floating body 600 in the traveling direction of the vehicle body 100 and surrounding the front and rear bellows floats of the vehicle body 100 according to a user's control to form a support; The pair of magnetically air balls 903 are installed on the left and right sides of the rear part of the bellows lifting body 600 to control the buoyancy by filling the magnet air ball 903 and adjusting the weight and pulling out the magnet air ball 903, A horizontal buoyant body 700; An operation panel 900 located inside the vehicle body 100 and selectively controlling the operation of the pair of piston propellants 200 and 300, the steering key 400, the front blade 500 and the bellows cradle 600, .

1, an exhaust port 907 connected to an engine provided on a front wheel 130 of a vehicle body is raised to the upper side between a driver's seat 160 and a bellows pedestal 600 and is installed at the rear of the roof of the vehicle body, All of the operations are free.

The bellows floating body 600 is rotated by an electric hoist 908 connected to the guide rail 910 provided at the upper end of the aft submersible electric motor 909 The bellows lifting body 600 is mounted on the bottom of the vehicle body 100. The bellows 600 can be moved up and down while being suspended from the guide rail 910. [ The electric hoist 908 is selected from a single pulley having one or more stationary pulleys, a ring, or the like, and a pulley, which is a combination of one rope.

When a PTO (Power Take Off) gear 906 provided on the operation panel 900 is operated on the driver's seat 160, the engine located on the front wheel 130 passes through the bottom side of the driver's seat 160, The bellows lifting body 600, the piston propellant 200 and 300, the steering key 400, the horizontal buoyant body 700, the front opening 500, and the side members (not shown) connected to the driving shaft 911 by the driving shaft 911 919) and the power of the engine to drive the spatula foot robot. When the PTO gear 906 is operated, the upper gear and the intermediate gear connected by the electric motor and the joint from the left side of the driver's seat 160 are kept connected. When the PTO gear 906 is operated, 1 underwater electric motor 909 is driven.

The bellows floating body 600 located inside the vehicle body 100 is lowered downward and spreads horizontally in the left and right directions so that the front bumper 110 and the rear bumper 120 are separated from each other, And the side member 919 is lowered from the front bumper 110 and the rear bumper 120 to serve as a support while covering the bellows cradle 600 located at the front and back portions. The bellows floating body 600 includes a first underwater electric motor 909 located in the interior of the vehicle body 100, a horizontal spatula foot and a spatula foot resting on the cruciform adsorption plate of the spatula foot robot, And the cable is mounted to cover the bellows floating body 600 to check that it functions as a support, and enters the aqueduct. In the water phase, the vehicle is operated by operating the piston propellants 200 and 300 and the steering key 400. When the cable enters the ground, the spatula robot of the spatula moves backward while being wound from the front bumper to the rear bumper of the cable, and the bellows floating body 600 is lifted into the inside of the vehicle body 100 and stored. can do. 2, the pair of piston propellants 200 and 300 includes a pair of second and third piston propellers 200 and 300 generating a predetermined driving force under the control of an operation panel 900 installed in the vehicle body 100, The first and second crankshafts 270a and 270b rotate in a predetermined direction by driving motors 210a, 210b, 310a and 310b and a pair of second and third motors 210a, 210b, 310a and 310b, First and second connecting rods (not shown) connected and fixed to the first and second crankshafts to convert the rotational motion of the first and second crankshafts into linear motion, First and second cylinders (250, 350) respectively connected to and fixed to the ends of the first and second connecting rods to form a linear reciprocating path of the first and second pistons that perform a linear reciprocating motion, And first and second laminar flow forming coils 260 and 360 that magnetize in a predetermined direction to stabilize turbulence in a laminar flow.

In FIG. 2, the crankshafts 270a, 270b, 370a, and 370b and the connecting rod (not shown) engage the two machine wheels to transmit the power of the shafts to the other shafts. Shaped belt which fixes the belt-shaped belt.

3, the steering key 400 includes a fourth motor 410 that generates a predetermined driving force under the control of the operation panel 900, and a second motor 410 that is driven by the fourth motor 410 A pair of steering keys 430a and 430b which are moved in the vertical direction through the pair of cables 450 and 460 to control the traveling direction of the vehicle body 100, And a pair of fourth-layer current-generating coils 440a and 440b for facilitating direction control of the pair of steering keys 430a and 430b.

