Switching type amphibious wheel web assembly
By designing the switched amphibious wheel web assembly, the combination of wheel hub and arc web plate can be used to switch wheel shape and web shape, solving the complex structure of the existing amphibious robot, realizing the light and simplified, miniaturized design and efficient amphibious movement of the amphibious robot.
Patent Information
- Application Number
- CN202510290128.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2025-05-30
AI Technical Summary
The existing amphibious robot has a complex structure and is not suitable for light and simplified and miniaturized design, making it difficult to achieve efficient amphibious movement.
A switching amphibious wheel web assembly is designed to switch between wheel shape and web shape through the combination of wheel hub and arc web sheet, and the mechanical structure of pull rope and torsion spring is used to realize the automatic expansion and closing of web sheets.
This component can realize amphibious movement of amphibious robots without designing two sets of motion systems, simplifying structural design, and helping lightweight, simplifying and miniaturized amphibious robots.
Smart Images
Figure CN120056660A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of amphibious robots, and particularly to a switchable amphibious wheel-fin assembly. Background Art
[0002] An amphibious robot is a robot that can move freely in land and water environments. It combines the characteristics of land and water movement and can perform tasks in different terrains and environments. It has been gradually applied in many fields such as border defense, inspection, rescue, and environmental survey. Most existing amphibious robots are designed to achieve amphibious operation by adding structures for vehicle floating and water propulsion on the basis of land vehicle structures. From the structure perspective, they carry two sets of systems (land-based system and water-based system) on the body to achieve amphibious operation, and their overall structure is relatively complex, which is not conducive to lightweight and miniaturized design. Summary of the Invention
[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a switchable amphibious wheel-fin assembly, which can realize the switching between wheel form and fin form. When applied to an amphibious robot, it can directly achieve amphibious movement, making the structure of the amphibious robot simple and conducive to the lightweight and miniaturized design of the amphibious robot.
[0004] The purpose of the present invention is achieved by the following technical solutions: A switchable amphibious wheel-fin assembly includes a walking wheel-fin. The walking wheel-fin includes a hub and a plurality of fin pieces. The hub is in the shape of a hollow cylinder, and the fin pieces are arc-shaped. One end of each fin piece is rotatably connected to the outer side of the hub, and a plurality of the fin pieces are circumferentially distributed on the outer side of the hub. When one ends of a plurality of the fin pieces far from the hub swing towards the direction close to the axis of the hub to the nearest position, the plurality of fin pieces are sequentially connected to form a cylindrical surface. At this time, the walking wheel-fin is in the wheel form and can be used for land walking. When one ends of a plurality of the fin pieces far from the hub swing towards the direction far from the axis of the hub to the farthest position, the walking wheel-fin is in the shape of an impeller. At this time, the walking wheel-fin is in the fin form and can be used for water walking.
[0005] Specifically, a plurality of brackets are radially and outwardly extended along the outer periphery of the hub. The plurality of brackets are circumferentially distributed. One end of each fin piece is rotatably connected to the side surface of one end of a corresponding bracket far from the hub. When the other end of the fin piece swings towards the direction close to the axis of the hub to the nearest position, it can be lapped on another bracket adjacent to the bracket connected to the fin piece.
[0006] Further, a second stator coil is fixedly arranged inside the hub, and a second rotor is rotatably arranged. One end of the second rotor is fitted inside the second stator coil. A wire reel is fixedly sleeved on the second rotor. The device further includes a plurality of stay ropes. One ends of the plurality of stay ropes are respectively fixedly connected to the plurality of webbed fins. The other ends of the plurality of stay ropes all pass through the outer wall of the hub and are fixedly wound on the wire reel. When the walking wheel webbing is in the webbed state, the second rotor and the wire reel can be driven to rotate by energizing the second stator coil. Further, the webbed fins can be pulled to close by the stay ropes, so that the walking wheel webbing is switched to the wheel state.
[0007] Specifically, a first wire hole is formed in the top surface of the bracket, and a second wire hole is formed in the outer wall of the hub. A sealing ring is fixedly installed in the second wire hole. One end of the stay rope is fixedly connected to the end of the webbed fin far away from the hub. The other end of the stay rope sequentially passes through the first wire hole and the sealing ring and is fixedly wound on the wire reel.
[0008] Further, a torsion spring is further arranged between the connected webbed fin and the bracket. The torsion spring is used to provide an elastic force for swinging the end of the webbed fin far away from the bracket in a direction away from the axis of the hub. When the walking wheel webbing is in the wheel state, stopping or reversing the power supply to the second stator coil can expand the webbed fin by the elastic force of the torsion spring, so that the walking wheel webbing is switched to the webbed state. At the same time, the elastic force of the torsion spring can also maintain the stability of the webbed state.
