Amphibious wheel paddle variable-structure wheel

Abstract

The invention discloses an amphibious wheel paddle variable-structure wheel, and belongs to the technical field of amphibious robots, the variable-structure wheel comprises a variable-structure wheel body, a storage groove is formed in the variable-structure wheel body, and water stirring blades are telescopically arranged in the storage groove; the variable-structure wheel body is connected with a hollow motor, a spring diaphragm is arranged between the variable-structure wheel body and the hollow motor, and a spring diaphragm friction plate is arranged on the spring diaphragm; a transmission nut is arranged in the hollow motor, a transmission nut friction plate is arranged on the transmission nut, and the transmission nut and the transmission screw form a spiral transmission pair; the transmission screw rod is connected with a variable-structure middle shaft which is connected with the water stirring blades through variable-structure connecting rods; a supporting component is further arranged in the variable-structure wheel body, an electromagnet is arranged on the supporting component, and the supporting component is used for controlling attachment and separation of the spring diaphragm friction plate and the transmission nut friction plate so as to transmit or interrupt power and control unfolding and retracting of the water stirring blades. According to the amphibious wheel paddle variable-structure wheel, efficient switching of the amphibious wheel paddle variable-structure wheel between the land environment and the water area environment is achieved through an ingenious mechanical structure and electromagnetic control logic.

Description

Technical Field

[0001] This invention relates to the field of amphibious robot technology, and in particular to an amphibious paddle-type variable-structure wheel. Background Technology

[0002] A propeller-driven amphibious robot is a type of robot that combines wheeled and propeller-driven propulsion. On land, it moves using wheels, exhibiting high stability and maneuverability; in water, it relies on propeller propulsion for movement. However, existing propeller-driven amphibious robots suffer from several design problems, such as complex structure, low energy efficiency, and high manufacturing costs. These issues limit their adaptability and application range in different environments. Therefore, this invention aims to propose an improved amphibious propeller-driven variable-configuration wheel to solve the aforementioned problems and improve the performance and practicality of amphibious robots. Summary of the Invention

[0003] The purpose of this invention is to provide an amphibious paddlewheel with a variable configuration to solve the aforementioned technical problems existing in the prior art.

[0004] To achieve the above objectives, the present invention provides the following solution: an amphibious paddle wheel with variable configuration, comprising a variable configuration wheel body and water-repelling blades; the variable configuration wheel body has a receiving groove inside, and the water-repelling blades are retractably disposed within the receiving groove; the variable configuration wheel body is connected to a hollow motor, and a spring diaphragm is disposed between the hollow motor and the variable configuration wheel body, with a spring diaphragm friction plate disposed on the spring diaphragm; a transmission nut is disposed inside the hollow motor, and a transmission nut friction plate is disposed on the transmission nut, the transmission nut and the transmission screw forming a helical transmission pair; the transmission screw is connected to the variable configuration central shaft, and the variable configuration central shaft is connected to the water-repelling blades through a variable configuration connecting rod; the variable configuration wheel body also has a support component, on which an electromagnet is disposed, for controlling the engagement and disengagement of the spring diaphragm friction plate and the transmission nut friction plate, so as to transmit or interrupt power and control the deployment and retraction of the water-repelling blades.

[0005] Furthermore, the water-repellent blades have an S-shaped or wavy structure, and their surfaces are treated with anodizing and a waterproof coating.

[0006] Furthermore, multiple water-repellent blades are evenly arranged along the circumference of the variable-structure wheel body.

[0007] Furthermore, the transmission screw is slidably connected to the support component via a fixed key, and one end of it is fixedly connected to the variable structure central shaft, which is used to convert the rotational motion of the transmission nut into the axial linear motion of the variable structure central shaft.

[0008] Furthermore, the transmission nut is supported inside the hollow motor by a rolling bearing, and its outer circumference is connected to the transmission nut friction plate for contacting the spring diaphragm friction plate to transmit torque.

[0009] Furthermore, the spring diaphragm is fixedly connected to the center of the spring diaphragm friction plate, and its edge is connected to the support component, so as to undergo elastic deformation under the action of the electromagnet, thereby realizing the pressing and separation of the spring diaphragm friction plate and the transmission nut friction plate.

[0010] Furthermore, the upper part of the support component is provided with a keyway that cooperates with the transmission screw, and the lower part is provided with a fixing seat for installing the electromagnet. The whole is connected to the variable wheel body and the hollow motor by bolts.

