An amphibious robot

Abstract

An amphibious robot comprises a body, a wheel-leg mechanism, a screw propulsion mechanism, a front water tank, a rear water tank and a water pump; a waterproof sealed containing bin is installed on the upper part of the body, the water pump is arranged in the waterproof sealed containing bin, the rear end and the front end of the body are respectively provided with the rear water tank and the front water tank, the water pump is communicated with the rear water tank and the front water tank respectively to realize the circulation of water in the front water tank and the rear water tank, the lower part of the rear end of the body is provided with a pair of screw propulsion mechanisms capable of controlling the forward movement or the backward pushing of the body, the two sides of the body are respectively provided with wheel-leg mechanisms capable of controlling the movement of the robot, the wheel-leg mechanisms are three wheel-leg mechanisms, and two pairs of wheel-leg mechanisms are symmetrically arranged. The present application has compact structure, can adapt to more complex terrains for crawling through the multi-legged mode, and can also swim in water by adjusting the buoyancy.

Description

Technical Field

[0001] This invention relates to a robot, specifically an amphibious robot. Background Technology

[0002] Currently, amphibious robots operate in two main modes: swimming and crawling, each with limited functionality. CN102050162A relates to an amphibious robot with an integrated wheel-paddle-leg drive system. This robot employs three symmetrically distributed wheel-paddle-leg drive modules to meet the robot's crawling and floating movement requirements in amphibious environments. However, in this integrated wheel-paddle-leg structure, the leg function relies on the outer edge of the paddle blades being fixed to the wheel rim. During land movement, thin objects or weeds can easily become entangled on the paddle blades, reducing movement efficiency. Furthermore, compared to independent crawling robots, it has weaker adaptability to different terrains.

[0003] CN104773042A relates to an amphibious robot with a deformable structure. Although the robot can achieve a crawling mode, it has problems such as excessive weight due to the large number of joints and motors, large space occupation, and complex overall structure. Summary of the Invention

[0004] This invention provides an amphibious robot to overcome existing technologies. The robot has a compact structure, can adapt to more complex terrains by using a multi-legged approach for crawling, and can also swim by adjusting buoyancy.

[0005] An amphibious robot includes a fuselage, a wheel-leg mechanism, a propeller propulsion mechanism, a front water tank, a rear water tank, and a water pump;

[0006] The upper part of the body is equipped with a waterproof and sealed container, and the water pump is arranged inside the waterproof and sealed container. The rear and front ends of the body are respectively equipped with a rear water tank and a front water tank. The water pump is connected to the rear water tank and the front water tank respectively to realize the circulation and pumping of water in the front water tank and the rear water tank. The lower rear end of the body is equipped with a pair of spiral propulsion mechanisms that can control the body to move forward or backward. The two sides of the body are respectively equipped with wheel-leg mechanisms that can control the robot's movement. The wheel-leg mechanism consists of three wheel-leg mechanisms, and the two pairs of wheel-leg mechanisms are arranged symmetrically.

[0007] Furthermore, the wheel-leg mechanism includes a motor, a gear system, wheel A, wheel B, wheel C, leg A, leg B, and leg C; the gear system is mounted on the machine body, with multiple gears meshing; the output shaft of the motor is connected to any one of the gears in the gear system; wheel A and wheel C are coaxially connected to the two outermost gears respectively; wheel B is coaxially connected to the middle gear; leg A is eccentrically positioned on the surface of wheel A; leg B is eccentrically positioned on the surface of wheel B; and leg C is eccentrically positioned on the surface of wheel C. During movement, leg B steps down and touches the ground, while legs A and C lift off the ground and step down; leg A and leg C step down and touch the ground, while leg B lifts off the ground and steps down.

[0008] Furthermore, the legs A and C have the same structure, including a crossbar A, an outer swing rod A, and a support rod A; the crossbar A and the outer swing rod A are connected in the same vertical plane, the crossbar A is parallel to the axis of the gear system, and can move up and down in the body, one end of the support rod A is connected to the outer swing rod A, and the other end of the support rod A is eccentrically fixed on the corresponding wheel.

