amphibious robots

Abstract

The present invention discloses an amphibious robot, comprising a main body, a rotating assembly, a magnetic paddle, and an electromagnetic assembly. The rotating assembly is rotatably connected to the main body and encloses the main body to form a receiving chamber. A receiving slot is provided on the side of the rotating assembly facing away from the receiving chamber. The magnetic paddle rotates within the receiving slot. The electromagnetic assembly is disposed within the receiving chamber and corresponds to the magnetic paddle. When the electromagnetic assembly is powered on or off, the electromagnetic assembly generates or loses magnetism, thereby driving the magnetic paddle to rotate, extending the magnetic paddle from the receiving slot or retracting it into the receiving slot. The present invention, through the provision of the electromagnetic assembly, can achieve the deployment or retraction of the magnetic paddle, so that the rotating assembly can adapt to different usage environments and propel the robot forward.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an amphibious robot. Background Art

[0002] With the advancement of society and the development of network technology, a growing number of robotic forms have emerged. Spherical robots have garnered increasing attention in recent years. Spherical robots are robots whose drive systems are located within a spherical shell (or sphere), achieving spherical motion through internal propulsion. These robots possess excellent dynamic and static balance, along with excellent sealing properties, allowing them to operate in harsh, unmanned environments characterized by dust, humidity, and corrosion. They are widely used in a variety of fields, including planetary exploration, environmental monitoring, defense equipment, and entertainment.

[0003] An amphibious robot is a robot that can operate both on land and in water. In existing technology, amphibious robots are typically equipped with drive wheels and propellers, which are installed separately. The propellers are installed in the robot's main body, and the drive wheels are rotatably connected to the main body. When the robot is on land, the drive wheels rotate to achieve its operation; when underwater, the propellers propel the robot. This complex structure results in a large robot. Summary of the Invention

[0004] The main purpose of the present invention is to provide an amphibious robot, aiming to simplify the structure and reduce the volume of the amphibious robot.

[0005] To achieve the above objectives, the amphibious robot proposed by the present invention includes:

[0006] main body;

[0007] A rotating assembly is rotatably connected to the main body and encloses the main body to form a receiving cavity; a receiving groove is provided on a side of the rotating assembly facing away from the receiving cavity;

[0008] a magnetic blade, the magnetic blade being rotatably disposed in the receiving slot; and

[0009] an electromagnetic assembly, the electromagnetic assembly being disposed in the accommodating cavity and corresponding to the magnetic blade;

[0010] When the electromagnetic component is powered on or powered off, the electromagnetic component generates magnetism or loses magnetism, thereby driving the magnetic blade to rotate, so that the magnetic blade extends out of the receiving slot or retracts into the receiving slot.

[0011] In one embodiment of the present invention, the magnetic blade comprises:

[0012] a blade body, wherein a rotating shaft is provided at one end of the blade body, a matching hole is provided on the groove wall of the receiving groove, and the rotating shaft is passed through the matching hole; and

[0013] The boosting part is arranged on a side of the blade body away from the rotating assembly and is enclosed with the side wall of the blade body to form a water hanging groove.

[0014] In one embodiment of the present invention, the cross-section of the blade body is trapezoidal, and the distance between two opposite sides of the blade body gradually decreases in a direction away from the rotating assembly;

[0015] And / or, the connection between the blade body and the booster portion is arc-shaped and has a smooth transition;

[0016] And / or, the side of the blade body facing the rotating assembly is adapted to the shape of the bottom wall of the receiving groove.

[0017] In one embodiment of the present invention, there are multiple receiving slots, and the multiple receiving slots are evenly spaced along the periphery of the rotating component; there are multiple magnetic blades, and each magnetic blade is rotatably disposed in one of the receiving slots.

[0018] In one embodiment of the present invention, the main body is provided with a control component, and the electromagnetic assembly is electrically connected to the control component; the control component controls the electromagnetic assembly to be powered on or off.

[0019] In one embodiment of the present invention, the electromagnetic component comprises:

[0020] a solenoid, the solenoid being disposed in the accommodating cavity and connected to the rotating assembly, the solenoid being disposed corresponding to the magnetic blade; and

[0021] A conductive slip ring is arranged in the accommodating cavity; the fixed portion of the conductive slip ring is connected to the main body and electrically connected to the control component; the rotating portion of the conductive slip ring is connected to the rotating assembly and electrically connected to the solenoid.

[0022] In one embodiment of the present invention, the main body includes:

[0023] main shell;

[0024] A support base, the support base is connected to the main shell and encloses a mounting cavity, the control component is arranged in the mounting cavity; the support base and the rotating assembly enclose the accommodating cavity; the conductive slip ring is connected to the support base; and

[0025] A driving member is provided on the supporting seat, and an output end of the driving member is connected to the rotating assembly.