4, the front-end opening 500 includes a fifth motor 510 for generating a predetermined driving force under the control of the operation panel 900, and a fourth motor 510 for driving the fifth motor 510 A forward opening 520 that can be extended forward and a fifth-layer flow forming coil 530 that magnetizes in a predetermined direction to stabilize the surrounding turbulence in a laminar flow.

Here, it can be seen that the direction of the current is upward in the direction in which the coil is wound. Since the magnetic force line is going to the left, the left side is N pole and the right side is S pole. The direction of the magnetic field (around the magnet) comes out of the N pole out of the coil and enters the S pole, so a circular current magnetic field is formed, .

At this time, the front opening 520 is formed in a round ring shape rising like a wing toward the front of the vehicle body 100, so that a large current flows and turbulence can be converted into laminar flow.

Here, the following opening 520 is composed of an electric circular coil, an electric heater 914, an electric heater motor, a temperature controller, a tourmaline 915, and a cable 650.

The electric heater (electric bar which boils water to put in water) equipped with the circular opening of the later opening (520) has temperature control function without electric shock because the voltage is high but current is low. An electric heater is an electric rod that raises the temperature of water in water and laminates the turbulence of water by convection of water.

Convection is the transfer of heat by the flow of fluid created by the temperature difference. The partially warmed wave becomes lighter, buoyant, floats upward, and the upper cold wave falls down to absorb the heat of the electric heater 914, and the waves are laminar as they flow in the up and down directions.

The operation of the electric heater is checked by the phenomenon that the electric heater (914) and the cold wave come into contact with each other to form a white smoke (phenomenon appearing as white smoke). The turbulence is changed into laminar flow by the convection phenomenon by the electric heater 914 of the opening 520 in the future and the speed and the friction of water are reduced to increase the traveling speed of the amphibious vehicle. The tourmaline 915, which is mounted on the inside of the opening 520 in the round circular belt, continuously generates the electric current, so electricity is generated when the waves come into contact with the water, and the water is instantaneously decomposed. Tourmaline (915) consists of a positive electrode and a negative electrode. It is an ore that does not dissolve in water. It is a tourmaline in which water is alkalized if it is put in water for a certain time (about 5 minutes).

Utilizing this electricity generating property, the current is made to flow in the wave and the turbulence is laminarized.

5, the bellows floating body 600 includes a sixth motor 610 that generates a predetermined driving force under the control of the operation panel 900, and a third motor 610 that generates a linear reciprocating motion of the sixth motor 610 A lifting body 630 extending in a downward direction by a predetermined length in a state of being mounted in the side seal panel 150 of the vehicle body 100 by the lifting body 630, And a bellows structure 620 for horizontally extending the floating body 630 by a predetermined distance by driving.

Here, the side seal panel 150 is a foot plate replacing the frame at the lower side of the side surface of the vehicle body 100.

5, the drum 710 of the rocker arm 720 of the cyber member 919 vertically extending downward from the bottom of the front bumper 110 and the rear bumper 120 is bent in the lateral direction, So that the cyber member 919 covers the bellows floating body 600 and functions as a support.

As shown in FIG. 6, the spatula solenoid robot has a magnetic member installed across the front and rear sides of the cyber member vertically disposed on the front bumper and the rear bumper and the center of the bottom surface of the bellows cantilever, It can be detected using current, and it is an unmanned work car which is self-sustained and moves forward because it has a judgment function such as an ultrasonic sensor or a computer.

Two spatula soles 802 are provided on each of the spatula soles 800 and a cruciform attracting plate which extends horizontally and attached to the ceiling like a spider. The spatula soles 802 are provided on the spatula soles 802, 801 are horizontally and horizontally moved while horizontally and vertically moving the suction plate. At the same time, a palm arm 804 of a spatula 804 is provided on the left and right sides of the robot head sucker plate, and four spatula palms 803 And the robot head sucker plate is fixed, and the palm of the palm of the palm and the palm of the palm of the hand spread and pull forward to perform the horizontal movement.

