Small-sized variable-structure propulsion device with amphibious function
A technology of amphibious and propulsion devices, applied in amphibious vehicles, transportation and packaging, motor vehicles, etc., can solve the problems of lack of climbing and obstacle-crossing capabilities, cumbersome switching, complex structure, etc., and achieve light weight, low energy consumption, small size effect
Inactive Publication Date: 2013-11-06
BEIHANG UNIV
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Problems solved by technology
However, there are certain deficiencies in these schemes, which are mainly manifested in: simply superimposing the two propulsion devices on land and water, there are shortcomings of large volume, complex structure, and cumbersome switching; the number of driving elements (such as: motors) is too large, It has the disadvantages of high energy consumption and complicated control; in order to take into account the function of traveling in water, the ability to travel on land is sacrificed, for example: it can only travel on flat ground, but cannot travel on rough land and uneven beaches, and lacks sufficient climbing Climbing and obstacle-surmounting ability
Method used
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[0023] Such as Figure 1 to Figure 4 As shown, the entire propulsion device is symmetrically installed in the housing 17.
[0024] Such as Figure 4 with Figure 5 As shown, the servo motor 13 is fixed on the housing 17 through the motor bracket 11 , and the inner shaft 2 can rotate relative to the outer shaft 3 through the inner shaft bearing 9 and the inner shaft bearing 14 . The outer shaft 3 can rotate relative to the outer shaft bearing bracket 5 through the outer shaft bearing 25 and the outer shaft bearing 26 .
[0025] Such as Figure 4 with Figure 5 As shown, the inner spoke 16 on the front side is fixed on the outer shaft 3 by a screw 34 , and the outer spoke 20 is fixedly connected to the inner shaft 2 by a flat key and a screw 35 . The rear variable paddles are mounted on output ends of the rear inner shaft 21 and the rear outer shaft 22 . The input end of the rear inner shaft 21 is equipped with a rear synchronous pulley 28, which is connected with the sync...
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The invention provides a small-sized variable-structure propulsion device with an amphibious function, which can advance in multiple kinds of land and water such as flat ground, rugged land, mudflat, water surface, water bottom and the like. The small-sized variable-structure propulsion device comprises an advancing mechanism, a transmission and synchronization device, a switching device and a fixing device, wherein the fixing device comprises an outer bearing support, a brake support, a motor support, a clutch support and a shell, and all supports are fixedly connected on the shell; and the advancing mechanism comprises four variable wheel paddles and four groups of switching devices which are matched with the advancing mechanism. The traveling mechanism can realize the functions of switching among wheels, legs and paddles, advancing, retreating, turning and the like only by using a servo motor and without replacing any part. Through the synchronization device, synchronous shape change and movement of the front and rear advancing mechanisms can be realized. The propulsion device has the advantages of small and exquisite structure, fast switch, low energy consumption and strong adaptability, and is simple to control.
Description
technical field [0001] The invention relates to a small-sized variable-structure propulsion device capable of traveling in various water and land environments such as flat ground, rough land, beach, water surface and underwater. Background technique [0002] Amphibious robots can work in both land and water environments, have strong environmental adaptability and the ability to perform multiple tasks, and have very important research significance and application value. One of the research priorities of amphibious robots is to develop a propulsion device that can integrate the functions of water and land travel. However, research in this area is insufficient. [0003] The relatively mature research results at home and abroad mainly focus on large-scale equipment with amphibious functions, such as amphibious tanks and amphibious vehicles. The propulsion system of these equipment is often simply superimposed by two types of propulsion devices, land and water, which are large ...
Claims
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IPC IPC(8): B60F3/00
Inventor 边宇枢高志慧单博
Owner BEIHANG UNIV