[0026] In one embodiment of the present invention, the main body further comprises a first waterproof member, which is provided at the connection between the main shell and the support base and is located between the main shell and the support base;

[0027] And / or, the main body also includes a second waterproof component, the support seat is provided with a first through hole, the output end of the driving component is passed through the first through hole, and the second waterproof component is provided between the output end of the driving component and the hole wall of the first through hole.

[0028] In one embodiment of the present invention, the number of the supporting bases and the number of the driving members are both two, the two supporting bases are respectively connected to opposite sides of the main housing, and each driving member is provided on one supporting base;

[0029] There are two rotating components, and the two rotating components are rotatably arranged on opposite sides of the main body corresponding to the two support seats, and are respectively connected to the output end of one of the driving members; each rotating component is rotatably connected to one of the support seats through a bearing.

[0030] In one embodiment of the present invention, the rotating assembly comprises:

[0031] The shell is arc-shaped and is provided with a receiving groove. The support seat is accommodated in the receiving groove and enclosed with the groove wall of the receiving groove to form the receiving cavity. The notch of the receiving groove extends to the side of the support seat facing the main shell and is sleeved on the outer wall of the main shell. The side of the shell facing away from the receiving groove is provided with the receiving groove. The solenoid is arranged in the shell; and

[0032] A transmission member is arranged in the accommodating groove and is detachably connected to the shell; the transmission member is connected to the output end of the driving member and is rotatably connected to the support seat through the bearing; the rotating part of the conductive slip ring is connected to the transmission member.

[0033] In the technical solution of the present invention, the rotating assembly is rotatably connected to the main body, and the movement of the robot is achieved through the rotation of the rotating assembly. When operating on land, the electromagnetic assembly is in a power-off state, and the electromagnetic assembly and the magnetic blades attract each other, so that the magnetic blades are stably stored in the storage slot, which can ensure the normal operation of the rotating assembly. When operating in water, the electromagnetic assembly is energized to generate magnetism, which repels the magnetic blades. The magnetic blades rotate under the action of the magnetic force until they extend out of the storage slot. The rotation of the rotating assembly can drive the magnetic blades to rotate, achieving the effect of the magnetic blades paddling, and the robot can move normally on the water surface. The present invention can realize the expansion or retraction of the magnetic blades through the setting of the electromagnetic assembly, so that the rotating assembly can adapt to different usage environments and propel the robot forward. The present invention does not require the additional setting of a propeller thruster, and the structure is simple and ingenious, which can reduce the volume of the robot to improve applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0035] Figure 1 This is a schematic structural diagram of an amphibious robot according to an embodiment of the present invention;

[0036] Figure 2 for Figure 1 Exploded diagram;

[0037] Figure 3 for Figure 1 Schematic cross-section diagram;

[0038] Figure 4 for Figure 3 Schematic diagram of the structure of the magnetic blades unfolded;

[0039] Figure 5 for Figure 1 Schematic diagram of the structure of the magnetic blade;

[0040] Figure 6 for Figure 2 Schematic diagram of the structure of the middle shell;

[0041] Figure 7 for Figure 2 Schematic diagram of the structure of the transmission parts;

[0042] Figure 8 for Figure 7 Schematic diagram of the structure from another angle;

[0043] Figure 9for Figure 2 Schematic diagram of the structure of the middle support seat.

[0044] Description of Figure Numbers:

[0045]

[0046]

[0047] The implementation, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] The present invention provides an amphibious robot.

[0052] In the embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the amphibious robot comprises:

[0053] Subject 1;

[0054] A rotating assembly 2, the rotating assembly 2 being rotatably connected to the main body 1 and enclosing a receiving cavity 1a with the main body 1; a receiving groove 2a is provided on a side of the rotating assembly 2 facing away from the receiving cavity 1a;

[0055] a magnetic blade 3 rotatably disposed in the receiving slot 2a; and

[0056] an electromagnetic assembly 4, the electromagnetic assembly 4 being disposed in the accommodating cavity 1a and corresponding to the magnetic blade 3;

[0057] When the electromagnetic component 4 is powered on or off, the electromagnetic component 4 generates magnetism or loses magnetism, thereby driving the magnetic blade 3 to rotate, so that the magnetic blade 3 extends out of the receiving slot 2a or retracts into the receiving slot 2a.

[0058] In this embodiment, the rotating assembly 2 is rotatably connected to the main body 1, and the robot's movement is achieved through the rotation of the rotating assembly 2. When operating on land, the electromagnetic assembly 4 is in a power-off state. The electromagnetic assembly 4 and the magnetic blades 3 attract each other, so that the magnetic blades 3 are stably stored in the storage slot 2a, which can ensure the normal operation of the rotating assembly 2. When operating in water, the electromagnetic assembly 4 is energized, generating magnetism, which repel the magnetic blades 3. Under the action of the magnetic force, the magnetic blades 3 rotate until they extend out of the storage slot 2a. The rotation of the rotating assembly 2 can drive the magnetic blades 3 to rotate, achieving the effect of the magnetic blades 3 paddling in the water, and the robot can move normally on the water surface. In this embodiment, the provision of the electromagnetic assembly 4 can realize the expansion or retraction of the magnetic blades 3, so that the rotating assembly 2 can adapt to different usage environments and propel the robot forward. This embodiment does not require the provision of a separate propeller thruster, and the structure is simple and ingenious, which can reduce the size of the robot and improve its applicability.