In the case of a robot using an electromagnet, it can be attached only to a magnetic body, and the robot can run and stop independently without assistance of an external structure on an inclined plane.

It is preferable that a double safety device is applied such as connecting a safety wire to the robot in case of a power interruption or an external work environment change.

The distance between the cyber member and the bellows floating body 600 is measured by using the ultrasonic sensor 805 provided on the front and rear sides of the robot so that the robot moves to the center of the bellows floating body and the infrared sensor module is used, The magnetic sensor head is manufactured using the hall sensor and the permanent magnet 920, and the electromagnet cable is connected to the back of the electromagnet robot.

A cable climbing robot of the spatula foot leg 802 landing type which can move along the guide cable 809 can be designed and manufactured and a control program for monitoring and controlling the robot in various devices is installed and executed.

The platform of the four spatula solenoid robot (800) is composed of a robot controller, a motor, a robot chassis and hardware necessary for assembly, an infrared ray line tracking sensor, an infrared receiver for obstacle avoidance, an infrared receiver used for remote infrared communication, A spatula sole leg 802, a light sensor, and a motor encoder incorporated for speed control. The platform of each spatula foot robot 800 is programmed in advance and moved only to a predetermined position by simply repeating a predetermined operation that moves horizontally and vertically to attach to a magnetic body installed at the center of the ceiling and the wall surface.

A cable attached to the spatula solenoid robot 800 captures and mounts the bellows lifting body 600 and the cable provided on the rear bumper 120 is released and the magnetic body inserted into the cyber member 919 and the induction cable 809 And is extended horizontally to be attached to the electromagnet cable 690a by being vertically extended to a cyber member 919 provided on the front bumper.

When the electromagnet cable 690a is released, the spatula foot robot 800 is released from the front bumper, and the cable is wound on the rear bumper while the electric current flows through the magnetic body and the induction cable to be detected by the ultrasonic sensor, And is moved to the rear bumper and placed on the spatula soles 810 of the spatula so as to be accommodated and released.

Referring to FIG. 7, the operation of the pair of pump steering keys 430a and 430b will be described below. When the cable 450 connected to the left steering key 430a is released by driving the fourth motor 410, the left steering key 430a located on the left side is mounted in the water while descending downward from the upper direction, The right steering key 430b is moved from the lower direction to the upper direction. On the other hand, when the cable 450 connected to the left steering key 430a is pulled by driving the fourth motor 410, the right steering key 430b is mounted in the water while descending downward from the upper side, The left steering key 430a located in the leftward direction is moved from the lower direction to the upper direction.

 8, a cylindrical cylinder 690 is provided at the bottom of the central point of the inside of the bellows floating body 600, and a magnet air ball 903 is formed inside the cylinder 690 to form a weight 680 do.

When the vehicle body 100 is inclined back and forth or right and left due to a wave or the like, the weight 680 installed inside the cylinder 690 returns to its original position according to the law of inertia, So that the vehicle body 100 can be prevented from tilting in the forward, backward, leftward, and rightward directions.

8 and a cylindrical cylinder 690 are provided on the inner bottom surface of the bellows floating body 600 and the bellows structure 630 shown in FIG. 620 and a plurality of rocker arms 660. The magnet door 902 and the electromagnet cable 690a shown in FIG.

9, when the magnetic force of the electromagnet cable 690a is generated in the cylinder 690 adjacent to the entrance of the bellows floating body 600, the magnet air ball 903 is moved toward the entrance of the bellows floating body 600 So that it is attached to the electromagnet cable 690a.

The magnet air ball 903 is magnetically attached by the electromagnet cable 690a adjacent to the entrance of the bellows floating body 600 and the electromagnet cable 690a is wound by the electric motor so that the magnet air ball 903 is magnetically attracted A ring 904 is installed in the cylinder 690 adjacent to the inlet of the horizontal buoyant body 700 and connected to each other and the ring 904 attached to the inlet of the horizontal buoyant body 700 is connected to the electromagnet cable 690a The magnet air ball 903 can not pass through the ring 904 because the ring 904 is smaller than the size of the magnet air ball 903 and the magnet air ball 903 is separated from the electromagnet cable and falls down And is stored in the horizontal buoyant body 700 installed at the lower portion to increase the buoyancy of the vehicle body 100.