[0009] Further, a first stator coil is fixedly arranged inside the hub, and a first rotor is rotatably arranged. One end of the first rotor is fitted inside the first stator coil. Energizing the first stator coil can drive the first stator coil and the first rotor to rotate relative to each other, so that the wheel webbing assembly can achieve self-driving.
[0010] Further, the device further includes a support leg. The support leg includes a body section, an inclined section and a wheel webbing section connected in sequence. The body section is parallel to the wheel webbing section. Obtuse angles are formed between the inclined section and both the body section and the wheel webbing section. One end of the wheel webbing section far away from the body section is fixedly connected coaxially with the first rotor.
[0011] Further, the device further includes a servo motor. The output shaft of the servo motor is fixedly connected coaxially with the end of the body section far away from the inclined section. In application, the servo motor is fixedly installed on the body of the amphibious robot. The support leg can be driven to rotate by the servo motor, and further, the attitude of the body of the amphibious robot can be adjusted.
[0012] The beneficial effects of the present invention are: The switchable amphibious paddle assembly includes a walking paddle, which includes a hub and a plurality of paddles, one end of which is rotatably connected to the outer side of the hub, and the circumference of the plurality of paddles is evenly distributed on the outer side of the hub. When the ends of the plurality of paddles away from the hub are all swung to the closest direction to the hub axis, the plurality of paddles are connected in sequence to form a cylindrical surface, and at this time the walking paddle is in the form of a wheel and can be used for terrestrial walking; when the ends of the plurality of paddles away from the hub are all swung to the farthest direction away from the hub axis, the walking paddle is in the form of an impeller, and at this time the walking paddle is in the form of a paddle and can be used for aquatic walking. The switchable amphibious paddle assembly has two forms, a wheel form and a paddle form. When applied to an amphibious robot, it can directly realize amphibious movement on land and water by switching forms without designing two sets of motion systems, making the structure of the amphibious robot simpler, which is conducive to the lightweight, simplified and miniaturized design of the amphibious robot.
[0013] A second stator coil, a second rotor, a wire drum, and a plurality of pull ropes are arranged in the wheel hub. In the webbed form, the pull ropes can be used to fold the webs by energizing the second stator coil and switch to the wheel form. A torsion spring is arranged at one end where the webs are connected to the wheel hub. In the wheel form, the second stator coil can be energized or reversed, and the webs can be unfolded under the elastic force of the torsion spring to switch to the webbed form. The above switching method is simple and convenient. A first stator coil and a first rotor are also arranged in the wheel hub. Energizing the first stator coil can drive the first stator coil and the first rotor to rotate relative to each other, so that the wheel and paddle assembly can be self-driven. The above designs all adopt the concept of shellless motor design, which is conducive to the lightweight structure and the sealing performance in the wheel hub.
[0014] A support leg and a steering gear are also provided, the support leg includes a body section, a tilting section and a paddle section connected in sequence, the output shaft of the steering gear is fixedly connected to the body section, and the first rotor is fixedly connected to the paddle section. During implementation, the steering gear is fixedly installed on the body of the amphibious robot, and the steering gear drives the support leg to rotate to adjust the relative position between the walking paddle and the body, thereby realizing the adjustment of the tilting posture of the body. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a structural schematic diagram of a switchable amphibious paddle assembly of the present invention; Figure 2 It is a schematic cross-sectional structure diagram of a walking wheel paddle in a switchable amphibious wheel paddle assembly of the present invention; Figure 3 It is a schematic structural diagram of a walking wheel paddle in a switchable amphibious wheel paddle assembly of the present invention when the paddle is in an unfolded state; Figure 4 The explosion diagram of the walking paddle in the switchable amphibious paddle assembly of the present invention is shown in FIG. Figure 1 ; Figure 5 The explosion diagram of the walking paddle in the switchable amphibious paddle assembly of the present invention is shown in FIG.Figure 2 ; Figure 6 This is a schematic diagram of the usage state of a switching amphibious wheel fin assembly according to the present invention; In the figure, 1 - walking wheel fin, 2 - leg, 3 - servo, 10 - wheel hub, 11 - fin, 12 - bracket, 13 - second stator coil, 14 - second rotor, 15 - wire reel, 16 - first wire hole, 17 - second wire hole, 18 - first stator coil, 19 - first rotor. Detailed implementation mode
[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the following.