[0059] In this embodiment, the magnetic blade 3 is made of a magnet. The magnetic blade 3 itself has a magnetic moment and can generate a magnetic field that can attract ferromagnetic materials. When the electromagnetic component 4 is energized, the electromagnetic component 4 generates a magnetic field that repels the magnetic blade 3. Under the action of the repulsive force, the magnetic blade 3 rotates until it extends out of the storage slot 2a, thereby expanding the magnetic blade 3. When the electromagnetic component 4 is de-energized, the magnetism of the electromagnetic component 4 disappears, and it becomes an ordinary ferromagnetic material, which can generate a mutual attraction force with the magnetic blade 3. Since the electromagnetic component 4 and the magnetic blade 3 are respectively arranged on the inner and outer sides of the rotating component 2, the magnetic blade 3 can be stably stored in the storage slot 2a under the action of the attraction between the electromagnetic component 4 and the magnetic blade 3.

[0060] In some embodiments, the surface of the magnetic blade 3 may be subjected to rust-proof treatment.

[0061] It should be noted that when the rotating assembly 2 rotates, the main body 1 does not rotate.

[0062] In one embodiment of the present invention, Figure 5 As shown, the magnetic blade 3 includes:

[0063] a blade body 31, wherein a rotating shaft 311 is provided at one end of the blade body 31, a matching hole is provided in the groove wall of the receiving groove 2a, and the rotating shaft 311 is passed through the matching hole; and

[0064] The boosting portion 32 is provided on a side of the blade body 31 away from the rotating assembly 2 and is enclosed with the side wall of the blade body 31 to form a water hanging groove 3a.

[0065] It is understood that the mating connection between the rotating shaft 311 and the mating hole enables the rotational connection between the magnetic paddle 3 and the rotating assembly 2. The water trough 3a formed by the booster portion 32 and the paddle body 31 allows the magnetic paddle 3 to catch more water as it rotates with the rotating assembly 2, generating greater propulsion force to propel the robot forward.

[0066] In one embodiment of the present invention, Figure 5 As shown, the cross section of the blade body 31 is trapezoidal, and the distance between the two opposite sides of the blade body 31 gradually decreases in the direction away from the rotating assembly 2 .

[0067] It is understandable that setting the blade body 31 in a trapezoidal shape can, on the one hand, ensure that the side facing the electromagnetic component 4 has a larger area to ensure that sufficient magnetic force can be generated to drive the magnetic blade 3 to rotate; on the other hand, it can reduce the weight of the magnetic blade 3.

[0068] In one embodiment of the present invention, Figure 5 As shown, the connection between the blade body 31 and the boosting portion 32 is arc-shaped and has a smooth transition, which can stably push the water flow and reduce the generation of vortexes.

[0069] In one embodiment of the present invention, Figure 3 and Figure 5 As shown, the side of the blade body 31 facing the rotating assembly 2 is adapted to the shape of the bottom wall of the receiving groove 2a, thereby improving the stability of the blade body 31 when it is received in the receiving groove 2a.

[0070] In this embodiment, the bottom wall of the receiving groove 2 a is arc-shaped, and the side of the blade body 31 facing the rotating assembly 2 is correspondingly arc-shaped.

[0071] In one embodiment of the present invention, Figure 1 and Figure 2As shown, there are multiple receiving slots 2a, and the multiple receiving slots 2a are evenly spaced along the periphery of the rotating component 2; there are multiple magnetic blades 3, and each magnetic blade 3 is rotatably disposed in one of the receiving slots 2a.

[0072] It is understood that the provision of multiple magnetic blades 3 allows the rotation of the rotating assembly 2 to drive the multiple magnetic blades 3 to paddle the water, generating greater propulsion force. The equal spacing of the multiple magnetic blades 3 ensures a more uniform and stable propulsion force on the robot while operating in water, thereby improving operational stability.

[0073] In one embodiment of the present invention, Figure 3 As shown, the main body 1 is provided with a control component 11, and the electromagnetic assembly 4 is electrically connected to the control component 11; the control component 11 controls the electromagnetic assembly 4 to be powered on or off.

[0074] It is understood that the control component 11 can receive control instructions and control the power on or off of the electromagnetic assembly 4 according to the instructions to expand or retract the blades to adapt to different usage environments. In this embodiment, the control component 11 includes not only a control module for controlling the power on and off of the electromagnetic assembly 4, but also other function control modules that can control other functions of the robot.