When the magnetic force of another electromagnet cable 690b is generated in the cylinder 690 adjacent to the inlet of the horizontal buoyant body 700, the magnet air ball 903 is driven toward the inlet of the horizontal buoyant body 700 and is connected to the ring And is attached to another electromagnet cable 690b. The magnet air ball 903 is magnetically attached by the electromagnet cable 690b and the other electromagnet cable 690b connected to the second electric motor is immersed so that the magnet air ball 903 is magnetically attracted to the entrance of the bellows 600 At this time, when the current flow is cut off, the electromagnet cable 690b loses its magnetic force and the magnet air ball 903 attached to the other electromagnet cable 690b falls into the bellows floating body 600, ) Is adjusted.

At this time, when the electromagnet cable 690b located inside the cylinder 690 touches the permanent magnet door 902 at the entrance of the bellows floating body 600, it can be automatically opened and closed. Here, the inlet of the bellows floating body 600 and the inlet of the horizontal buoyant body 700 are connected to each other by the cylinder 690 to form a long bag.

Accordingly, in order for the vehicle body 100 to float on the water surface, the magnet air ball 903 contained in the bellows floating body 600 is moved to and stored in the horizontal buoyancy body 700 by the electromagnet cable 690a, (700) is lowered down to contact over water and converted to an underwater mat to increase buoyancy. The vehicle body 100 has a structure in which the magnet air ball 903 is filled in the bellows floating body 600 at the bottom of the vehicle body 100 to adjust the weight of the vehicle body 100 and the magnet air ball 903 ) And adjust the buoyancy to make the dive and injury more tolerable.

The magnet air ball 903 in the bellows floating body 600 is transformed into a water underwater mat by converting the horizontal buoyancy body 700 located at the rear left and right sides of the body 100 into water underwater, The weight of the vehicle body 100 is reduced and the buoyancy force is larger than the gravity force, so that the vehicle body 100 floats on the water.

In order for the amphibious vehicle to submerge on the water surface, the underwater mat is converted into a horizontal buoyant body 700 and placed on the top of the water to place the magnet air ball 903 in the horizontal buoyant body 700 into the electromagnet cable 690b in the cylinder 690, To move into the bellows floating body 600 and store it. The magnet air ball 903 is filled from above the cylindrical cylinder 690 attached to the bottom of the bellows floating body 600 so that the magnet air ball 903 serves as the weight 680. At this time, since the weight of the vehicle body 100 is increased and the gravity is larger than the buoyancy force, the amphibious vehicle can be submerged to the water surface.

10 is a view for explaining the underwater matting operation of the horizontal buoyancy body 700 of the amphibian according to the preferred embodiment of the present invention.

10, when the electric motor is driven and the cable 730 is disengaged, the rocker arm 720 connected to the horizontal buoyant body 700 spreads and the entrance of the horizontal buoyant body 700 at the front end of the body 100 And the horizontal buoyant body 700 is converted into an underwater mat by increasing the area of the buoyant force so that the vehicle body 100 floats up.

When the electric motor is driven and the cable 730 is wound, the rocker arm 720 connected to the horizontal buoyant body 700 is folded and the left and right horizontal buoyant body 700 in the water is folded on the rear side of the vehicle body 100 And the inlet of the horizontal buoyant body 700 is rotated by 180 degrees by a sheave 710 connected by a cable 730 so that the inlet of the horizontal buoyant body 700 faces downward, The air ball 903 falls down and is attached to the electromagnet cable 690b positioned below the entrance of the horizontal buoyant body 700 and moves to the bellows floating body 600. [

At this time, when the current connected to the electromagnet cable 690b is disconnected at the entrance of the bellows floating body 600, the magnetic air ball 903 is separated from the electromagnet cable 690b and falls into the bellows floating body 600, And the magnetic air ball 903 is filled to increase the gravity, so that the vehicle body 100 is eventually submerged.