[0017] As Figures 1 to 5 shown, a switching amphibious wheel fin assembly includes a walking wheel fin 1 and a leg 2.
[0018] The walking wheel fin 1 includes a wheel hub 10 and a plurality of fins 11. The wheel hub 10 is in the shape of a hollow cylinder, the fins 11 are arc-shaped, one end of each fin 11 is rotatably connected to the outside of the wheel hub 10, and a plurality of fins 11 are circumferentially distributed on the outside of the wheel hub 10. When one ends of the plurality of fins 11 far from the wheel hub 10 swing towards the axis direction of the wheel hub 10 to the nearest position, the plurality of fins 11 are connected in sequence to form a cylindrical surface. At this time, as Figure 1 shown, the outside of the walking wheel fin 1 is covered by the fins 11 to form a cylindrical wheel shape. When it is installed on the body of the amphibious robot, rotating the walking wheel fin 1 can be used for the land walking of the amphibious robot. When one ends of the plurality of fins 11 far from the wheel hub 10 swing towards the direction far from the axis direction of the wheel hub 10 to the farthest position, the walking wheel fin 11 is in the shape of an impeller. At this time, as Figure 3 shown, the outward expansion of each fin 11 makes the entire walking wheel disc 11 in the shape of a fin. When it is installed on the body of the amphibious robot, rotating the walking wheel fin 1 can slide in the water and is used to drive the amphibious robot to walk on water.
[0019] According to the above, in this switching amphibious wheel fin assembly, the walking wheel fin 1 has two forms: a wheel shape and a fin shape. When applied to an amphibious robot, it can respectively achieve land walking and water walking. By adopting this structure, the amphibious movement of the amphibious robot can be realized by switching the form, without separately designing a land dwelling system and an aquatic dwelling system, making the structure of the amphibious robot simpler and facilitating the lightweight and miniaturization design of the amphibious robot.
[0020] During specific implementation, as Figure 3As shown in the figure, a number of brackets 12 are radially and outwardly extended along the outer circumference of the hub 10. The number of brackets 12 is evenly distributed in a circular pattern. One end of each of a number of webbed pieces 11 is rotatably connected to the side of one end of each of the number of brackets 12 away from the hub. Since the webbed piece 11 is connected to the side of the bracket 12, a limiting portion is formed at the connection. When the end of the webbed piece 11 away from the hub 10 swings to the farthest position away from the axis of the hub 10, the limiting portion positions the unfolded state of the webbed piece 11; when the end of the webbed piece 11 away from the hub 10 swings to the nearest position towards the axis of the hub 10, it can be lapped on another bracket 12 adjacent to the bracket to which the webbed piece 11 is connected, thereby positioning the folded state of the webbed piece 11. In addition, due to the provision of the bracket 12, there is a gap between the inner side of the webbed piece 11 and the outer wall of the hub 10 when the webbed piece 11 is in the folded state. When the amphibious robot equipped with this switchable amphibious wheel webbed component enters the water from land, the water will enter this gap position. When the driving walking wheel webbing 1 rotates, the water in this gap position can also act on the inner side of the webbed piece 11 to assist the webbed piece 11 to unfold outward.
[0021] Further, as Figure 3 、 Figure 5 shown, a second stator coil 13 is fixedly arranged inside the hub 10 and a second rotor 14 is rotatably arranged. One end of the second rotor 14 is adaptively arranged inside the second stator coil 13. A wire reel 15 is fixedly sleeved on the second rotor 14. Here, a coreless motor structure is formed. When the second stator coil 13 is energized, the second rotor 14 and the wire reel 15 can be driven to rotate. A number of pulling ropes (not shown in the figure) are also provided. One end of each of the number of pulling ropes is fixedly connected to each of the number of webbed pieces 11. The other ends of the number of pulling ropes all pass through the outer wall of the hub 10 and are fixedly wound on the wire reel 15. In the unfolded state of the webbed piece 11, by rotating the wire reel 15, the pulling ropes can be gradually wound on the wire reel 15. During the winding process, the webbed piece 11 can be pulled to swing through the pulling ropes, thereby realizing the switching of the webbed piece 11 from the unfolded state to the folded state (i.e., the walking wheel webbing 1 from the webbed form to the wheel form). It should be noted that the above-mentioned is to position the unfolded state of the webbed piece 11 through the limiting portion. In other embodiments, the unfolded state of the webbed piece 11 can also be positioned by limiting the length of the pulling rope.