[0075] In other embodiments, the control component 11 for controlling the electromagnetic assembly 4 may also be disposed in the accommodating cavity 1 a and independently disposed from the functional control module for controlling other functions in the main body 1 .

[0076] In one embodiment of the present invention, Figure 2 、 Figure 3 and Figure 4 As shown, the electromagnetic component 4 includes:

[0077] a solenoid 41 , the solenoid 41 being disposed in the accommodating chamber 1 a and connected to the rotating assembly 2 , the solenoid 41 being disposed corresponding to the magnetic blade 3 ; and

[0078] A conductive slip ring 42 is provided in the accommodating cavity 1a; a fixed portion 421 of the conductive slip ring 42 is connected to the main body 1 and electrically connected to the control component 11; a rotating portion 422 of the conductive slip ring 42 is connected to the rotating assembly 2 and electrically connected to the solenoid 41.

[0079] It is understood that the solenoid 41 includes an electromagnet core and a coil wound around the electromagnet core, which is electrically connected to a conductive slip ring 42. Since the main body 1 does not rotate, the control component 11 disposed within the main body 1 also does not rotate. The conductive slip ring 42 ensures that the control component 11 remains electrically connected to the solenoid 41 when the solenoid rotates with the rotating assembly 2.

[0080] In this embodiment, Figure 6 As shown, the cavity wall of the accommodating cavity 1a corresponds to the receiving groove 2a and is provided with a mounting platform 213. The mounting platform 213 is provided with a first mounting hole 213a. The first mounting hole 213a is annular. The electromagnet core is annular and is installed in the first mounting hole 213a. The coil is installed in the first mounting hole 213a and is wound around the outer peripheral wall of the electromagnet core.

[0081] In some embodiments, the mounting platform 213 is further provided with a second mounting hole, and a mounting cover is provided at one end of the mounting platform 213 facing away from the storage slot 2a. The mounting cover is partially inserted into the second mounting hole and blocks the second mounting hole. The wire connecting the conductive slip ring 42 and the solenoid 41 is passed through the mounting cover and sealed by glue.

[0082] In this embodiment, the solenoid 41 is disposed corresponding to a portion of the blade body 31 away from the rotation shaft 311 .

[0083] It should be noted that the conductive slip ring 42 is electrically connected to the control component 11 through a wire, and the wire threading points on the main body 1 are sealed by glue dispensing.

[0084] In one embodiment of the present invention, Figure 2 、 Figure 3 and Figure 4 As shown, the main body 1 includes:

[0085] Main shell 12;

[0086] The support base 13 is connected to the main housing 12 and encloses a mounting cavity, and the control component 11 is arranged in the mounting cavity; the support base 13 and the rotating assembly 2 enclose the accommodating cavity 1a; the conductive slip ring 42 is connected to the support base 13; and

[0087] A driving member 14 is provided on the supporting seat 13 , and an output end of the driving member 14 is connected to the rotating assembly 2 .

[0088] It is understood that the support base 13 seals the mounting cavity of the main housing 12, isolating the control component 11 and other components within the cavity. The mounting base also provides support and mounting space for the driver 14 and the conductive slip ring 42. The driver 14 is electrically connected to the control component 11. The control component 11 controls the operation of the driver 14, which in turn controls the rotation of the rotating assembly 2, thereby controlling the robot's operating state.

[0089] In this embodiment, the driving member 14 is a motor.

[0090] In one embodiment of the present invention, Figure 2 、 Figure 3 and Figure 4 As shown, the main body 1 further includes a first waterproof member 15 , which is provided at the connection between the main shell 12 and the support seat 13 and is located between the main shell 12 and the support seat 13 .

[0091] It is understandable that, by providing the first waterproof member 15, the installation cavity can be further sealed, thereby improving the waterproof performance of the main body 1. In this embodiment, the first waterproof member 15 is waterproof rubber.

[0092] In one embodiment of the present invention, Figure 2 、 Figure 3 and Figure 9 As shown, the main body 1 also includes a second waterproof component 16, the support seat 13 is provided with a first through hole 13a, the output end of the driving component 14 is passed through the first through hole 13a, and the second waterproof component 16 is provided between the output end of the driving component 14 and the hole wall of the first through hole 13a.

[0093] It is understandable that, by providing the second waterproof member 16, the installation cavity can be further sealed, thereby improving the waterproof performance of the main body 1. In this embodiment, the second waterproof member 16 is waterproof rubber.

[0094] In this embodiment, Figure 3 and Figure 9 As shown, the support base 13 is provided with a first assembly hole 13c communicating with the first through hole 13a, the driving member 14 is accommodated in the first assembly hole 13c, and the output end of the driving member 14 extends from the first through hole 13a.

[0095] In one embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, there are two support bases 13 and two driving members 14 , and the two support bases 13 are respectively connected to opposite sides of the main housing 12 , and each driving member 14 is provided on one support base 13 ;

[0096] There are two rotating components 2, and the two rotating components 2 are rotatably arranged on opposite sides of the main body 1 corresponding to the two support seats 13, and are respectively connected to the output end of one of the driving members 14; each rotating component 2 is rotatably connected to one of the support seats 13 through a bearing 23.

