Amphibious robot

Abstract

The amphibious robot comprises a robot body, a chassis box body and a storage cabin, first cavity grooves are formed in the two ends of the two sides of the robot body, a front wheel and a rear wheel are arranged in the first cavity grooves respectively, and inner cylinders are arranged in the centers of the front wheel and the rear wheel; a telescopic rubber tire is arranged on the outer side of the inner barrel through evenly-arranged supporting columns, and hard rubber pads in one-to-one correspondence with the supporting columns are evenly arranged on the side wall of the telescopic rubber tire. A battery bin and a transmission cavity are formed in the chassis box body, storage bins are arranged at the positions, at the two ends of the chassis box body, of the bottom of the machine body, a first telescopic air bag and a second telescopic air bag are installed in the storage bins correspondingly, and packaging cover plates are arranged at the bottoms of the first telescopic air bag and the second telescopic air bag correspondingly. The structure can adapt to the land and can efficiently move in water, the front wheel and the rear wheel which can be switched between a roller type and a water wheel type are adopted, the wheel type is used on the land, the water wheel type is switched in the water, and the moving efficiency in different environments is improved.

Description

Technical Field

[0001] This utility model relates to the field of amphibious robot technology, specifically to an amphibious robot. Background Technology

[0002] With the continuous development of science and technology, amphibious robots, due to their ability to work in both land and water environments, have shown broad application prospects in many fields, such as environmental monitoring, search and rescue, military reconnaissance, and scientific research.

[0003] However, existing amphibious robots face numerous challenges in practical applications. On one hand, many amphibious robots lack flexibility and efficiency in switching between land and water movement. Some robots employ simple add-ons to achieve this, which not only increases structural complexity and weight but may also lead to inefficient movement in different environments. For instance, when some robots are on land, the water-based movement mechanisms add extra drag and burden, affecting their land-based speed and agility; while in water, the land-based movement structures cannot be effectively utilized, resulting in insufficient propulsion. Utility Model Content

[0004] The purpose of this invention is to provide an amphibious robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an amphibious robot, comprising a body, a chassis box and a storage compartment, wherein both ends of the body are provided with a cavity, and a front wheel and a rear wheel are respectively provided inside the cavity, and an inner cylinder is provided at the center of the front wheel and the rear wheel, and a telescopic rubber tire is provided on the outer side of the inner cylinder through evenly arranged support columns, and a hard rubber pad corresponding to each support column is evenly arranged on the side wall of the telescopic rubber tire;

[0006] The chassis housing contains a battery compartment and a transmission chamber. Storage compartments are located at the bottom of the chassis housing at both ends. A telescopic airbag (first type) and a telescopic airbag (second type) are respectively installed inside the two storage compartments. Both telescopic airbags have sealing covers at their bottoms. A circulation pump (first type) and a circulation pump (second type) are respectively installed at both ends inside the battery compartment. One end of circulation pump (first type) is connected to telescopic airbag (first type), and the other end extends into the inner cylinder of the two rear wheels. One end of circulation pump (second type) is connected to telescopic airbag (second type), and the other end extends into the inner cylinder of the two front wheels. Air holes are evenly distributed on the side walls of the inner cylinder.

[0007] Preferably, protective washers are provided on the outer sides of both the front and rear wheels, and the axles of both the front and rear wheels extend into the chassis housing below the machine body and are respectively equipped with drive wheel two and drive wheel one.

[0008] Preferably, a servo motor is installed inside the cavity on both sides of the machine body, and the output end of the servo motor extends into the interior of the transmission cavity and is equipped with drive wheel one and drive wheel two.

[0009] Preferably, the first drive wheel is connected to the second drive wheel via the second drive belt, and the second drive wheel is connected to the first drive wheel via the first drive belt.

[0010] Preferably, the top of the machine body is also provided with a main control box and a photovoltaic panel, and the photovoltaic panel is connected to the battery module inside the battery compartment through wires.

[0011] Preferably, the two front wheels and the two rear wheels are connected in series via conduits, which are respectively connected to circulation pump one and circulation pump two, and sealed bearings are provided at the connection points between the conduits and the front and rear wheels.

[0012] Compared with the prior art, the beneficial effects of this utility model are: this amphibious robot

[0013] 1. Possesses adaptability to both land and water:

[0014] A structure was designed that can adapt to both land and water, employing switchable front and rear wheels of either roller or waterwheel type. The roller type is used on land, while the waterwheel type is switched to waterwheel type when in water, thus improving mobility in different environments.

[0015] 2. Flexible switching between front and rear wheel states:

[0016] The chassis housing contains a retractable airbag. A circulation pump circulates the gas between the front and rear wheels and the retractable airbag. When used on land, the gas inside the retractable airbag is pumped into the front and rear wheels, causing them to rotate like rollers for easy movement on land. When used on water, the gas inside the front and rear wheels is pumped into the retractable airbag, causing it to inflate and provide ample buoyancy. Simultaneously, the front and rear wheels rotate like waterwheels for thrust on the water.