On the other hand, in order to move the bellows floating body 600 in the vertical direction at the center of the vehicle body, all-wheel drive vehicles that do not need a drive shaft and a transmission (a device for changing the rotation speed or rotational force of the rotary shaft in various prime movers) The body 100 is increased in height by the height of the bellows lifting body 600 in a state where the lifting body 600 is mounted under the body side seal panel 150 so that the underwater ladder 901 is attached to the side of the body, ) Can be placed close to the driver's seat so that they can not be submerged and can be used as open cars.

The walking of the spatula sole 800 is performed by moving the front spatula sole leg 802 and the back spatula sole leg 802 on the front side of the left side of the cruciform attracting plate in a staggered manner and on the back side of the left side of the remaining cruciform attracting plate The front spatula foot leg and the rear leg bottom leg are fixed and the front spatula foot leg and the back spatula foot leg on the right side of the cruciform adsorption plate are fixed.

While moving one plate in the crosswise direction, the three adsorption plates attached to the other plate adhere to the bottom surface of the bellows so that the robot body can be attached.

The spatula and the wall riding spatula are made of a thin spatula on the sole, and the spatula sticks to the magnetic body (806) like an adhesive on the wall surface, so it does not fall even when hanging upside down. This spatula turns back into a thinner spatula that becomes more and more thinner and thinner like a spatula and forms a spatulate-shaped micro-metal brush.

It is like using a very small mechanical device to stand up and down in a horizontal and vertical direction of a small spatula and peel off the tape attached to the wall in a vertical direction. If all the micropapers come in contact simultaneously, they will have adhesion to the magnetic material.

The spatula solenoid robot 800 emits an ultrasonic wave and senses a wave coming back from the impacted object. The spatula solenoid robot 800 is suspended from the ceiling upside down due to a fine spatula and a magnetic body provided on the spatula solenoid robot 800 A strong adhesive force can be used.

Here, eight spatula leg legs 802 are provided, and two spatula palm arms 804 are provided, and the cruciate type suction plate can be moved, and it is possible to stop or lower the speed at a desired point.

Therefore, a unique spatula sole robot that can carry a vertical wall surface or a ceiling like a flat surface by making the sole 808 of the ultra-strong bond spatula as a small robot can be developed. Here, the microspatula sole 801 is vertically contacted with the wall surface and then pressed in parallel, and the microspatula sole 801 is vertically dropped when the microspatula foot 801 is released.

Control the power by using a radio-controlled infrared sensor on the spatula foot leg 802 of the group 8, convert the rotational motion of the motor into leg motion, move the robot back and forth, rotate the rotations of the right and left motors differently, Thereby adjusting the direction of motion of the sole legs 802. Spatula The plantar legs show a very high adhesion to the bottom, which is in contact with the wall, and a very weak adhesion when they are pulled in the vertical direction to the wall.

Two pairs of front and rear legs of the spatula sole leg 802 are provided on the left side of the spatule foot robot 800 (cruciform adsorption plate), and a pair of spatula sole legs 802 are provided with two pairs of front and rear legs.

When the front foot on the left side of the cruciform attracting plate is pulled, the rear foot of the spatula foot pad 802 is simultaneously pushed and pulled by the rear foot of the spatula foot pad 802, so that the forefoot of the spatula foot pad 802 is simultaneously pushed, The chassis disposed on the upper surface of the left front spatula sole leg and the chassis located on the upper surface of the left rear spatula sole of the cruciform attracting plate are connected by a small rocker arm 720 to move in a continuous motion during the robot walking.

Similarly, the right foot of the right spatula foot pad 802 and the back foot of the left spatula foot pad 802, which are located on the left side of the cross-shaped adsorption plate, The rear foot is connected and operated.

At the same time, the palm arm 804 of the spatula provided on the left and right sides of the robot head is fixed to the robot head sucker, and the palm 803 of the left and right spatula 803 is horizontally and vertically transferred.

In addition, when the bottom of the left hand on the suction plate is pulled, the right hand bottom of the spatula palm arm is pushed simultaneously so that the sprocket palm arm of the pair of the left and right hands on the robot head attracting plate is pushed together, It works.

