404results about "Amphibious vehicles" patented technology

The invention relates to a pedal assembly and a vehicle. The pedal assembly comprises a pedal support used for being connected with a chassis of the vehicle; the pedal outer edge is connected with the pedal bracket; the movable pedal is movably mounted on the outer edge of the pedal; the adjusting mechanism is connected with the pedal outer edge and the movable pedal and used for driving the movable pedal to move or rotate relative to the pedal outer edge so as to adjust the posture of the movable pedal. According to the pedal assembly, the adjusting mechanism can drive the movable pedal to move or rotate relative to the outer edge of the pedal so as to adjust the posture of the movable pedal, so that the pedal assembly has the pedal function for people to get on and off a vehicle, and the driving posture of the vehicle can be adjusted by adjusting the posture of the movable pedal; a special posture adjusting device does not need to be additionally and independently arranged, so that the occupied vehicle installation space is effectively reduced, integration of the pedal function and the posture adjusting function is achieved, and the practicability and adaptability of the vehicle in the complex driving environment are improved.

The invention belongs to the technical field of mobile robots, and particularly relates to an amphibious hexapod robot which comprises a robot body, six walking feet, a protection box, propellers, a multi-sensor system and a central control unit. The six walking feet are arranged on the two sides of the robot body, and a waterproof driving joint is arranged at the tail end of each foot. The protection box is arranged at the root of the walking foot and internally integrated with propellers; the sensor system comprises a water depth sensor, an attitude sensor and a grounding detection module; the central control unit is used for collecting sensor data in real time, judging whether the current environment is a land or a water area, automatically switching a walking mode or a water propulsion mode, and meanwhile adaptively adjusting gaits and the rotating speed of propellers according to the water depth and the terrain. The robot has environment perception, mode decision, gait generation, grounding prevention protection and energy optimization strategies, full-autonomous and high-adaptability movement in the land and water environment is achieved, and the working capacity and safety of the robot in the complex environment are improved.

The invention discloses a base station and a swimming pool cleaning system.The base station comprises a supporting mechanism located on a pool bank and a moving mechanism connected with the supporting mechanism and further comprises a rail unit arranged on the supporting mechanism; when the relative position of the moving mechanism and the supporting mechanism is changed, the variable connecting point of the track unit and the moving mechanism is changed along the track of the track unit; the track of the track unit comprises a horizontal component and a vertical component; wherein the horizontal component can enable the variable connection point to move / change in the direction away from or close to the swimming pool; the vertical component may cause the variable connection point to rise or fall. The base station has the advantages of simple structure, high transportation efficiency and the like.

The invention discloses a full-electric unmanned multi-foot double-head reverse spiral ground pile driver for a low-adhesion environment and a cooperative control method of the full-electric unmanned multi-foot double-head reverse spiral ground pile driver. The pile driver comprises an equipment body (1), a full-electric driving system, a multi-foot type self-adaptive walking mechanism (2), a double-head independent driving pile driving (6a and 6b) system and an intelligent control system. The core of the robot lies in that net reaction torque is counteracted through reverse rotation of the double heads 6a and 6b, and through intelligent cooperative control, the posture of a walking mechanism is dynamically adjusted when loads of the double heads are not uniform (such as a machine body slightly tilts) to deeply balance the loads, so that the ultimate operation stability under the environments such as the seabed, ice and snow, mud flat and the like with extremely poor adhesive force is ensured. According to the invention, the low adhesive force constraint is overcome in principle, and an efficient, accurate and full-autonomous anchoring construction solution is provided.

The invention relates to an underwater robot advancing control method and device and a medium, and the method comprises the steps: detecting the sliding state of a crawler belt of a robot, and obtaining operation parameters; controlling a vertical propeller system of the robot according to the sliding state of the track to adjust the ground pressure of the track and stabilize the posture of the robot; in the process of controlling the vertical thruster system, thrust instructions of all vertical thrusters are calculated and output based on the real-time posture and motion state of the robot; according to the operation parameters, dynamic interference generated by the operation tool to the robot is calculated; on the basis of the dynamic interference, compensation thrust and compensation torque which need to be provided by the horizontal propeller system are calculated, and the rotation angle of the horizontal propeller is controlled to be aligned with the thrust direction; and the compensation thrust and the compensation torque are distributed to all the horizontal propellers, and thrust instructions of the corresponding horizontal propellers are output. According to the method, high stability, high trafficability and high operation efficiency of robot advancing are achieved in an uncertain complex seabed environment.