[0017] 3. Good protective performance:

[0018] Both the front and rear wheels are equipped with protective gaskets on their outer sides, which can provide some protection for the front and rear wheels and extend their service life.

[0019] 4. Stable power transmission:

[0020] The axles of both the front and rear wheels extend into the chassis housing below the robot body and are respectively equipped with drive wheel 2 and drive wheel 1. Servo motors are installed inside the cavities on both sides of the robot body. The output ends of the servo motors extend into the transmission cavity and are equipped with drive wheel 1 and drive wheel 2. Drive wheel 1 is connected to drive wheel 2 via drive belt 2, and drive wheel 2 is connected to drive wheel 1 via drive belt 1. This structural design ensures stable power transmission, making the robot's operation more reliable.

[0021] 5. Diversified energy utilization:

[0022] The top of the unit is equipped with a main control box and a photovoltaic panel. The photovoltaic panel is connected to the battery module inside the battery compartment through wires. It can use solar energy to convert into electrical energy to charge the battery module, realize diversified use of energy, improve energy efficiency, and reduce dependence on traditional energy.

[0023] 6. Good connection sealing:

[0024] The two front wheels and the two rear wheels are connected in series by conduits. These two conduits are connected to circulation pump one and circulation pump two, respectively. Sealed bearings are installed at the connection points between the conduits and the front and rear wheels to ensure the airtightness during the gas circulation process, prevent gas leakage, and ensure the normal realization of functions such as front and rear wheel state switching, buoyancy, and thrust. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the main structure of the land-based application of this utility model;

[0026] Figure 2 This is a schematic diagram of the main structure of the present invention used in water;

[0027] Figure 3 This is a bottom view of the structure of this utility model;

[0028] Figure 4 This is a schematic diagram of the internal structure of the front and rear wheels of this utility model;

[0029] Figure 5 This is a schematic diagram of the telescopic airbag structure of this utility model;

[0030] In the diagram: 1. Body; 2. Cavity 1; 3. Cavity 2; 4. Servo motor; 5. Front wheel; 6. Protective gasket; 7. Main control box; 8. Photovoltaic panel; 9. Support column; 10. Telescopic rubber tire; 11. Hard rubber pad; 12. Air hole; 13. Inner cylinder; 14. Drive wheel 1; 15. Transmission belt 1; 16. Transmission belt 2; 17. Telescopic airbag 1; 18. Circulation pump 1; 19. Chassis box; 20. Rear wheel; 21. Battery assembly; 22. Transmission cavity; 23. Battery compartment; 24. Telescopic airbag 2; 25. Circulation pump 2; 26. Storage compartment; 27. Drive wheel 2; 28. Transmission wheel 1; 29. ​​Transmission wheel 2; 30. Encapsulation cover. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0032] Please see Figure 1-5 An embodiment of this utility model provides an amphibious robot, including a body 1, a chassis box 19, and a storage compartment 26. Both ends of the body 1 are provided with a cavity 2. The cavity 2 is provided with a front wheel 5 and a rear wheel 20 respectively. The center of the front wheel 5 and the rear wheel 20 is provided with an inner cylinder 13. The outer side of the inner cylinder 13 is provided with a telescopic rubber tire 10 through evenly arranged support columns 9. The side wall of the telescopic rubber tire 10 is evenly provided with hard rubber pads 11 corresponding one-to-one with the support columns 9.

[0033] Front wheel 5 and rear wheel 20: adopt the same design, with the tire core being the inner cylinder 13, which is connected to the telescopic rubber tire 10 by 6 sets of circumferentially distributed support columns 9 on its outer side.

[0034] Hard rubber pad 11: Embedded on the outside of the telescopic rubber tire 10, arranged in a diamond-shaped array of protrusions, extending outward in land mode to enhance grip.

[0035] Both the front wheel 5 and the rear wheel 20 are equipped with protective washers 6 on their outer sides. The protective washers 6 effectively protect the wheels and prevent them from being hit and worn by the outside world.

[0036] The axles of the front wheel 5 and the rear wheel 20 both extend into the chassis housing 19 below the body 1 and are respectively equipped with drive wheel 29 and drive wheel 28.

[0037] Servo motors 4 are installed inside the two cavities 3 on both sides of the body 1. The output end of the servo motors 4 extends into the transmission cavity 22 and is equipped with drive wheel 14 and drive wheel 27.

[0038] Drive wheel 14 is connected to drive wheel 29 via drive belt 16, and drive wheel 27 is connected to drive wheel 28 via drive belt 15.