The principle of the power transmission and the circular motion using the gear wheel 807 of the motor (electric motor) are changed to linear motion. In order to convert the circular motion into the zigzag linear motion, it is preferable to use the method described above.

In addition, as the length and angle of movement are changed according to the position of the thread groove 808 for screwing, and the speed of the second hand and the hour hand of the watch are different from each other,

Hereinafter, the operation of the amphibious vehicle according to the preferred embodiment of the present invention will be described with reference to the accompanying drawings.

When the driver turns on the water operation switch provided on the operation panel 900, the driver is connected to the front main engine main shaft gear so that the PTO (power take-off) gear 906 is driven to rotate the pair of piston propellants 200, 300, The power switching connection of the PTO (power take-off gear) gear 906 is cut off when the power switch 400, the front opening 500, the bellows floating body 600 and the horizontal buoyancy body 700 are operated and the ground operation switch is turned on The pair of piston propellants 200 and 300, the steering key 400, the front opening 500, the bellows floating body 600, and the horizontal buoyancy body 700 are not operated.

First, the pair of piston propellants 200 and 300 are operated to be offset from each other so as to push the water of the water surface to the rear while descending downward from the upper part when rotating in one direction.

That is, when the pair of motors 210a, 210b, 310a and 310b generates a predetermined driving force under the control of the operation panel 900, the first and second crankshafts 270a, 270b, 370a, The first and second connecting rods (not shown) are rotated in a predetermined direction by driving the pair of first and second motors 210a, 210b, 310a and 310b, Respectively, to convert the rotational motion of the first and second crankshafts 270a, 270b, 370a, and 370b into linear motion. At this time, the first and second cylinders 250 and 350 are connected and fixed to the end portions of the first and second connecting rods to form a linear reciprocating path of the first and second pistons that perform a linear reciprocating motion, 1 and the second laminar flow forming coils 260 and 360 generate a magnetic flux in a predetermined direction to stabilize the surrounding turbulence in a laminar flow, and the electric heater 914 and the tourmaline 915 mounted in the form of a round circle of the opening 500 The temperature of the surrounding water is raised to generate heat in the vertical direction.

In addition, the steering key 400 controls the direction of movement of the vehicle body under the control of the user. That is, when the third motor 410 generates a predetermined driving force under the control of the operation panel 900, the steering key 430a is moved in the vertical direction by the driving of the second motor 410, Control the direction of operation.

Further, the future opening 500 extends forward according to the operation of the user. That is, when the fifth motor 510 generates a predetermined driving force under the control of the operation panel 900, the next opening 520 can be extended forward by driving the fifth motor 510. At this time, the fifth-layer flow forming coils 530 generate a magnetic flux in a predetermined direction to stabilize the surrounding turbulence in a laminar flow.

The bellows floating body 600 extends in the direction of the front bumper 110 and the rear bumper 120 to cover the front wheel 130 and the rear wheel 140 of the vehicle. That is, when the sixth motor 610 generates a predetermined driving force under the control of the operation panel 900, the lifting body 630 is moved in a straight reciprocating motion of the sixth motor 610, The bellows structure 620 extends horizontally by a preset distance by driving the sixth motor 610 as well as extending downward by a predetermined length in a state of being mounted in the panel 150 .

At this time, when the first cable 650a provided on the floating body 630 is released by driving the sixth motor 610, the plurality of rocker arms 660 move the floating body 630 to the front bumper 110, And the plurality of pulleys 640 folds the respective rocker arms 660 in the vertical direction or extends horizontally. The second cable 650b is vertically folded or horizontally extended by lowering the plurality of rocker arms 660 by driving the sixth motor 610.

In addition, the horizontal buoyant body 700 adjusts the left-right balance of the vehicle body 100 according to the user's control. That is, the plurality of rocker arms 720 are folded in the vertical direction through the plurality of second sheaves 710 in the direction perpendicular to the traveling direction of the vehicle body 100 by the rotation direction of the sixth motor 610, The fourth cable 730 supports the plurality of rocker arms 720 along the outer circumferential surface of the plurality of pulleys 710 so as to be folded or extended.