[0011] Furthermore, one end of the variable linkage is hinged to the water-repelling blade, and the other end is hinged to the hinge point on the variable linkage central shaft, which is used to convert the axial movement of the variable linkage central shaft into the radial unfolding or retracting movement of the water-repelling blade.

[0012] Furthermore, the variable-structure central shaft is a hollow cylindrical structure with multiple sets of hinge points evenly arranged on its outer circumference, and each set of hinge points is connected to a variable-structure connecting rod.

[0013] Furthermore, the root of the water-repelling blade is provided with a circular connecting hole, which is hinged to the variable mechanism connecting rod by a pin, and its unfolded position is limited by the storage groove structure on the variable mechanism wheel body.

[0014] Compared with the prior art, the present invention discloses at least the following beneficial effects:

[0015] The amphibious paddlewheel variable-configuration wheel provided by this invention achieves efficient switching between land and water environments through ingenious mechanical structure and electromagnetic control logic. It boasts advantages such as strong adaptability, compact structure, precise power control, high reliability and durability, and simple and energy-saving operation. It can be widely applied in various amphibious equipment fields, such as amphibious vehicles and rescue equipment, and has broad application prospects. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the amphibious rotor of the present invention in the water-repellent blade retracted state;

[0018] Figure 2 This is a schematic diagram of the amphibious paddle reversible wheel of the present invention in the water-repelling blade extension state;

[0019] Figure 3 This is an exploded view of the amphibious paddle converter of the present invention;

[0020] Figure 4 This is a cross-sectional view of the amphibious paddle variable-configuration wheel of the present invention with the water-repelling blades extended;

[0021] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0022] Figure 6 This is a schematic diagram of the structure of the variable-configuration wheel body in the amphibious rotor variable-configuration wheel of the present invention;

[0023] Figure 7 This is a schematic diagram of the water-repellent blades in the amphibious propeller variable configuration wheel of the present invention;

[0024] Figure 8 This is a schematic diagram of the structure of the variable shaft in the amphibious propeller variable configuration wheel of the present invention;

[0025] Figure 9 This is a schematic diagram of the transmission screw in the amphibious paddle variable configuration wheel of the present invention;

[0026] Figure 10 This is a schematic diagram of the transmission nut in the amphibious propeller variable configuration wheel of the present invention;

[0027] Figure 11 This is a schematic diagram of the spring diaphragm in the amphibious paddle variable configuration wheel of the present invention;

[0028] Figure 12 This is a schematic diagram of the supporting components in the amphibious propeller variant wheel of the present invention.

[0029] In the diagram: 1. Variable mechanism wheel body; 101. Rubber tread; 2. Water-repellent blade; 3. Variable mechanism connecting rod; 4. Variable mechanism central shaft; 5. Transmission screw; 501. Screw bearing; 6. Transmission nut; 601. Transmission nut friction plate; 7. Rolling bearing; 8. Spring diaphragm; 801. Spring diaphragm friction plate; 9. Hollow motor; 10. Support component; 1001. Buffer rubber pad; 1002. Fixing key; 1003. Electromagnet. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figures 1 to 12 As shown, this embodiment provides an amphibious paddlewheel-driven variable-structure wheel for amphibious robots. Its main structure includes a variable-structure wheel body 1 and retractable water-repellent blades 2 connected inside the wheel body 1. The retractable water-repellent blades 2 enable seamless switching between land-based wheeled travel and water-based paddlewheel drive, solving the problems of high complexity, low energy utilization, and high manufacturing costs associated with existing amphibious robots' dual-drive structures. This amphibious paddlewheel-driven variable-structure wheel uses a single power source and achieves mode switching through electromagnetic control, featuring a compact structure, precise control, and strong environmental adaptability.

[0033] Specifically, such as Figure 6 As shown, in this embodiment of the invention, the variable-structure wheel body 1 is the core support component 10 of the amphibious paddle variable-structure wheel. It has an overall circular wheel-like structure with a certain thickness, and its interior can accommodate the water-repelling blades 2. The variable-structure wheel body 1 has a rubber tread 101 on its outer periphery, an integrated storage groove inside, and a through hole in its center to accommodate the output shaft of the hollow motor 9. The hole wall has a keyway for fixing to the shaft of the hollow motor 9 and transmitting rotational power. Reinforcing ribs and hinge seats for mounting the water-repelling blades 2 are provided around the through hole. As the main support structure of the entire device, the variable-structure wheel body 1 not only supports other components and transmits power, but also provides storage space for the water-repelling blades 2 through the storage groove design, ensuring the structural integrity and stability during land-based operation.