[0097] It can be understood that by providing two rotating components 2 and separately controlling the two driving members 14 , the robot can have multiple operating modes, such as linear operation, curved operation, rotational operation, etc.

[0098] The rotating assembly 2 is connected to the support base 13 via a bearing 23 to enable the rotating assembly 2 to rotate. When the rotating assembly 2 rotates on land or in water, it can drive the robot to move. The provision of the bearing 23 can improve the stability of the rotating assembly 2, reduce friction, and save energy.

[0099] Unlike the four wheels of a car, the robot of this embodiment includes two rotating components 2. If the rotating component 2 and the support seat 13 are not connected by the bearing 23, the rotating component 2 only rotates around the output end of the driving member 14, that is, the motor shaft 311, that is, a point rotation, which is unstable; and after the bearing 23 is provided to connect the support seat 13 and the rotating component 2 together, the rotating component 2 can also rotate around the bearing 23, that is, rotate around a surface, so the rotation of the rotating component 2 is more stable, and the surface connection of the bearing 23 is stronger than the point connection of the motor shaft.

[0100] The robot's main body 1 must remain as still as possible during use, unlike a balancing cart, where a person stands in the center. If the robot's motor were to directly drive the rotating assembly 2, this could easily cause the main body 1 to become unstable. However, the bearing 23 reduces the relative motion between the main body 1 and the rotating assembly 2, ensuring greater stability.

[0101] In addition, this embodiment does not require a reduction gear between the driving member 14 and the rotating assembly 2, thereby reducing design difficulty.

[0102] In this embodiment, the bearing 23 is a waterproof sealed bearing 23, and the conductive slip ring 42 is coaxially arranged with the bearing 23 and located on the side of the bearing 23 away from the support seat 13, making the structure compact and easy to install, and also achieving sealing and waterproofing of the conductive slip ring 42.

[0103] In one embodiment of the present invention, Figure 2 、 Figure 3 and Figure 4 As shown, the rotating assembly 2 includes:

[0104] The housing 21 is arc-shaped and is provided with a receiving groove 21a. The support seat 13 is received in the receiving groove 21a and enclosed with the groove wall of the receiving groove 21a to form the receiving chamber 1a. The notch of the receiving groove 21a extends to the side of the support seat 13 facing the main housing 12 and is sleeved on the outer wall of the main housing 12. The housing 21 is provided with the receiving groove 2a on the side away from the receiving groove 21a. The solenoid 41 is provided in the housing 21; and

[0105] The transmission member 22 is arranged in the accommodating groove 21a and is detachably connected to the housing 21; the transmission member 22 is connected to the output end of the driving member 14 and is rotatably connected to the support seat 13 through the bearing 23; the rotating portion 422 of the conductive slip ring 42 is connected to the transmission member 22.

[0106] It is understood that the arc-shaped housing 21 enables it to roll on the ground or in water, making the robot a spherical robot. The support base 13 is located within the receiving groove 21a and adjacent to the notch of the receiving groove 21a, facilitating connection with the main housing 12 via the support base 13. The notch of the receiving groove 21a is sleeved onto the outside of the main housing 12, ensuring that only the housing 21 is exposed, while the remaining components are concealed, eliminating gaps and enhancing the appearance. Furthermore, this ensures that a certain gap is always maintained between the main body 1 and the ground during operation, protecting the main body 1 from wear and tear.

[0107] The transmission member 22 is connected to the bearing 23 so that the transmission member 22 can rotate relative to the support base 13. The rotation of the transmission member 22 can drive the housing 21 to rotate. The housing 21 can also protect the transmission member 22 and the bearing 23 from external foreign matter.

[0108] In some embodiments, the housing 21 and the transmission member 22 can be connected using a variety of connection methods, such as screws. In this embodiment, the housing 21 and the transmission member 22 snap together, allowing for convenient removal and installation of the housing 21 and the transmission member 22, improving efficiency and reducing difficulty. This prevents damage to the housing 21 or the transmission member 22 during installation and removal, while also enhancing the appearance. Furthermore, the snap-fit connection of the transmission member 22 and the housing 21 eliminates the need for screw holes in the housing 21, ensuring a more aesthetically pleasing design.

[0109] In other embodiments, the rotating assembly 2 is an integrally formed structure, that is, the housing 21 and the transmission member 22 are integrally formed and fixed and cannot be disassembled, that is, the transmission member 22 is not provided separately.

[0110] The detachable connection between the transmission member 22 and the housing 21 can make the appearance of the robot more beautiful compared to the integrally formed fixed arrangement of the housing 21 and the transmission member 22.