The utility model discloses a zipper storage type floating device which comprises a vehicle body, buoyancy assemblies and an air inlet and outlet valve, the foldable buoyancy assemblies are symmetrically arranged on the left side and the right side of the vehicle body, each buoyancy assembly comprises a floating bag and a storage sleeve arranged outside the floating bag, and a zipper is arranged on each storage sleeve in the length direction. According to the device, rigid connection and flexible storage are combined, on the premise that an original vehicle body framework is maintained, function expansion is achieved through reversible mechanical connection, the defect that a vehicle body structure needs to be damaged when a traditional amphibious vehicle is refitted is overcome, and the service life of the amphibious vehicle is prolonged. The floating stability is guaranteed, and meanwhile the characteristics of rapid storage, stable unfolding and modular maintenance are achieved.

The triangular crawler-type amphibious sand cleaning ship comprises a ship body and is characterized in that a sediment storage bin is arranged on the rear portion of the ship body, a two-section type rear door plate is arranged on the rear portion of the sediment storage bin, and the rear door plate is connected through a hinge to form an upper door plate and a lower door plate; the upper door plate can rotate backwards by a specific angle, serves as a silt storage bin rear door when closed, serves as a balancing weight to enhance operation stability during silt cleaning and excavating operation, and serves as a belt conveying mechanism supporting bottom plate when entering a dock to unload silt. A triangular crawler-type walking mechanism is arranged at the bottom of the ship body and comprises a crawler belt, a driving gear and three driven gears, and the angle of a main shaft connected with the driving gear is adjustable so as to adapt to different bank slope angles; the assorted dock adopts an amphibious structure, can be deployed on a dock close to the shore or a smooth shore in water, and is adapted to various scenes such as a reservoir hydro-fluctuation belt, a shoal, a bank slope and the like for operation.

Novel ships A, B, C1 and C2 are provided. A, propeller propelling systems 3, 4 and 5 are arranged below waterlines on the two sides of a prow; b, arranging ice surface sliding plates on two sides of the ship body, and arranging a high-power electric fan above the waterline of the stern; c1, front, middle and rear sliding plates are arranged on the two sides of the ship body, and a plurality of sets of 50-meter trailer locking sliding plates are arranged on the high-speed rail. And C2, front, middle and rear sections of sliding plates are arranged on two sides of the ship body, a plurality of groups of electric high-speed rail wheels are arranged below the sliding plates, and the track gauge of each group of electric high-speed rail is 1.435 m. The method is comprehensively discussed in the specification of the specific development implementation scheme in the theoretical and technical fields.

The invention discloses a hub motor, a wheel, a propeller and a vehicle, and the hub motor comprises a rotor; the paddles are connected with the rotor; the paddles can be driven by the rotor to rotate around the central axis of the wheel, so that the wheel can move in water. According to the hub motor, the blades are integrated on the rotor, and the rotor drives the blades to rotate around the central shaft of the wheel, so that the wheel is propelled on water. When the vehicle floats on the water, the rotor drives the blades to rotate, it is guaranteed that the wheel has the propelling function and advances or retreats on the water, no extra propeller needs to be arranged, the overall structure is simple, the space design is more compact, and the cost performance is high.

The embodiment of the invention provides a control method of swimming pool cleaning equipment and the swimming pool cleaning equipment. Relates to the technical field of cleaning equipment control. The swimming pool cleaning equipment comprises a power assembly and a buoyancy adjusting assembly. The buoyancy adjusting assembly comprises a fluid exchange port. The control method comprises the steps that in response to a floating instruction, the power assembly is controlled to operate in a first working state so as to drive the swimming pool cleaning equipment in water to move towards the water surface; under the condition that the swimming pool cleaning equipment is not exposed out of the water surface, the buoyancy adjusting assembly is started, and the buoyancy adjusting assembly continuously operates until the swimming pool cleaning equipment floats on the water surface; when the swimming pool cleaning equipment is immersed in the water, the swimming pool cleaning equipment and the external water body are subjected to fluid exchange through the fluid exchange port; and after the fluid exchange port moves to be exposed out of the water surface, external air is introduced into the swimming pool cleaning equipment through the fluid exchange port. According to the method, rapid switching between the under-pool cleaning mode and the water surface cleaning mode is achieved, and the overall efficiency of cleaning operation is improved.