[0039] The drive wheel 14 and drive wheel 27 at the output of servo motor 4 begin to rotate. Drive wheel 14 drives drive wheel 29 through drive belt 216, and drive wheel 27 drives drive wheel 28 through drive belt 15, thereby causing the front wheel 5 and the rear wheel 20 to rotate synchronously.

[0040] The chassis housing 19 has a battery compartment 23 and a transmission chamber 22 inside. The bottom of the body 1 at both ends of the chassis housing 19 has a storage compartment 26. The two storage compartments 26 are respectively equipped with a telescopic airbag 17 and a telescopic airbag 24. The bottom of both the telescopic airbag 17 and the telescopic airbag 24 is equipped with a sealing cover 30. The two ends of the battery compartment 23 are respectively equipped with a circulation pump 18 and a circulation pump 25. One end of the circulation pump 18 is connected to the telescopic airbag 17, and the other end of the circulation pump 18 extends into the inner cylinder 13 of the two rear wheels 20. One end of the circulation pump 25 is connected to the telescopic airbag 24, and the other end of the circulation pump 25 extends into the inner cylinder 13 of the two front wheels 5. The side wall of the inner cylinder 13 is evenly provided with air holes 12.

[0041] Land operation status

[0042] The circulation pump 18 starts working, extracting gas from the telescopic airbag 17 inside the storage compartment 26 and transporting it through connecting pipes to the inner cylinder 13 of the two rear wheels 20. The gas diffuses along the evenly distributed air holes 12 on the side wall of the inner cylinder 13, gradually filling the space between the telescopic rubber tire 10 and the inner cylinder 13, causing the telescopic rubber tire 10 to expand and bulge, and the hard rubber pad 11 to make close contact with the ground, forming a stable support structure and providing good grip for the rear wheels 20.

[0043] At the same time, the second circulation pump 25 injects gas from the second telescopic airbag 24 into the inner cylinder 13 of the two front wheels 5 in the same manner, causing the front wheels 5 to also operate in a rolling manner. At this time, the entire chassis of the robot is stably supported on the ground by the expanded front and rear wheels.

[0044] underwater operation

[0045] The circulating pump 18 extracts the gas from the inner cylinder 13 of the rear wheel 20 and sends it back to the telescopic airbag 17 through the conduit. As the gas is extracted, the telescopic rubber tire 10 gradually contracts, and the rear wheel 20 transforms into a water turbine structure.

[0046] Similarly, the second circulation pump 25 draws the gas from the inner cylinder 13 of the front wheel 5 back into the second telescopic airbag 24, and the front wheel 5 also becomes a waterwheel structure. At the same time, the first telescopic airbag 17 and the second telescopic airbag 24 expand due to the injection of gas, providing the robot with sufficient buoyancy in the water, enabling it to float on the water surface.

[0047] The sealing cover 30 at the bottom of the telescopic airbag 17 and telescopic airbag 24 in the storage compartment 26 at the bottom of the chassis box 19 plays a role in protecting the bottom of the airbags during land and water operations, preventing debris or sharp objects from damaging the airbags, and further ensuring the normal operation of the robot.

[0048] The two front wheels 5 and the two rear wheels 20 are connected in series by conduits. The two conduits are respectively connected to circulation pump 18 and circulation pump 25. Sealed bearings are provided at the connection points between the conduits and the front wheels 5 and the rear wheels 20.

[0049] Because the two front wheels 5 and the two rear wheels 20 are connected in series by conduits, and sealed bearings are installed at the connection between the conduits and the front and rear wheels, the airtightness of the gas during transmission is ensured, gas leakage is prevented, and the front and rear wheels can stably reach the expected expansion state.

[0050] The top of the main body 1 is also equipped with a main control box 7 and a photovoltaic panel 8, and the photovoltaic panel 8 is connected to the battery assembly 21 inside the battery compartment 23 via wires.

[0051] In this embodiment of the application, the land driving process is as follows:

[0052] When the amphibious robot is ready to move on land, the operator starts the robot system via the main control box 7. The main control box 7 first controls the operation of circulation pump 18 and circulation pump 25 in the battery compartment 23, which transport the gas from the telescopic airbags 17 and 24 in the storage compartment 26 through pipes to the inner cylinder 13 of the front wheel 5 and the rear wheel 20. The gas gradually fills the telescopic rubber tire 10 through the air holes 12 on the side wall of the inner cylinder 13, causing it to expand. The hard rubber pad 11 contacts the ground, forming a stable rolling structure.

[0053] At this time, the servo motors 4 inside the two side cavities 3 of the robot body 1 are activated, and the drive wheels 14 and 27 at the output of the servo motors 4 begin to rotate. Drive wheel 14 drives drive wheel 29 through transmission belt 16, and drive wheel 27 drives drive wheel 28 through transmission belt 15, thereby causing the front wheel 5 and the rear wheel 20 to rotate synchronously, propelling the robot forward on land. The protective washers 6 effectively protect the wheels from external impacts and wear.