[0111] Specifically, if the housing 21 and the transmission member 22 are an integrally formed fixed structure, the installation process of the robot is as follows:

[0112] S1: First, assemble the bearing 23 to the support seat 13. A first locking member (not shown) can be used to securely connect the bearing 23 and the support seat 13. The bearing 23 and the support seat 13 can also be configured to have an interference fit.

[0113] S2: Assemble the rotating assembly 2 and the bearing 23. A second locking member (not shown) may be used to securely connect the bearing 23 and the rotating assembly 2. The bearing 23 and the rotating assembly 2 may further be configured to have an interference fit.

[0114] S3: Connect the support base 13 to the main shell 12 to complete the assembly.

[0115] If the gap at the connection between the support base 13 and the main shell 12 is to be hidden, the support base 13 needs to be located within the receiving groove 21a of the rotating assembly 2, that is, the rotating assembly 2 is used to cover the gap at the connection between the support base 13 and the main shell 12. However, this will make it inconvenient to use bolts to connect the support base 13 and the main shell 12, and the support base 13 and the main shell 12 can only be connected by snapping, which will reduce the connection strength between the support base 13 and the main shell 12. If the support base 13 and the main shell 12 are to be connected by bolts, the support base 13 cannot be located within the receiving groove 21a of the rotating assembly 2, that is, the rotating assembly 2 is not used to cover the gap at the connection between the support base 13 and the main shell 12, and the gap is exposed, which will reduce the overall aesthetics of the robot. Compared with the above-mentioned case where the rotating assembly 2 is used to cover the gap, the exposed gap is more likely to enter dust and other foreign matter.

[0116] When the transmission member 22 and the housing 21 are detachably connected, the installation process of the robot is as follows:

[0117] S1: First, assemble the bearing 23 to the support seat 13. A first locking member can be used to securely connect the bearing 23 and the support seat 13. The bearing 23 and the support seat 13 can also be configured to have an interference fit.

[0118] S2: Assemble the transmission member 22 and the bearing 23. A second locking member may be used to securely connect the bearing 23 and the transmission member 22. The bearing 23 and the transmission member 22 may further be configured to have an interference fit.

[0119] S3: Connect the support base 13 to the main housing 12 of the robot with bolts;

[0120] S4: Then connect the housing 21 and the transmission member 22, which can be connected by snapping, to complete the assembly.

[0121] like Figure 3 and Figure 4As shown, since the shell 21 is connected to the transmission member 22 after the support base 13 is connected to the main shell 12, the edge of the shell 21 can extend to the side of the support base 13 away from the transmission member 22, that is, the use of the shell 21 can block the gap at the connection between the support base 13 and the main body. Therefore, compared with the embodiment where the transmission member 22 is not set separately, when the transmission member 22 is set, the connection strength between the support base 13 and the main shell 12 can be guaranteed (that is, the two can be connected by bolts), and the beauty of the support base 13 and the main shell 12 can also be guaranteed (that is, the gap at the connection between the two can be blocked).

[0122] In one embodiment of the present invention, Figure 3 、 Figure 4 and Figure 6 As shown, the groove wall of the accommodating groove 21a is provided with a hook 211, and the hook 211 and the groove wall of the accommodating groove 21a are combined to form a limiting groove, and the transmission member 22 is partially limited in the limiting groove.

[0123] It can be understood that by providing the hook 211, a detachable connection between the transmission member 22 and the housing 21 is achieved, and the structure is compact, the connection is stable, and the housing 21 is free from holes, thereby ensuring aesthetics.

[0124] In one embodiment of the present invention, Figure 3 、 Figure 7 and Figure 8 As shown, a clamping portion 221 is provided on the outer periphery of the transmission member 22, and the clamping portion 221 is located in the limiting groove. The clamping portion 221 is provided with an inclined surface on the side facing the shell 21, and the side of the clamping portion 221 away from the shell 21 abuts against the hook 211, and the side of the transmission member 22 away from the support seat 13 abuts against the cavity wall of the accommodating groove 21a and the shape is adapted.

[0125] It can be understood that the side of the clamping portion 221 facing away from the shell 21 abuts against the hook 211, and the side of the transmission member 22 facing away from the support seat 13 abuts against the cavity wall of the accommodating groove 21a, so that the transmission member 22 is partially limited in the limiting groove. At the same time, the transmission member 22 abuts against the cavity wall of the accommodating groove 21a and the shape is adapted. The transmission member 22 can support the shell 21. When the area on the shell 21 corresponding to the transmission member 22, that is, the middle part of the shell 21, is bumped, the shell 21 can be prevented from being recessed.

[0126] The side of the engaging portion 221 facing the housing 21 is provided with an inclined surface, and the corresponding hook 211 is also provided with an inclined surface, so as to facilitate the assembly of the housing 21 and the transmission member 22 .

[0127] In one embodiment of the present invention, Figure 3 、 Figure 4 、 Figure 6 、 Figure 7 and Figure 8 As shown, the transmission member 22 is provided with a plurality of positioning holes 22 a , and the cavity wall of the accommodating groove 21 a is provided with a plurality of positioning posts 212 , and each of the positioning posts 212 is inserted into one of the positioning holes 22 a .

