Wheel foot amphibious robot mechanism based on differential wheel eccentric mechanism

An eccentric mechanism and robot technology, which is applied in amphibious vehicles, motor vehicles, transportation and packaging, etc., can solve the problems that amphibious activities cannot be guaranteed at the same time, performance speed, mobility, and terrain adaptability are poor, and achieve rich movement forms. The effect of improving environmental adaptability

Inactive Publication Date: 2013-03-20
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, the research on amphibious robots at home and abroad is mostly focused on the exploratory research on the propulsion mechanism in the amphibious environment. Although some progress has been made, the actual performance such as speed, maneuverability, and terrain adaptability are relatively poor. Capacity cannot be guaranteed at the same time

Method used

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  • Wheel foot amphibious robot mechanism based on differential wheel eccentric mechanism
  • Wheel foot amphibious robot mechanism based on differential wheel eccentric mechanism
  • Wheel foot amphibious robot mechanism based on differential wheel eccentric mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] see Figure 1~5 , the wheel-foot amphibious robot mechanism based on the eccentric mechanism of the differential wheel, including the blade (1), the paddle shaft (2), the hinge (3), the outer wheel shell (4), the frame (5), the motor (18, 17, 15), differential gear train and transmission mechanism, characterized in that: the paddle (1) slides through the hinge (3) and is fixed on the paddle shaft (2), and the hinge (3) is evenly distributed in the circumferential direction On the outer wheel housing (4), the motor (18, 17, 15) respectively drive the outer wheel housing (4) and the differential gear train through the transmission mechanism; the outer wheel housing (4) and the motor (18,17,15) are all installed on the described frame (5).

Embodiment 2

[0031] This embodiment is basically the same as Embodiment 1, and the special features are:

[0032] The wheel-foot amphibious robot mechanism based on the differential wheel eccentric mechanism is characterized in that after the paddle (1) passes through the hinge (3), the inner end is fixed on the paddle shaft ( 2) on.

[0033] The wheel-foot amphibious robot mechanism based on the differential wheel eccentric mechanism is characterized in that the paddle shaft (2) is fixed on a turntable (22) coaxial with the planetary gear (9) in the differential gear train .

[0034] The wheel-foot amphibious robot mechanism based on the differential wheel eccentric mechanism is characterized in that the transmission mechanism includes first and second bevel gears (19, 13), first, second and third transmission gears (6, 7, 11), internal gear (12), planetary gear (9), sun gear (8), sun gear (10), the connection method is:

[0035] a. The motor described (18) Drive the internal gea...

Embodiment 3

[0040] The structure of the wheel-footed amphibious robot based on the differential wheel eccentric mechanism is as follows:

[0041] Such as figure 2 As shown, the four blades (1) are respectively fixed on the paddle shaft (2) through four hinges (3), and the position of the paddle shaft (2) is adjusted through the rotation of the differential gear train, and the outer wheel housing (4 ) can move independently. In this way, the above-mentioned several motion modes can be realized through the coordinated motion of the paddle shaft (2) and the outer wheel housing (4).

[0042] Among them, the paddle (1) is connected with the paddle shaft (2) through the paddle connection block (21), see image 3 ; The four hinges (3) are evenly distributed in the outer wheel shell (4), see Figure 6 ; The paddle shaft (2) is fixed on a turntable (22) coaxial with the planetary gear (9) in the differential gear train, see Figure 4 ; The outer wheel housing (4), the motor mounting plate (14...

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Abstract

The invention relates to a wheel foot amphibious robot mechanism based on a differential wheel eccentric mechanism. The wheel foot amphibious robot mechanism comprises paddles, a paddle shaft, a hinge, an outer wheel shell, a rack, motors, a differential wheel system and a transmission mechanism, wherein the paddles pass through the hinge in a sliding manner to be fixed on the paddle shaft; the motors respectively drive the outer wheel shell and the differential wheel system by the transmission mechanism; and the outer wheel shell and the motors are all arranged on the rack. The position of the paddle shaft in the outer wheel shell is changed by regulating the differential wheel system, and the paddle shaft is matched with rotation of the outer wheel shell, so that various configurations can be realized, and then various motion modes can be realized. Due to the adoption of a combined propulsion mode suitable for both land and water environments, the wheel foot amphibious robot mechanism based on the differential wheel eccentric mechanism has the characteristics of rich motion modes, strong adaptive capacity to the environment and the like.

Description

technical field [0001] The invention relates to a wheel-foot amphibious robot mechanism based on a differential wheel eccentric mechanism, which can realize movement on land and in water. technical background [0002] In recent years, the development of computer systems has promoted the progress of robot technology, and the types of robots have continued to increase. In addition to industrial robots mainly used in manufacturing, there have also been applications in aerospace such as spacecraft and alien mobile vehicles, and navigation such as deep sea robots. Special robots in the fields of operating robots, medical care such as surgical robots, home services such as nursing robots, military such as demining robots, etc. However, most robots can only move in a single environment. For example, land mobile robots cannot carry out underwater activities because they do not have underwater propulsion mechanisms or waterproof functions, and most underwater robots do not have or do...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02B60F3/00
Inventor 王涛马书根蒲华燕刘吉成罗均谢少荣
Owner SHANGHAI UNIV
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