The invention provides submarine cable construction equipment, and belongs to the technical field of cable laying, the submarine cable construction equipment comprises a vehicle body, the lower end face of the vehicle body is symmetrically and fixedly connected with two connecting arms, the two connecting arms are both provided with walking mechanisms, and the upper end face of the vehicle body is fixedly connected with a first mounting frame and a second mounting frame; fixed transverse rollers are rotationally connected into the first mounting frame and the second mounting frame. In the application, the arranged walking mechanism adopts a crawler transmission design and is matched with supporting wheels in wheel seats on the upper and lower end faces of the walking frame, so that a crawler can be effectively supported and prevented from drooping and slipping in a soft seabed and a concave-convex terrain, the crawler is ensured to be tightly attached to the seabed, the moving stability of the equipment is improved, and the road holding force of the seabed can be enhanced; it is guaranteed that the equipment continuously and stably moves in the complex seabed environment, the equipment is suitable for various complex terrains such as soft silt and reefs, and the problem that in the prior art, the walking capacity is poor is solved.

To provide an amphibious vehicle or the like having good mounting workability of a float and capable of obtaining sufficient buoyancy from the float.SOLUTION: The amphibious vehicle 1 includes a vehicle body 2, tires 3 which are running wheels attached to the vehicle body 2, an engine-equipped screw 4 which is a water propulsion device attached to the vehicle body 2, a float support mechanism 5 attached to the vehicle body 2, a float mounting part 6 which is displaced by the float support mechanism 5, and a float 7 which can be mounted on the float mounting part 6.SELECTED DRAWING: Figure 3

Wheels are arranged on the lower portion of a ground carrier in a bilateral symmetry mode, a power system and a communication and automatic driving control system are arranged in a vehicle head on the front portion of the ground carrier, and a connecting clamping groove is formed in a floor of the ground carrier. Electromagnetic spring buckles are arranged on the lower portion of the flight cabin and correspond to the four connecting clamping grooves formed in the ground carrier floor in position. Wings with upward inverted inner sections and straight outer sections are respectively arranged on the left and right sides of the upper part of the flight cabin; the inner section and the outer section of each wing are averagely divided into two sections; when the hydraulic mechanism is opened and closed, the inner section and the outer section can be folded or unfolded around the hinge connecting mechanism, and after folding, the spring positioning pins are inserted into the positioning holes. Oblique empennages are arranged on the left side and the right side of the tail portion of the upper portion of the flight cabin respectively, and deflection rudders are arranged on the rear edges of the outer ends of the oblique empennages. The hovercar can run on the ground, can take off and land vertically, can hover in the air or fly horizontally and can sail underwater; the safety and reliability are high, and the use efficiency is high.

The invention relates to an amphibious snaking robot, and belongs to the technical field of mechanical arms. The amphibious snaking robot comprises at least two propelling mechanisms, at least one omnidirectional joint and at least one waterproof cover. The waterproof cover sleeves the outer side of the omni-directional joint; a plurality of steel rings are embedded in the inner side of the waterproof cover; the omnidirectional joint comprises a first rotating mechanism, a second rotating mechanism and a third rotating mechanism rotationally connected with the first rotating mechanism and the second rotating mechanism, the first rotating mechanism is connected with one propelling mechanism and drives the propelling mechanism to rotate around a first axis L1, and the second rotating mechanism is connected with the other propelling mechanism and drives the propelling mechanism to rotate around a second axis L2; the first rotating mechanism and the second rotating mechanism extrude the steel ring when rotating together, so that the steel ring pushes the third rotating mechanism, and the included angle between the first axis L1 and the second axis L2 is adjusted to release extrusion force borne by the steel ring. According to the amphibious snaking robot, the situation that the extrusion force acting on the steel ring is too large when the joints move can be avoided.