A pair of horizontal buoyant body (700) adjusts up and down diving of the vehicle body under the control of the user. That is, the rotation of the motor is alternately rotated in the forward direction and the reverse direction so that a plurality of cables are converted into an underwater mat while the magnet air ball 903 in the bellows floating body 600 is sent out of the vehicle body 100, It floats on the surface in the forward direction. Therefore, the pair of horizontal buoyant bodies 700 can effectively stabilize buoyancy of the vehicle body 100. [

8, when a current flows through the electromagnet cable 690a by the electric motor, the end portion of the cable is converted into an electromagnet, and the magnet air ball 903, which is contained in the bellows floating body 600, The magnetron moves to the entrance of the bellows floating body 600 and contacts the electromagnet cable 690a. At this time, a cylindrical cylinder 690 is attached to the bottom of the bellows floating body 600, and a V-shaped weight 680, which is narrowed from the entrance to the bottom of the bellows floating body 600, . The magnet air ball 903 is filled in the cylinder 690 attached to the bottom of the bellows floating body 600 and serves as the weight 680. Since the center of gravity is directed downward, The vehicle body 100 is restored to its original state by inertia even if it is tilted to the left or right.

Further, the magnetic air ball 903 has a round shape and is filled with air in an empty space where the hollow is hollow, and a magnetic body 806 is attached to the upper end. The entrance of the bellows floating body 600 is provided with a magnetic door 902 so that it can be opened and closed by a magnetic force and the magnetic air ball 903 can not be taken out of the bellows floating body 600, All. The magnet air ball 903 is inserted into the bellows floating body 600 to enhance the buoyancy performance of the bellows floating body 600 and the magnetic air ball 903 of the bellows floating body 600 in the bellows floating body 600, Because of buoyancy, there is no room for water to penetrate into the bellows floating body 600, so buoyancy performance can be maintained before diving.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: body 110: front bumper
120: rear bumper 130: front wheel
140: rear wheel 150: side seals panel
160: driver's seat 200, 300: piston-
210a, 210b, 310a, 310b, 410, 510, 610,
250, 350, 690: cylinders 260, 360, 440a, 440b, 530:
270a, 270b, 370a, 370b: crankshaft 400, 430a, 430b: steering key
450, 450, 650, 650a, 650b, 730: Cable 500, 520:
600: Bellows floatator 620: Bellows structure
630: Float 640, 710: Pulley
660,720: Rocker arm 680: Chu
690a, 690b: electromagnet cable 700: horizontal buoyant body
800: Spatula sole robot 801: Spatula sole
802: Spatula soles 803: Spatula palms
804: Major palm arm 805: Ultrasonic sensor
806: Magnetic body 807: Gear wheel
808: screw groove 809: induction cable
810: Robot stand 811: Robot stand
900: Operation panel 901: Ladder
902: Magnet door 903: Magnet air ball
904: Ring 906: PTO gear
907: exhaust port 908: electric hoist
909: Underwater electric motor 910: Guide rail
911; Drive shaft 912: oil sump
914: Electric heater 915: Tourmaline
919: side member 920: permanent magnet

Claims (4)