[0034] In one specific embodiment, the variable-structure wheel body 1 is made of a high-strength composite material, such as 6061 aluminum alloy or carbon fiber reinforced plastic (CFRP), which combines lightweight and high rigidity. The rubber tread 101 has an off-road tooth pattern to enhance grip and wear resistance when driving on land.

[0035] In embodiments of the present invention, such as Figure 2 and Figure 3As shown, the water-repelling blade 2 is telescopically and movably connected to the receiving groove of the variable-structure wheel body 1. Specifically, the root of the water-repelling blade 2 has a circular hole, and a variable-structure connecting rod 3 is rotatably connected to the inner wall of the circular hole. The other end of the variable-structure connecting rod 3 is rotatably connected to the variable-structure central shaft 4. A screw bearing 501 is installed inside the variable-structure central shaft 4, and a transmission screw 5 is fixedly installed on the inner ring of the screw bearing 501. A support component 10 is slidably connected to the transmission screw 5, and a fixing key 1002 and a buffer rubber pad 1001 are fixedly installed on the support component 10. A transmission nut 6 is helically connected to the transmission screw 5, and the transmission nut 6 is fixedly installed on the inner ring of the rolling bearing 7. A transmission nut friction plate 601 is fixedly installed on the transmission nut 6. The rolling bearing 7 is fixedly installed in the hollow motor 9. The hollow motor 9 is fixedly installed with the variable-structure wheel body 1, and a spring diaphragm 8 is installed between the two. A friction plate is fixedly installed on the spring diaphragm 8. The hollow motor 9 is fixedly mounted on the support component 10, and an electromagnet 1003 is also fixedly mounted on the support component 10.

[0036] In one specific embodiment, such as Figure 2 As shown, the water-repellent blade 2 is made of lightweight, high-strength aluminum alloy, with anodized and waterproof coating treatment, exhibiting excellent corrosion resistance and hydrodynamic performance. The curved surface of the water-repellent blade 2 is optimized, featuring an S-shaped or wave-like structure, which effectively increases the contact area with water when deployed in water, significantly improving propulsion efficiency. When traveling on land, the blade can be completely retracted into the wheel, avoiding contact with the ground and reducing wear and driving resistance. A circular connecting hole is provided at the root of the water-repellent blade 2, which is hinged to the variable-mechanism central shaft 4 via the variable-mechanism connecting rod 3, achieving reliable power transmission and angle adjustment.

[0037] In one specific embodiment, multiple water-repelling blades 2 are uniformly arranged along the circumference of the variable-structure wheel body 1. For example, in this embodiment, six water-repelling blades 2 are provided.

[0038] In one specific embodiment, the variable linkage 3 is made of stainless steel, and its two ends are respectively hinged to the connection point between the circular hole of the water-repelling blade 2 and the connection point of the variable linkage central shaft 4, so as to convert the axial linear motion of the variable linkage central shaft 4 into the radial unfolding or retracting action of the water-repelling blade 2, ensuring that the blade is accurate in angle and without jamming during the movement.

[0039] In one specific embodiment, such as Figure 8As shown, the variable-structure central shaft 4 is the motion conversion hub of the amphibious propeller variable-structure wheel. It is a hollow cylinder with multiple hinge points evenly distributed on its outer circumference for connecting the variable-structure connecting rod 3. The number of hinge points is the same as that of the water-repelling blades 2, evenly distributed along the circumference to ensure force balance when the water-repelling blades 2 are deployed. Each hinge point has a radial hinge hole, into which a universal joint bearing or a copper sleeve can be installed for connecting one end of the variable-structure connecting rod 3. The universal joint bearing allows the variable-structure connecting rod 3 to make small angle adjustments during swinging, preventing jamming.

[0040] In one specific embodiment, such as Figure 9 As shown, the transmission screw 5 adopts a threaded rod design and forms a helical transmission pair with the transmission nut 6. One end of the transmission screw 5 is connected to the variable structure central shaft 4, and the other end is slidably connected to the support component 10 through the fixing key 1002, which converts the rotational motion of the transmission nut 6 into linear motion, pushing the variable structure central shaft 4 to move back and forth, thereby realizing the deployment and retraction of the water-repelling blade 2.