[0128] It is understandable that the cooperation between the positioning hole 22 a and the positioning column 212 can realize the rapid positioning and installation of the housing 21 and the transmission member 22 , and at the same time, ensure the synchronous rotation of the transmission member 22 and the housing 21 .

[0129] In one embodiment of the present invention, Figure 9 As shown, a third mounting hole 13 b is provided at the edge of the support base 13 , and the projection of the transmission member 22 on the support base 13 is located on a side of the third mounting hole 13 b close to the center line of the support base 13 .

[0130] It can be understood that the projection of the transmission member 22 on the support base 13 is located on the side of the third mounting hole 13b close to the center line of the support base 13, that is, the peripheral size of the transmission member 22 is smaller than the peripheral size of the support base 13, and the third mounting hole 13b can be exposed. When the support base 13 is connected to the main shell 12 by inserting the bolts into the third mounting hole 13b, the operation can be facilitated, and the transmission member 22 will not affect the operation process.

[0131] In this embodiment, there are multiple third mounting holes 13b in a circular array.

[0132] In one embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the rotating assembly 2 further includes a friction belt 25. A mounting groove is provided on the outer periphery of the housing 21. The friction belt 25 is arranged in the mounting groove and partially extends out of the mounting groove.

[0133] It can be understood that when the wheel device is running on the ground, the friction belt 25 can be provided to increase the friction between the friction belt 25 and the ground, thereby ensuring that the wheel device moves smoothly on the ground and reducing slipping.

[0134] In one embodiment of the present invention, Figure 2 、 Figure 3 and Figure 4As shown, the rotating assembly 2 further includes a connecting member 26. The transmission member 22 is provided with a second assembly hole 22b, and the connecting member 26 is received within the second assembly hole 22b. The connecting member 26 is sleeved over the output end of the driving member 14; the connecting member 26 and the rotating assembly 2 are locked together by a third locking member. The connecting member 26 has a D-shaped cross-section, i.e., the connecting member 26 is provided with an end-to-end arcuate surface and a flat surface along its circumference. Accordingly, the second assembly hole 22b is D-shaped. The cooperation between the second assembly hole 22b and the connecting member 26 prevents relative rotation between the rotating assembly 2 and the output end of the driving member 14, ensuring that the output end of the driving member 14 drives the rotating assembly 2 to rotate synchronously.

[0135] In one embodiment of the present invention, Figure 8 As shown, the transmission member 22 is provided with a fourth mounting hole 22c, which corresponds to the third locking member. The third locking member passes through the fourth mounting hole 22c, lockingly connecting the transmission member 22, the connecting member 26, and the output end of the driver 14. The fourth mounting hole 22c provides a clearing position for the installation of the third locking member, facilitating installation. Obviously, since the transmission member 22 and the housing 21 are detachably connected, the provision of the fourth mounting hole 22c in the transmission member 22 ensures smooth installation of the third locking member. Furthermore, the aforementioned limiting engagement of the second assembly hole 22b with the connecting member 26 reduces the torsional force applied to the third locking member during rotation, thereby improving the stability and service life of the third locking member.

[0136] In some embodiments, the connecting member 26 and the output end of the driving member 14 are locked by interference fit.

[0137] In this embodiment, if Figure 7 As shown, since the bearing 23 is the main connecting component, priority is given to the interference fit between the bearing 23 and the rotating component 2 or the support seat 13, and at the same time, the first locking member and the second locking member further play a stabilizing role, while the output end of the driving member 14 and the second assembly hole 22b do not interfere. If all three places interfere, that is, all three places are precisely matched, it is technically difficult to achieve. Since the second assembly hole 22b does not interfere, it is easy to cause the rotating component 2 to shake. In order to improve stability, it is necessary to set a fourth mounting hole 22c to install the third locking member. At the same time, if the transmission member 22 and the shell 21 are not detachable structures, the fourth mounting hole 22c needs to be opened on the outer surface of the rotating component 2, which is not beautiful. If the fourth mounting hole 22c is not set for the sake of beauty, the stability will be reduced. Therefore, it is further explained that the detachable connection between the transmission member 22 and the shell 21 is better than the integral molding structure of the transmission member 22 and the shell 21.

[0138] In addition, the above content is only used to express the further beneficial effects brought about by setting the transmission member 22, such as blocking gaps, stability, and aesthetics, and cannot indicate that the transmission member 22 is a necessary technical feature.

[0139] Similarly, the interference fit of the inner and outer rings of the bearing is also a further beneficial effect, or an effect that can be achieved on the basis of the transmission member 22, but it is not a necessary technical feature.

[0140] In this embodiment, the third locking member is a bolt.