A pair of piston propellants mounted on a bottom surface of a rear bumper of the vehicle body and being shifted downward from an upper portion when rotating in one direction,
Wherein the pair of piston propulsors comprise: a pair of first and second motors for generating a predetermined driving force under the control of an operation panel installed in the vehicle body;
First and second crankshafts rotating in a predetermined direction by driving the pair of first and second motors;
And first and second cylinders connected and fixed to the end portions of the first and second connecting rods to form a linear motion path of the first piston and the second piston performing the linear reciprocating motion, Two-car. The method according to claim 1,
The front wheel and the rear wheel of the vehicle being mounted between the front wheel and the rear wheel of the car located at the bottom of the side seal panel of the vehicle in the interior of the vehicle under the control of the user and extending in the direction of the front bumper and the rear bumper, A covering of the bellows float;
A third motor for generating a predetermined driving force under the control of the operation panel;
A float body extending in a downward direction of the predetermined length in a state of being mounted in the side seal panel of the vehicle body by a linear reciprocating motion of the third motor;
A bellows structure installed in the floating body and extending the floating body in a horizontal direction by a predetermined distance by driving the third motor;
A first cable wound or unwound by driving the third motor;
A plurality of rocker arms horizontally moving the floats to the front bumper and the rear bumper when the first cable is released;
A plurality of pulleys provided between the plurality of rocker arms and folding the rocker arms vertically or horizontally extending;
A second cable supporting the rocker arm such that the rocker arm is folded or extended along the outer circumferential surface of the plurality of sheaves by driving the third motor;
A fourth motor installed at an outer upper end of the bellows floating body and generating a predetermined driving force under the control of the operation panel;
A pair of horizontal buoyant bodies which are installed at the center of the inside of the bellows floating body at right angles to the traveling direction of the vehicle body and adjust left and right balances of the bellows floating body under the control of the user, A plurality of rocker arms folded in a vertical direction or extending in a horizontal direction through a plurality of second sheaves in a direction perpendicular to a traveling direction of the vehicle body by a rotation direction of the third motor;
A third cable for supporting when folded or extended by a plurality of pulleys;
A pair of horizontal buoyancy members fixed at both ends of the third cable to balance the horizontal position of the bellows cantilever;
Further comprising a pair of fourth cables installed at a front end and a rear end of the bellows floating body and supporting the bellows floating body. The method according to claim 1,
A third motor for generating a predetermined driving force under the control of the operation panel;
When electric current flows, the bottom spool of the bellows floating body and the cyber member are guided by the induction cable and the magnetic body at the center of the spatula so that the minute spatula and the spatula foot robot can be horizontally moved upside down on the ceiling and moved vertically to the wall And a first cable for facilitating horizontal and vertical movement of the spatula foot robot;
When the first cable is loosened, the spatula foot robot has a resilient foot of the cross-shaped adhesive plate and a spatula sole, which extend horizontally and horizontally across the back of the vehicle body;
At least one spatula palm arm and a spatula palm provided on the robot head sucker;
The spatula sole legs, which are a pair of the spatula sole legs located on the left and right sides of the cruciform adsorption plate of the soleplate foot robot and the front and rear legs of the cruciform adsorption plate, are pulled by pulling the front foot on the cruciform adsorption plate, A ratchet wheel of a motor which is pushed to be pushed at the same time and connected to the front foot of the spatula so as to push the back foot of the spatula when the rear foot of the spatula is pulled;
A gear wheel of a motor connected to the robot so that the right hand floor of the spatula is simultaneously pushed when the palm arm of the pair of the left and right hands of the robot head attracting plate pivots on the suction plate;
A screw groove in which a length and angle of movement of the sprung foot leg are different according to a position where the screw is inserted into the sprue foot leg;
Characterized in that the cruciform contact plate includes a spatula sole robot formed by a spatula thin and stiff on the sole of the spatula, and the spatula being turned into a small spatula which is further bent more finely as it goes up. 3. The method of claim 2,
A pair of horizontal buoyancy bodies which are installed on the right and left sides of the rear portion for adjusting the buoyancy by filling the magnet air ball into the bellows floating body to control the weight and extracting the magnet air ball and downward to be converted into an underwater mat;
A motor for generating a driving force set in accordance with the control of the operation panel;
At least one magnetic air ball located in a horizontal buoyancy body which is moved in a vertical direction by driving of the motor to control gravity and buoyancy of the vehicle;
A plurality of electromagnetic cables for reciprocating the magnet air ball from the bellows floating body to the horizontal buoyancy body and from the horizontal buoyancy body to the bellows floating body;
A ring for separating the magnet air ball located in the electromagnet cable;
An inlet of the bellows floating body and an inlet of the horizontal buoyant body are connected to each other by a cylinder, a pair of electromagnets which are magnetized when an electric current flows and return to their original state when a current is interrupted;
A plurality of cables for moving the horizontal buoyant body downwardly below the side of the vehicle body and vertically moving into the underwater mat;
And a pair of horizontal buoyant bodies for holding horizontal buoyancy of the vehicle body.

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