[0041] In one specific embodiment, such as Figure 10 As shown, the transmission nut 6 is made of high-strength copper alloy or quenched steel, and has trapezoidal or rectangular threads internally machined to match the transmission screw 5, forming a high-precision helical transmission pair. A transmission nut friction plate 601 is fixedly mounted at one end of the transmission nut 6. This friction plate is made of wear-resistant composite material and can tightly engage with the spring diaphragm friction plate 801 when the electromagnet 1003 is energized, transmitting torque. The transmission nut 6 is supported inside the hollow motor 9 by rolling bearings 7, ensuring smooth rotation, low friction loss, and good axial load-bearing capacity.

[0042] In one specific embodiment, such as Figure 11 As shown, the spring diaphragm 8 is made of spring steel sheet through stamping and heat treatment, possessing a certain elastic deformation capability. A spring diaphragm friction plate 801 is fixedly installed in its center, and its periphery is connected to the support component 10 by screws. When the electromagnet 1003 is not energized, the spring diaphragm 8 is in its natural state, and the friction plate is separated from the transmission nut friction plate 601; when the electromagnet 1003 is energized, the spring diaphragm 8 is attracted by magnetic force and undergoes elastic deformation, causing the two friction plates to press together, thus realizing power transmission. This design has a simple structure, fast response, and self-resetting function.

[0043] In one specific embodiment, such as Figure 12As shown, the support component 10 is a frame structure made of cast aluminum or engineering plastic, featuring high rigidity and lightweight design. Its upper part has a fixing key 1002 groove, which slides with the transmission screw 5, restricting its rotation while allowing axial movement; the lower part has mounting holes for fixing the electromagnet 1003 and the buffer rubber pad 1001. The support component 10 is connected to the hollow motor 9 and the variable-structure wheel body 1 by bolts, serving as the support foundation for the entire transmission mechanism and ensuring accurate positioning and coordinated movement of all components.

[0044] The working principle of the amphibious paddle shifter in this embodiment of the invention is as follows:

[0045] In land driving mode, the hollow motor 9 operates, driving the variable-structure wheel body 1 to rotate. At this time, the water-repelling blades 2, the variable-structure connecting rod 3, and the variable-structure central shaft 4, all retracted inside the variable-structure wheel body 1, rotate together with the variable-structure wheel body 1. The electromagnet 1003 in the support component 10 is not energized, the spring diaphragm 8 does not move, and the friction plates on the spring diaphragm 8 do not contact the friction plates on the transmission nut 6, thus not transmitting power. The transmission nut 6 and the transmission screw 5 are stationary and do not rotate with the variable-structure wheel body 1. In this state, the water-repelling blades 2 are retracted inside the variable-structure wheel body 1. The entire design is compact, avoiding direct contact between the water-repelling blades 2 and the road surface or other objects, reducing the risk of damage.

[0046] When navigating in water, a mechanism change is required to extend the water-repelling blade 2. At this time, the electromagnet 1003 in the support component 10 is energized, causing the spring diaphragm 8 to actuate. The friction plates on the spring diaphragm 8 tightly engage with the friction plates on the transmission nut 6, transmitting power. Simultaneously, the hollow motor 9 rotates, driving the transmission nut 6 to rotate. The transmission nut 6, through a screw drive, extends the transmission screw 5, which in turn extends the mechanism-changing central shaft 4 fixed to the transmission screw 5. This extends the water-repelling blade 2 via the mechanism-changing connecting rod 3. By controlling the number of rotations of the hollow motor 9, the angle of the water-repelling blade 2 can be adjusted until it extends fully and engages with the mounting groove. At this point, the electromagnet 1003 is de-energized, the spring diaphragm 8 resets, and the friction plates on the spring diaphragm 8 separate from the friction plates on the transmission nut 6, completing the mechanism change. At this point, the rotation of the hollow motor 9 only drives the water-repelling blade 2, the mechanism-changing connecting rod 3, and the mechanism-changing central shaft 4 to rotate; the transmission screw 5 and the transmission nut 6 remain stationary.