[0009] Furthermore, the leg B includes a crossbar B, an outer swing rod B, and a support rod B; the crossbar B and the outer swing rod B are vertically connected in the same vertical plane, the crossbar B is parallel to the shaft of the gear system and can move up and down in the body, one end of the support rod B is connected to the outer swing rod B, and the other end of the support rod B is eccentrically fixed on the wheel disk B.

[0010] The advantages of this invention compared to the prior art are:

[0011] The present invention has a compact structure. The amphibious robot of the present invention has both swimming and crawling modes of movement. The combined use of the wheel-leg mechanism, the spiral propulsion mechanism and the water pump can not only adapt to more complex terrains by crawling through the multi-legged mode, but also achieve swimming in water by adjusting buoyancy.

[0012] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0014] Figure 2 Layout diagram of the waterproof and sealed containment chamber and the front water tank;

[0015] Figure 3 This is a schematic diagram of the wheel-leg mechanism;

[0016] Figure 4 A schematic diagram of the structure of leg A, leg B, and leg C;

[0017] Figure 5 This is a schematic diagram of the structure and layout of the screw propulsion mechanism. Detailed Implementation

[0018] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art.

[0019] Combination Figures 1-3 This embodiment of an amphibious robot includes a body 1, a wheel-leg mechanism 2, a spiral propulsion mechanism 3, a front water tank 4, a rear water tank 5, and a water pump 6.

[0020] A waterproof and sealed container 7 is installed on the upper part of the body 1. A water pump 6 is arranged inside the waterproof and sealed container 7. A rear water tank 5 and a front water tank 4 are installed at the rear and front ends of the body 1, respectively. The water pump 6 is connected to the rear water tank 5 and the front water tank 4, respectively, to realize the circulation and pumping of water in the front water tank 4 and the rear water tank 5. A pair of spiral propulsion mechanisms 3 are arranged at the lower rear end of the body 1 to control the body 1 to move forward or backward in the water. Wheel and leg mechanisms 2 that can control the robot's movement are arranged on both sides of the body 1. The wheel and leg mechanisms 2 are three wheel and leg mechanisms, and the two pairs of wheel and leg mechanisms 2 are arranged symmetrically.

[0021] When this embodiment is working,

[0022] In underwater working mode, the robot is sent into the water. Two water pumps 6 set in the waterproof and sealed housing 7, as well as the front water tank 4 and rear water tank 5 on the body 1, enable the robot to dive to the bottom or float. By adjusting the buoyancy and the spiral propulsion mechanism 3, it can swim in the water. When the water pump 6 draws water from the rear water tank 5 and injects it into the front water tank 4, the robot's head is heavier. With the help of the spiral propulsion mechanism 3, it swims down and dives to the bottom. When it is at the bottom, the wheel-leg mechanism 2 can be activated to enable underwater walking.

[0023] In land-based working mode, the wheel-leg mechanism 2 is activated to enable ground movement or crawling.

[0024] Specifically, such as Figures 1-3 As shown, the wheel-leg mechanism 2 includes a motor 2-1, a gear system 2-2, a wheel A2-3, a wheel B2-4, a wheel C2-5, legs A2-6, legs B2-7, and legs C2-8;

[0025] Gear train 2-2 is mounted on the fuselage 1. Multiple gears in gear train 2-2 mesh. The output shaft of motor 2-1 is connected to any one of the gears in gear train 2-2. Wheels A2-3 and C2-5 are coaxially connected to the two outermost gears, respectively. Wheel B2-4 is coaxially connected to the middle gear. Leg A2-6 is eccentrically mounted on the surface of wheel A2-3, leg B2-7 is eccentrically mounted on the surface of wheel B2-4, and leg C2-8 is eccentrically mounted on the surface of wheel C2-5. During movement, leg B2-7 steps and touches the ground, while legs A2-6 and C2-8 lift off the ground and step forward. Motor 2-1 is located in the motor slot 10 within the fuselage 1.