This invention relates to the field of robotics, providing a composite biomimetic amphibious robot. The robot includes a body, servo motors, multiple undulating fins, and omnidirectional wheels. The body has an axisymmetric structure, with the multiple servo motors symmetrically connected to both sides of the body, and the omnidirectional wheels located at the bottom of the body. The undulating fins include multiple fin bones, fin surfaces, and a serpentine mechanism. The proximal ends of the fin bones are connected to the servo motors' control discs, the fin edges are connected to the serpentine mechanism, and the fin bones are connected at equal intervals to the fin surfaces. This invention achieves amphibious functionality and underwater flipping capabilities, with low internal stress, low lateral force, low overall propulsion power consumption, strong system structural stability, and a long service life.

The invention discloses an amphibious unmanned vehicle walking mechanism with a wheel-track interchange function, and mainly relates to the field of amphibious vehicles. The traveling mechanism adopts a modular design relatively independent of a vehicle body, and mainly consists of a turnover lifting piece and an interchangeable tire / crawler traveling piece. The overturning and lifting part drives the walking part to be wholly overturned upwards or downwards through the cooperative action of the overturning oil cylinder and the lifting oil cylinder, so that when the amphibious vehicle runs in water, the walking mechanism can be overturned out of the water surface, the streamline of the vehicle body is kept, and the water resistance is reduced; and the ground can be reliably grounded when the vehicle runs on land. The hydraulic motor is used for driving and providing power, and the pin shaft is used for quick connection and separation, so that the tire walking part and the crawler walking part can be integrally and quickly interchanged to adapt to different application scenes such as hard road surfaces or sand beaches, sludge and the like. According to the amphibious vehicle, the overwater high speed performance and the land complex terrain trafficability of the amphibious vehicle are effectively considered, the application range of the amphibious vehicle is widened, and the use efficiency is improved.

The invention discloses a driving assembly, a driving device and a vehicle. The driving assembly comprises a propelling mechanism suitable for providing propelling force, and a first driving mechanism in transmission connection with the propelling mechanism. The first driving mechanism can drive the propelling mechanism to rotate upwards, leftwards or rightwards at the same time or drive the propelling mechanism to rotate downwards, leftwards or rightwards at the same time, and the first driving mechanism drives the propelling mechanism to rotate so as to adjust the angle of the propelling mechanism, so that the propelling direction of the propelling mechanism is adjusted. And the driving controllability and flexibility of the driving assembly are improved.

The invention relates to an amphibious whale road cleaning ship robot, and belongs to the technical field of amphibious garbage cleaning equipment. The robot comprises a buoyancy shell assembly, an opening and a visual collection module are arranged on the front face of the buoyancy shell assembly, and a centrifugal water pump, a garbage collection assembly, a power source and a control module are arranged in the buoyancy shell assembly; two openable sealed cabins are symmetrically arranged on the two sides of the front surface of the buoyancy shell assembly, and a plurality of leg moving assemblies are arranged in each cabin door; propelling devices are arranged on the backs of the buoyancy shell assemblies; the buoyancy shell assembly, the propelling device and the multiple leg moving assemblies enable the robot to be provided with a multi-mode propelling system, can freely move between the water surface and the river bank, is high in maneuverability, can adapt to different terrain environments, achieves efficient and flexible garbage cleaning, can remarkably improve the environment quality of the water surface and the sand beach river bank, and is suitable for popularization and application. And contributions are made to the environmental protection cause.

The embodiment of the application discloses a kind of imitated cormorant leg-webbed foot walking mechanism, including rear limb connecting frame, leg assembly and webbed foot assembly;Wherein, rear limb connecting frame, for fixedly connecting robot body and the one end of leg assembly;Leg assembly, for driving the movement of robot, at least can realize lateral rotation, longitudinal rotation and height adjustment;Webbed foot assembly, connected to the other end of leg assembly, with web structure, driven by leg assembly can realize height adjustment, pitch angle adjustment, azimuth angle adjustment, roll angle adjustment, and with leg assembly cooperation realizes the swimming action of robot to provide thrust.The application learns the biological characteristics of cormorant, and the mechanism can be used as the driving structure of amphibious robot to improve the swimming efficiency of robot and the adaptability to complex terrain.