[0047] This invention, through ingenious mechanical structure and electromagnetic control logic, achieves efficient switching between amphibious propeller configurations in land and water environments. Its core lies in the retractable design of the water-repellent blades 2 and the electromagnetic control of power transmission, ensuring stability during land travel while improving underwater propulsion efficiency. Compared to existing technologies, this solution is simpler in structure, consumes less energy, and has wider adaptability, providing a new solution for amphibious robot design with high practical value and promising prospects for widespread application. Future optimization of blade shape and materials can further enhance underwater propulsion efficiency and environmental adaptability.

[0048] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0049] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An amphibious wheel-paddle variable configuration wheel, comprising a variable configuration wheel body (1) and a water-pushing blade (2), characterized in that: the variable configuration wheel body (1) is internally provided with a receiving groove, and the water-pushing blade (2) is telescopically arranged in the receiving groove; the variable configuration wheel body (1) is connected with a hollow motor (9), and a spring diaphragm (8) is arranged between the variable configuration wheel body (1) and the hollow motor (9), and a spring diaphragm friction plate (801) is arranged on the spring diaphragm (8); the hollow motor (9) is internally provided with a transmission nut (6), the transmission nut (6) is provided with a transmission nut friction plate (601), and the transmission nut (6) and a transmission screw (5) form a screw transmission pair; the transmission screw (5) is connected with a variable configuration middle shaft (4), and the variable configuration middle shaft (4) is connected with the water-pushing blade (2) through a variable configuration connecting rod (3); the variable configuration wheel body (1) is further provided with a supporting component (10), and an electromagnet (1003) is arranged on the supporting component (10) to control the adhesion and separation of the spring diaphragm friction plate (801) and the transmission nut friction plate (601) to transmit or interrupt power and control the unfolding and retracting of the water-pushing blade (2). The water-pushing blade (2) has an S-shaped or wavy structure, and the surface is treated by anodizing and waterproof coating. The water-pushing blade (2) is arranged in multiple along the circumference of the variable configuration wheel body (1). The transmission screw (5) is slidably connected with the supporting component (10) through a fixing key (1002), and one end of the transmission screw (5) is fixedly connected with the variable configuration middle shaft (4) to convert the rotary motion of the transmission nut (6) into the axial linear motion of the variable configuration middle shaft (4). The transmission nut (6) is supported inside the hollow motor (9) through a rolling bearing (7), and the outer circumference of the transmission nut (6) is connected with the transmission nut friction plate (601) to adhere to the spring diaphragm friction plate (801) to transmit torque. The spring diaphragm (8) is fixedly connected with the spring diaphragm friction plate (801) at the center, and the edge is connected with the supporting component (10) to be elastically deformed under the action of the electromagnet (1003) to realize the compression and separation of the spring diaphragm friction plate (801) and the transmission nut friction plate (601).

2. The amphibious wheel-paddle variable configuration wheel of claim 1, wherein, The supporting component (10) is provided with a key groove matched with the transmission screw (5) at the upper part, and is provided with a fixing seat for installing the electromagnet (1003) at the lower part, and the whole is connected with the variable configuration wheel body (1) and the hollow motor (9) through bolts.

3. Amphibious wheel-paddle metamorphic wheel according to claim 1 or 2, characterized in that, One end of the variable configuration connecting rod (3) is hingedly connected with the water-pushing blade (2), and the other end is hingedly connected with a hinge point on the variable configuration middle shaft (4) to convert the axial motion of the variable configuration middle shaft (4) into the radial unfolding or retracting motion of the water-pushing blade (2).

4. The amphibious wheel-paddle variable configuration wheel of claim 1, wherein, The variable configuration middle shaft (4) has a hollow cylindrical structure, and multiple groups of hinge points are uniformly arranged on the outer circumference of the variable configuration middle shaft (4), and each group of hinge points is connected with a variable configuration connecting rod (3).

5. The amphibious wheel-paddle variable configuration wheel of claim 1, wherein, The water-pushing blade (2) is provided with a circular connecting hole at the root, and is hingedly connected with the variable configuration connecting rod (3) through a pin shaft, and the position after unfolding is limited by the receiving groove structure on the variable configuration wheel body (1).

6. The amphibious wheel-paddle variable configuration wheel of claim 1 or 5, wherein, ​ 7. The amphibious wheel-paddle variable configuration wheel of claim 1, wherein, ​ 8. The amphibious wheel-paddle variable configuration wheel of claim 1, wherein, ​ 9. The amphibious wheel-paddle variable configuration wheel of claim 1 or 8, wherein, ​ 10. The amphibious wheel-paddle variable configuration wheel of claim 1, wherein, ​

Images