[0022] During specific implementation, as Figure 3 shown, a first wire hole 16 is opened on the top surface of the bracket 12, and a second wire hole 17 is opened on the outer wall of the hub 10. A sealing ring is also fixedly installed in the second wire hole 17. One end of the pulling rope is fixedly connected to the end of the webbed piece 11 away from the hub. The other end of the pulling rope sequentially passes through the first wire hole 16 and the sealing ring and is fixedly wound on the wire reel 15. As Figure 4 、 Figure 5 shown, sealing end caps are also provided at both ends of the hub 10. Combining the above design of the sealing ring, the sealing performance inside the hub 10 is ensured, which is beneficial for waterproofing on water and dustproofing on land.
[0023] As described above, the switching of the webbed piece 11 from the retracted state to the deployed state (i.e., the walking wheel fin 1 from the wheel form to the fin form) can be achieved by the action of the water body entering the gap between the webbed piece 11 and the outer wall of the hub 10. However, there are many limitations to this implementation method. For example, the fin form state is unstable, and the amphibious robot can only move in one direction. Therefore, in specific implementation, a torsion spring is further provided between the connected webbed piece 11 and the bracket 12. The torsion spring is used to provide an elastic force that causes the end of the webbed piece 11 away from the bracket 12 to swing in a direction away from the axis of the hub 10. In the retracted state of the webbed piece 11, power supply to the second stator coil 13 is stopped (or reversed), so that the second rotor 14 and the wire reel 15 can rotate freely (or in the reverse direction). At this time, under the action of the torsion spring, the webbed piece 11 can be directly deployed, and at the same time, the deployed state of the webbed piece 11 can be maintained stably under the elastic force of the torsion spring, and the amphibious robot can move bidirectionally on the water.
[0024] Further, as Figure 4 shown, a first stator coil 18 is fixedly arranged inside the hub 10, and a first rotor 19 is rotatably arranged. One end of the first rotor 19 is adaptively arranged inside the first stator coil 18. When power is supplied to the first stator coil 18, the first rotor 19 and the first stator coil 18 can be driven to rotate relative to each other. Thus, when used for an amphibious robot, the first rotor 19 is connected to the body of the amphibious robot, and the walking wheel fin 1 can achieve self-driving. When power is supplied to the first stator coil 18, the first stator coil 18 and the hub 10 can be driven to rotate. By adjusting the magnitude of the supplied current, the rotation speed of the walking wheel fin 1 can be adjusted, and by changing the direction of the supplied current, the rotation direction of the walking wheel fin 1 can be changed.
[0025] As Figure 6 shown, it is an embodiment of a classic four-wheel structure, which forms an amphibious robot by connecting two such switchable amphibious wheel fin assemblies on both sides of the body. Figure 6 The figure shows a schematic structure of the amphibious robot in the land-dwelling state. In this state, the walking wheel fin 1 is in the wheel form and contacts the ground. The four walking wheel fins 1 are all independently driven. When the four walking wheel fins 1 rotate synchronously, the amphibious robot can be driven to move forward or backward. When the rotation speeds of the walking wheel fins 1 on both sides of the body are different, the amphibious robot can be driven to turn. In the water-dwelling state, the walking wheel fin 1 is in the fin form with the webbed piece deployed. In this state, the amphibious robot floats on the water surface through the body, and at least part of the walking wheel fin 1 is submerged underwater. When the four walking wheel fins 1 rotate synchronously, the amphibious robot can be driven to move forward or backward on the water by sliding the water body. When the rotation speeds of the walking wheel fins 1 on both sides of the body are different, the amphibious robot can be driven to turn on the water.
[0026] Further, as Figure 1 、 Figure 6As shown, the switchable amphibious wheel fin assembly further includes a leg 2. The leg 2 includes a body section, an inclined section, and a wheel fin section connected in sequence. The body section is parallel to the wheel fin section. An obtuse angle is formed between the inclined section and both the body section and the wheel fin section. One end of the wheel fin section away from the body section is coaxially and fixedly connected to the first rotor. The leg 2 is configured in the above three-section structure, so that there is a certain distance between the body section and the wheel fin section. During implementation, the body section is connected to the body of the amphibious robot. In the terrestrial state, the walking wheel fin 1 touches the ground, and the body can be supported by the leg 2 at a certain height above the ground; in the aquatic state, the body floats on the water surface, and the walking wheel fin 1 is located below the body and can be more immersed underwater.