The application discloses a kind of coastal groundwater-surface water monitoring sampling device and experimental method of adaptation tidal fluctuation, including carrying platform, amphibious mobile track system located below carrying platform, positioning navigation system located on carrying platform, buoyancy adjusting wing plate system symmetrically located on the both sides of carrying platform, groundwater monitoring sampling system located on carrying platform, surface water monitoring sampling system located on carrying platform, sample separation and preservation system located in carrying platform, visual monitoring system located on carrying platform and control system located in carrying platform, wherein control system is respectively electrically connected with amphibious mobile track system, positioning navigation system, buoyancy adjusting wing plate system, groundwater monitoring sampling system, surface water monitoring sampling system, sample separation and preservation system and visual monitoring system.The application realizes synchronous, layered sampling of groundwater and surface water at different sites in coastal zone within full tidal cycle.

The application provides a water body cleaning robot and a control method thereof, and relates to the technical field of robots. The water body cleaning robot is used for walking in a water body and cleaning the water body. The water body cleaning robot comprises a body and an optical liquid level sensor. The body comprises one or more components, and the transmittance of the components is less than 50%. One of the components defines at least one accommodating cavity, and a fluid channel is formed on the component. The accommodating cavity is connected with the water body outside the body through the fluid channel. Alternatively, at least one accommodating cavity is defined between adjacent components, and a fluid channel is formed between the adjacent components. The accommodating cavity is connected with the water body outside the body through the fluid channel. The optical liquid level sensor is located in the accommodating cavity. The application can reliably operate in a complex cleaning environment.

The invention discloses a cleaning system which comprises a base station and a pool cleaning machine. The base station can be automatically recycled and / or recycle the pool cleaning machine. Wherein the base station comprises a moving mechanism and a supporting mechanism connected with the moving mechanism, the base station at least has a first state and a second state, and when the base station is in the first state, at least part of the moving mechanism is located underwater, and the supporting mechanism is located ashore; when the base station is in the second state, the moving mechanism and the supporting mechanism are both located ashore; and when the base station is switched between the first state and the second state, the pool cleaning machine and the moving mechanism are in butt joint and are kept relatively static, so that the pool cleaning machine is self-recycled and / or recycled to the shore or transported to the pool. The cleaning system has the advantages of being simple in structure, high in transportation efficiency and the like.

The present invention relates to the technical field of amphibious robots, and discloses an amphibious robot, comprising: a fuselage and a driving mechanism, with a steering mechanism and a pitching mechanism respectively connected thereto, wherein the fuselage comprises an inner shell, a propeller and a rolling outer shell which are sequentially sleeved from the inside to the outside. One side end of the inner shell is connected to a rotor of a driving motor, and the other side end is rotatably connected to the bracket and a counterweight. Rotation of the drive motor provides a power torque to the fuselage, and causing the inner shell, the propeller and the rolling outer shell to rotate synchronously. Thus the robot is driven to move on the water surface / water by the reaction force. The amphibious robot provided by the present invention simplifies the driving system and its control system.

The utility model relates to the technical field of robot transmission, and provides a tensile caterpillar band structure and a swimming pool cleaning robot, the caterpillar band structure comprises a caterpillar band main body, the caterpillar band main body is driven by a transmission wheel, a synchronous belt is arranged around the inner side of the caterpillar band main body, inner convex teeth are arranged on the synchronous belt, and the inner convex teeth are used for meshing transmission with concave parts of the transmission wheel. And a reinforcing structure is embedded in the synchronous belt. The crawler belt has the advantages that (1) the tension resistance of the synchronous belt is enhanced through the arrangement of the synchronous belt and the reinforcing structure, the durability of the crawler belt body can be improved through the arrangement of the synchronous belt, the situation that the crawler belt is prone to aging and deformation, and consequently transmission wheels are loosened is avoided, and the service life of the crawler belt is prolonged; in addition, the reinforcing structure is arranged in the synchronous belt instead of the whole track main body, so that the weight of the track can be reduced on the premise of improving the tensile property of the track. (2) the matching degree of the transmission wheel and the crawler belt is improved due to the arrangement of the outer convex teeth; due to the fact that the side convex teeth protrude in the radial direction, the anti-disengaging effect on the transmission wheel is achieved.