[0026] The purpose of this design is as follows: This embodiment designs a six-legged wheel mechanism, which utilizes three legs set on both sides of the body 1, in conjunction with circuit board control and gait trajectory, that is, leg B2-7 steps and lands, leg A2-6 and leg C2-8 leaves the ground and steps, leg A2-6 and leg C2-8 steps and lands, leg B2-7 leaves the ground and steps, thus realizing walking or crawling on the ground.

[0027] Furthermore, such as Figure 4 As shown, the legs A2-6 and C2-8 have the same structure, including a crossbar A11, an outward swing bar A12, and a support bar A13;

[0028] The crossbar A11 and the outer swing arm A12 are connected in the same vertical plane, and their interior angle is greater than 90°. The crossbar A11 is parallel to the axis of the gear system and can move up and down in the machine body. One end of the support rod A13 is connected to the outer swing arm A12, and the other end of the support rod A13 is eccentrically fixed on the corresponding wheel.

[0029] like Figure 4 As shown, the leg B2-7 includes a crossbar B21, an outward swing rod B22, and a support rod B23;

[0030] The crossbar B21 and the outer swing arm B22 are vertically connected in the same vertical plane. The crossbar B21 is parallel to the shaft of the gear system and can move up and down in the machine body. One end of the support rod B23 is connected to the outer swing arm B22, and the other end of the support rod B23 is eccentrically fixed on the wheel B2-4.

[0031] In this embodiment, legs A2-6 and C2-8 are designed with an outward swing shape, meaning that the inner angle between the crossbar A11 and the outward swing rod A12 is relatively large, while the crossbar B21 and the outward swing rod B22 are set vertically. The purpose of this design is that the length of the support rod B23 is less than the length of the support rod A13, ensuring that when leg B2-7 steps and lands, legs A2-6 and C2-8 step off the ground, and when legs A2-6 and C2-8 step and land, leg B2-7 steps off the ground, thus achieving coordinated stepping of all six legs on both sides.

[0032] Preferably, gear train 2-2 is a five-gear train, including two small spur gears and three large spur gears. A small spur gear meshes between the two large spur gears. Wheels A2-3, B2-4, and C2-5 are respectively connected to their corresponding large spur gears. The motor output is connected to the small spur gears. Preferably, the gear ratio between the large and small spur gears is 46:29. The purpose of this design is to adjust the coordination of the steps taken by all six legs through the gear ratio.

[0033] Furthermore, the spiral propulsion mechanism 3 includes a propulsion motor 3-1, spiral propulsion blades 3-2, and a spiral propulsion shaft 3-3. The propulsion motor 3-1 is installed at the lower rear end of the fuselage 1, and its output end is connected to one end of the spiral propulsion shaft 3-3. The other end of the spiral propulsion shaft 3-3 is rotatably mounted on a cover plate 9, which is fixedly connected to the rear end of the fuselage 1. The purpose of this design is to enable diving or surfacing using spiral propulsion.

[0034] Preferably, the body 1 is made of resin, as are the components of the wheel-leg mechanism 2 (excluding the motor), the components of the screw propulsion mechanism 3 (excluding the motor), the front water tank 4, and the rear water tank 5. The purpose of this design is to achieve a lightweight and easy-to-use design while meeting strength requirements, thereby reducing the user's own weight.

[0035] Optionally, a circuit board can be placed in the waterproof sealed container 7. The circuit board is used to control the start and stop of the water pump 6 and its speed, the start and stop of the spiral propulsion mechanism 3 and its speed, and the start and stop of the wheel-leg mechanism 2 and its gait speed. This allows the device to crawl on more complex terrains using a multi-legged method, and also to swim in water by adjusting buoyancy.