[0027] Further, as Figure 6 shown, the switchable amphibious wheel fin assembly further includes a servo 3. The output shaft of the servo 3 is coaxially and fixedly connected to one end of the body section away from the inclined section. During implementation, the servo 3 is fixedly installed on the body of the amphibious robot. The leg 2 can be driven to rotate by the servo 3. Since the wheel fin section is parallel to the body section, the front-back position and up-down position between the wheel fin section and the body of the amphibious robot can be adjusted when the leg 2 rotates around the axis of the body section. During implementation, this adjustment method can change the body attitude of the amphibious robot. For example, referring to Figure 6 the shown embodiment, in the terrestrial state, the body is supported by four walking wheel fins 1 and legs 2 at a certain height above the ground. When the four legs 2 are adjusted so that the distance between the wheel fin section and the body section in the height direction is the same, the body is in a horizontal state. Synchronously adjusting the swing angles of the four legs 2 can adjust the height of the body. When the front two legs 2 are adjusted so that the distance between the wheel fin section and the body section in the height direction is different from that of the rear two legs 2, the body can be adjusted to be in an inclined state; in the aquatic state, the body floats on the water surface. When the four legs 2 are adjusted to be symmetric about the transverse center line of the body, the body is in a horizontal state. In this state, adjusting the front or rear two legs 2 of the body to rotate by a certain angle can break the above symmetric form, and the center of gravity of the amphibious robot shifts, causing the body to tilt on the water.
[0028] The above are only the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein, and should not be regarded as excluding other embodiments. Instead, it can be used in various other combinations, modifications, and environments, and can be changed within the scope of the concept described herein through the above teachings or the technology or knowledge in related fields. Any changes and variations made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.
Claims
1. A switchable amphibious paddle assembly, characterized in that: Including walking fins, The walking wheel paddle comprises a wheel hub and a plurality of paddles, wherein the wheel hub is a hollow cylindrical shape, the paddles are arc-shaped, one end of the paddles is rotatably connected to the outer side of the wheel hub, and the circumference of the plurality of paddles is evenly distributed on the outer side of the wheel hub; When the ends of the plurality of paddles away from the hub are all swung toward the axis of the hub to the closest position, the plurality of paddles are connected in sequence to form a cylindrical surface; When the ends of the plurality of paddles away from the hub are all swung to the farthest direction away from the hub axis, the walking paddle is in the shape of an impeller.
2. A switchable amphibious paddle assembly according to claim 1, characterized in that: A plurality of brackets are provided extending outwardly along the radial direction from the outer circumference of the hub, and the brackets are evenly distributed around the circumference. One ends of the plurality of paddles are rotatably connected to the side surfaces of the plurality of brackets away from the hub respectively, and the other ends of the paddles can be overlapped on another bracket adjacent to the bracket connected to the paddles when they are swung toward the axis of the hub to the closest position.
3. A switchable amphibious paddle assembly according to claim 2, characterized in that: A second stator coil is fixedly arranged in the wheel hub and a second rotor is rotatably arranged therein, one end of the second rotor is adapted to be arranged in the second stator coil, a wire drum is fixedly sleeved on the second rotor, and the second rotor also includes a plurality of pull ropes, one ends of the plurality of pull ropes are respectively fixedly connected to the plurality of paddles, and the other ends of the plurality of pull ropes pass through the outer wall of the wheel hub and are fixedly wound around the wire drum.
4. A switchable amphibious paddle assembly according to claim 3, characterized in that: A first wire hole is formed on the top surface of the bracket, a second wire hole is formed on the outer wall of the hub, a sealing ring is fixedly installed in the second wire hole, one end of the pull rope is fixedly connected to an end of the paddle away from the hub, and the other end of the pull rope passes through the first wire hole and the sealing ring in sequence and is fixedly wound around the wire drum.
5. The switchable amphibious paddle assembly according to claim 3, characterized in that: A torsion spring is also arranged before the connected paddle and bracket, and the torsion spring is used to provide an elastic force to make the end of the paddle away from the bracket swing in a direction away from the hub axis.
6. A switchable amphibious paddle assembly according to any one of claims 1 to 5, characterized in that: A first stator coil is fixedly arranged in the wheel hub and a first rotor is rotatably arranged therein. One end of the first rotor is adapted to be arranged in the first stator coil.
7. The switchable amphibious paddle assembly according to claim 6, characterized in that: It also includes a support leg, which includes a body section, an inclined section and a paddle section connected in sequence, the body section is parallel to the paddle section, an obtuse angle is formed between the inclined section and the body section and the paddle section, and one end of the paddle section away from the body section is coaxially fixedly connected to the first rotor.
8. The switchable amphibious paddle assembly according to claim 7, characterized in that: It also includes a steering gear, the output shaft of which is coaxially fixedly connected to an end of the body section away from the inclined section.