[0054] During operation, the photovoltaic panel 8 receives sunlight in real time, converts solar energy into electrical energy, and transmits it through wires to the battery module 21 in the battery compartment 23 for storage, providing continuous energy support for the robot's operation. The main control box 7 monitors various operating parameters of the robot in real time, such as speed and battery level, and adjusts and controls them according to preset programs and operator instructions.

[0055] The process of driving in water:

[0056] When the robot needs to enter the water, the main control box 7 controls the circulation pump 18 and circulation pump 25 to work in opposite directions, drawing the gas from the inner cylinder 13 of the front wheel 5 and rear wheel 20 back into the telescopic airbag 17 and telescopic airbag 24 in the storage compartment 26. As the gas is drawn out, the telescopic rubber tire 10 gradually contracts, and the front and rear wheels transform into a waterwheel structure.

[0057] Meanwhile, the first telescopic airbag 17 and the second telescopic airbag 24 inflate with the injection of gas, providing sufficient buoyancy for the robot to float on the water surface. The servo motor 4 continues to operate, driving the front wheel 5 and the rear wheel 20 to rotate in the water through the transmission wheel and transmission belt. The rotation of the front and rear wheels of the water turbine structure generates thrust, propelling the robot to move forward, backward, and turn in the water.

[0058] When moving through water, the retractable rubber tires 10 reduce water resistance and improve the robot's driving efficiency. Meanwhile, the photovoltaic panels 8 can still receive sunlight on the water surface to charge the battery modules 21, ensuring the robot has sufficient power to operate even underwater. The main control box 7 monitors the robot's status in the water in real time, such as water level and buoyancy, and adjusts the operating status of components such as the circulation pump and servo motors according to the actual situation to ensure stable operation of the robot in the water.

[0059] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An amphibious robot, comprising a body (1), a chassis housing (19), and a storage compartment (26), characterized in that: Both ends of the body (1) are provided with a cavity (2). The cavity (2) is provided with a front wheel (5) and a rear wheel (20). The center of the front wheel (5) and the rear wheel (20) is provided with an inner cylinder (13). The outer side of the inner cylinder (13) is provided with a telescopic rubber tire (10) through a uniformly arranged support column (9). The side wall of the telescopic rubber tire (10) is uniformly provided with hard rubber pads (11) corresponding one-to-one with the support column (9). The chassis housing (19) is equipped with a battery compartment (23) and a transmission chamber (22). The bottom of the body (1) at both ends of the chassis housing (19) is provided with storage compartments (26). The two storage compartments (26) are respectively equipped with a first telescopic airbag (17) and a second telescopic airbag (24). The bottom of the first telescopic airbag (17) and the second telescopic airbag (24) are both provided with a sealing cover (30). The two ends of the battery compartment (23) are respectively provided with circulation pumps. One (18) and the second (25) of the circulation pump, one end of the circulation pump (18) is connected to the first (17) of the telescopic airbag, and the other end of the circulation pump (18) extends into the inner cylinder (13) of the two rear wheels (20). One end of the circulation pump (25) is connected to the second (24) of the telescopic airbag, and the other end of the circulation pump (25) extends into the inner cylinder (13) of the two front wheels (5). The side wall of the inner cylinder (13) is uniformly provided with air holes (12).

2. An amphibious robot according to claim 1, characterized in that: The outer sides of the front wheel (5) and the rear wheel (20) are provided with protective gaskets (6), and the axles of the front wheel (5) and the rear wheel (20) extend into the chassis box (19) below the body (1) and are respectively equipped with transmission wheel two (29) and transmission wheel one (28).

3. An amphibious robot according to claim 1, characterized in that: Servo motors (4) are installed inside the two cavities (3) on both sides of the body (1). The output end of the servo motors (4) extends into the transmission cavity (22) and is equipped with drive wheel one (14) and drive wheel two (27).

4. An amphibious robot according to claim 3, characterized in that: The first drive wheel (14) is connected to the second drive wheel (29) via the second drive belt (16), and the second drive wheel (27) is connected to the first drive wheel (28) via the first drive belt (15).

5. An amphibious robot according to claim 1, characterized in that: The top of the body (1) is also provided with a main control box (7) and a photovoltaic panel (8), and the photovoltaic panel (8) is connected to the battery assembly (21) inside the battery compartment (23) via wires.

6. An amphibious robot according to claim 1, characterized in that: The two front wheels (5) and the two rear wheels (20) are connected in series by conduits. The two conduits are respectively connected to circulation pump one (18) and circulation pump two (25). Sealed bearings are provided at the connection points between the conduits and the front wheels (5) and the rear wheels (20).

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