[0036] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and all such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. An amphibious robot, characterized in that: It includes a fuselage (1), a wheel-leg mechanism (2), a screw propulsion mechanism (3), a front water tank (4), a rear water tank (5), and a water pump (6); A waterproof sealed container (7) is installed on the upper part of the body (1). A water pump (6) is arranged in the waterproof sealed container (7). A rear water tank (5) and a front water tank (4) are installed at the rear end and front end of the body (1), respectively. The water pump (6) is connected to the rear water tank (5) and the front water tank (4) respectively to realize the circulation pumping of water in the front water tank (4) and the rear water tank (5). A pair of spiral propulsion mechanisms (3) that can control the body (1) to move forward or backward are arranged at the lower rear end of the body (1). Wheel leg mechanisms (2) that can control the robot's movement are arranged on both sides of the body (1). The wheel leg mechanism (2) consists of three wheel leg mechanisms, and the two pairs of wheel leg mechanisms (2) are arranged symmetrically. The wheel-leg mechanism (2) includes a motor (2-1), a gear system (2-2), wheel A (2-3), wheel B (2-4), wheel C (2-5), leg A (2-6), leg B (2-7), and leg C (2-8); the gear system (2-2) is mounted on the body (1), and multiple gears of the gear system (2-2) mesh. The output shaft of the motor (2-1) is connected to any one of the gears in the gear system (2-2). Wheel A (2-3) and wheel C (2-5) are coaxially connected to the two outermost gears, and wheel B (2-4) is coaxially connected to the middle gear. Leg A (2-6), leg B (2-7), and leg C (2-8) are eccentrically positioned on the surface of wheel A (2-3). 2-6), the wheel B (2-4) has a leg B (2-7) eccentrically mounted on its surface, and the wheel C (2-5) has a leg C (2-8) eccentrically mounted on its surface. The gear system (2-2) is a five-gear system, including two small spur gears and three large spur gears. A small spur gear meshes with the two large spur gears. The wheel A (2-3), wheel B (2-4) and wheel C (2-5) are respectively connected to the corresponding large spur gears. When moving, leg B (2-7) steps and touches the ground, while legs A (2-6) and C (2-8) step off the ground. Legs A (2-6) and C (2-8) have the same structure, including a crossbar A (11), an outer swing rod A (12), and a support rod A (13). The crossbar A (11) and the outer swing rod A (12) are connected in the same vertical plane, and their interior angle is greater than 90°. The crossbar A (11) is parallel to the shaft of the gear system and can move up and down in the fuselage. One end of the support rod A (13) is connected to the outer swing rod A (12), and the other end of the support rod A (13) is eccentric. Fixed on the corresponding wheel; the leg B (2-7) includes a crossbar B (21), an outer swing rod B (22) and a support rod B (23); the crossbar B (21) and the outer swing rod B (22) are vertically connected in the same vertical plane, the crossbar B (21) is parallel to the shaft of the gear system and can move up and down in the body, one end of the support rod B (23) is connected to the outer swing rod B (22), and the other end of the support rod B (23) is eccentrically fixed on the wheel B (2-4).

2. The amphibious robot according to claim 1, characterized in that: The spiral propulsion mechanism (3) includes a propulsion motor (3-1), spiral propulsion blades (3-2), and spiral propulsion shaft (3-3). The propulsion motor (3-1) is installed at the lower rear end of the body (1). The output end of the propulsion motor (3-1) is connected to one end of the screw propulsion shaft (3-3). The other end of the screw propulsion shaft (3-3) is rotatably mounted on the cover plate (9). The cover plate (9) is fixedly connected to the rear end of the body (1).

3. The amphibious robot according to claim 2, characterized in that: The rear water tank (5) is fixed on the cover plate (9).

4. The amphibious robot according to claim 1, characterized in that: The body (1) is made of resin.

5. An amphibious robot according to claim 1, characterized in that: The gear ratio of the large spur gear to the small spur gear is 46:29.

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