[0141] In this embodiment, the output end of the driver 14 is provided with a threaded hole, and the third locking member is threadedly connected to the output end of the driver 14. In other embodiments, the third locking member abuts against the outer peripheral wall of the output end of the driver 14. It will be appreciated that the threaded connection between the third locking member and the output end of the driver can improve the connection strength and stability among the transmission member 22, the connecting member 26, and the output end of the driver 14, thereby ensuring the stability of the transmission member 22 and the housing 21, and ensuring the synchronous rotation of the transmission member 22 and the output end of the driver 14.

[0142] The above descriptions are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made based on the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An amphibious robot, characterized in that: The amphibious robot comprises: The main body includes a main shell, a support base, a first waterproof member, and a second waterproof member; the main shell and the support base are connected to enclose a mounting cavity; the first waterproof member is provided at the connection between the main shell and the support base, and is located between the main shell and the support base; A driving member is provided on the support base; a first through hole is provided on the support base, an output end of the driving member is passed through the first through hole, and the second waterproof member is provided between the output end of the driving member and the hole wall of the first through hole; A rotating assembly, the rotating assembly is rotatably connected to the main body and encloses the main body to form a receiving cavity; a receiving groove is provided on a side of the rotating assembly facing away from the receiving cavity; the rotating assembly is connected to the output end of the driving member; Waterproof sealed bearing; the rotating assembly and the support seat are rotatably connected through the waterproof sealed bearing; a magnetic blade, the magnetic blade being rotatably disposed in the receiving slot; and An electromagnetic assembly is disposed in the accommodating cavity and corresponding to the magnetic blade; the electromagnetic assembly includes a conductive slip ring; the conductive slip ring is coaxially disposed with the waterproof sealed bearing and is located on a side of the waterproof sealed bearing facing away from the support seat; the fixed portion of the conductive slip ring is connected to the support seat, and the rotating portion of the conductive slip ring is connected to the rotating assembly; When the electromagnetic component is powered on or powered off, the electromagnetic component generates magnetism or loses magnetism, thereby driving the magnetic blade to rotate, so that the magnetic blade extends out of the receiving slot or retracts into the receiving slot.

2. The amphibious robot according to claim 1, characterized in that: The magnetic blade comprises: a blade body, wherein a rotating shaft is provided at one end of the blade body, a matching hole is provided on the groove wall of the receiving groove, and the rotating shaft is passed through the matching hole; and The boosting part is arranged on a side of the blade body away from the rotating assembly and is enclosed with the side wall of the blade body to form a water hanging groove.

3. The amphibious robot according to claim 2, wherein: The cross section of the blade body is trapezoidal, and the distance between two opposite sides of the blade body gradually decreases in a direction away from the rotating assembly; And / or, the connection between the blade body and the booster portion is arc-shaped and has a smooth transition; And / or, the side of the blade body facing the rotating assembly is adapted to the shape of the bottom wall of the receiving groove.

4. The amphibious robot according to claim 1, wherein: There are multiple receiving slots, and the multiple receiving slots are evenly spaced along the periphery of the rotating component; there are multiple magnetic blades, and each magnetic blade is rotatably disposed in one of the receiving slots.

5. The amphibious robot according to any one of claims 1 to 4, characterized in that: The main body is provided with a control component, and the electromagnetic assembly is electrically connected to the control component; the control component controls the electromagnetic assembly to be powered on or off.

6. The amphibious robot according to claim 5, characterized in that: The electromagnetic assembly also includes a solenoid, which is arranged in the accommodating cavity and connected to the rotating assembly, and the solenoid is arranged corresponding to the magnetic blade; the conductive slip ring is arranged in the accommodating cavity; the fixed part of the conductive slip ring is electrically connected to the control component; and the rotating part of the conductive slip ring is electrically connected to the solenoid.

7. The amphibious robot according to claim 6, characterized in that: The control component is arranged in the installation cavity; the support seat and the rotating component are enclosed to form the accommodating cavity.

8. The amphibious robot according to claim 7, characterized in that: There are two support bases and two driving members, the two support bases are respectively connected to opposite sides of the main housing, and each driving member is provided on one support base; There are two rotating components, and the two rotating components are rotatably arranged on opposite sides of the main body corresponding to the two support seats, and are respectively connected to the output end of one of the driving members; each rotating component is rotatably connected to one of the support seats through a bearing.

9. The amphibious robot according to claim 8, characterized in that: The rotating assembly comprises: The shell is arc-shaped and is provided with a receiving groove. The support seat is accommodated in the receiving groove and enclosed with the groove wall of the receiving groove to form the receiving cavity. The notch of the receiving groove extends to the side of the support seat facing the main shell and is sleeved on the outer wall of the main shell. The side of the shell facing away from the receiving groove is provided with the receiving groove. The solenoid is arranged in the shell; and A transmission member is arranged in the accommodating groove and is detachably connected to the shell; the transmission member is connected to the output end of the driving member and is rotatably connected to the support seat through the bearing; the rotating part of the conductive slip ring is connected to the transmission member.

Images