Disclosed in the present application is a triphibious reconfigurable robot, which comprises a reconfigurable mechanism, a configuration driving mechanism, and paddle wheels. The reconfigurable mechanism comprises eight links that are sequentially connected end to end to form a closed-loop structure. The configuration driving mechanism comprises four first driving elements, two of which are respectively connected to first rotating shafts, and the other two of which are respectively connected to second rotating shafts. Each first rotating shaft is connected to a paddle wheel. The triphibious reconfigurable robot has a first motion mode, a second motion mode, and a third motion mode. The configuration driving mechanism is capable of driving the reconfigurable mechanism to change configurations, such that the reconfigurable mechanism is switched to different postures and enables the robot to switch between different motion modes. The robot achieves mode switching by reconfiguration of the reconfigurable mechanism, thereby adapting to motion requirements in aquatic, terrestrial, and aerial environments.

The spherical robot comprises a spherical shell, a side end cover and a driving mechanism, and is characterized in that the middle parting surface of the spherical shell is made of a rubber material, a supporting rod is arranged in the side end cover, and when the robot sinks into the mire, the driving mechanism drives the supporting rod to rotate. The rubber material of the spherical shell is sunken inwards to trigger an internal sunken part detection mechanism, and at the moment, a supporting rod in the side end cover extends out to assist the spherical shell to leave the mire and continue to move; when the robot stops, the supporting rods in the side end covers extend out to support the whole robot, and the stability during working is ensured; the problems that an existing spherical robot is difficult to advance in the mire land, and the posture is not stable enough during working are solved.

An amphibious vehicle for operation in a liquid manure lagoon has a first liquid manure mover (e.g., a propeller or a nozzle) that is vertically adjustable through a closed-loop linkage assembly to change the vertical position of the first liquid manure mover with respect to the surface of the liquid manure lagoon. The vehicle has a second liquid manure mover (e.g., a propeller or a nozzle) that is angularly adjustable to adjust the orientation of the second liquid manure mover with respect to the surface of the liquid manure lagoon.

The application discloses a kind of vehicle energy management method, system, electronic equipment and storage medium, method includes: first establish amphibious vehicle driving condition identification database;Based on the amphibious vehicle driving condition identification database, obtain the current driving condition of amphibious vehicle;Get the demand power of amphibious vehicle;Based on the current driving condition of amphibious vehicle, determine the upper limit value and lower limit value of power battery SOC;Second, based on the current driving condition of amphibious vehicle, the demand power of amphibious vehicle and the upper limit value and lower limit value of power battery SOC, determine the driving mode of amphibious vehicle;Finally, based on the driving mode of the amphibious vehicle, execute the energy management control strategy corresponding to the driving mode of amphibious vehicle, to control the amphibious vehicle according to the energy management control strategy runs, both can improve the fuel economy of vehicle whole, can improve the overall efficiency of vehicle.

The present invention provides a novel multiple-seat wagon propelled by simultaneously rowing and pedaling for use in water or land. The present invention provides a unique and versatile multiple-seat wagon that can be converted into a sea vessel. It allows the vehicle to float on water and serves as the lower part of the vessel. The water propulsion assembly includes two water wheels that are responsible for generating forward and backward motion when the vehicle is in water. It also has a water shaft that holds the water wheels. The pinion gear increases the rotational speed of the water wheels, enhancing the efficiency of propulsion from a pedaling motion and a rowing motion. The invention features a demountable coupling system that allows for disassembly and reassembly while maintaining the interconnection of its components.

The invention discloses a deep-water rugged road surface self-adaptive tracked robot, relates to the technical field of deep-sea operation equipment, and aims to solve the technical problems that a tracked chassis of an existing deep-water tracked robot has no self-adaptive adjustment function and has no vibration reduction connection with an upper layer structure. The robot comprises a buoyancy structure, a main body frame, a crawler belt structure, an angle adjusting assembly, a suspension mechanism, a four-wheel drive system and a vibration reduction connecting structure. The crawler belt structure adopts a variable terrain fitting angle design and is matched with a four-wheel drive system to remarkably improve driving force and traction force, and efficient vibration reduction is achieved through a vibration reduction connecting structure; through cooperative work of all functional parts, the attachment degree of the crawler belt and the complex submarine topography reaches 90% or above, the ground sinking degree is reduced by 65% or above, the vibration transmission amplitude is reduced by 75%, the trafficability, stability and operation efficiency of the robot in the deep sea complex environment are greatly improved, the service life of equipment is prolonged, and reliable technical support is provided for deep sea resource development and scientific detection.