CN117087366B - Amphibious robot for underwater geological exploration and motion control method thereof - Google Patents
Amphibious robot for underwater geological exploration and motion control method thereof Download PDFInfo
- Publication number
- CN117087366B CN117087366B CN202311345015.7A CN202311345015A CN117087366B CN 117087366 B CN117087366 B CN 117087366B CN 202311345015 A CN202311345015 A CN 202311345015A CN 117087366 B CN117087366 B CN 117087366B
- Authority
- CN
- China
- Prior art keywords
- underwater
- land
- drive
- driving
- amphibious robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of amphibious propulsion devices, and relates to an amphibious robot for underwater geological exploration and a motion control method thereof. The robot comprises a cabin body, an underwater propulsion device and a land travelling device; the underwater propulsion device comprises two sets of underwater propulsion mechanisms connected to the front and rear of the cabin body, each underwater propulsion mechanism comprises two driving wheel sets and an underwater transmission shaft connected between the two driving wheel sets, two underwater adjusting motors are respectively connected with the track discs of the two driving wheel sets to respectively drive the two underwater adjusting motors to rotate, and the underwater driving motors are connected with the underwater transmission shaft to drive the turntables of the two driving wheel sets to rotate so as to drive the poking sheets to move to form underwater propulsion force; the land travelling device comprises a land front steering mechanism for driving the two front wheels to synchronously steer and a land rear driving mechanism for driving the two rear wheels to synchronously rotate. The invention can realize amphibious application of underwater geological detection equipment and improve amphibious adaptability of the underwater geological detection equipment.
Description
Technical Field
The invention belongs to the technical field of amphibious propelling devices, and particularly relates to an amphibious robot for underwater geological exploration and a motion control method thereof.
Background
With the development of socioeconomic performance, exploration and development of marine resources, particularly submarine mineral resources, are increasingly valued by various countries, and related underwater geological exploration equipment is also increasingly demanded. Most of traditional underwater detection equipment adopts a propeller driving mode, but the propeller driving mode has large noise, low efficiency and poor stealth performance. In addition, the traditional underwater detection equipment can basically only work in the ocean, and lacks the expansion of basic travelling functions on land, so that the equipment becomes relatively heavy on land, is difficult to carry, place and recycle, and lacks amphibious adaptive capacity.
Disclosure of Invention
Aiming at the defects existing in the related art, the invention provides an amphibious robot for underwater geological exploration and a motion control method thereof, which aim to realize amphibious application of underwater geological exploration equipment and improve amphibious adaptability of the amphibious robot.
The amphibious robot for underwater geological exploration according to the present invention comprises:
the front end of the cabin body is provided with an underwater geological detection device;
the underwater propulsion device comprises an underwater front propulsion mechanism and an underwater rear propulsion mechanism which are respectively arranged at the front part and the rear part of the cabin body; the underwater front propulsion mechanism and the underwater rear propulsion mechanism both comprise:
The two driving wheel sets are respectively connected to the left side and the right side of the outer wall of the cabin body, and each driving wheel set comprises a track disc, a turntable and a plectrum component; the track disc is rotationally connected to the cabin body, and a circle of guide groove is concavely formed in the outer side face of the track disc; the turntable is rotationally connected to the outer side of the track disc; the poking piece component is connected to the periphery of the turntable, and one end of the poking piece component penetrates through the turntable, is inserted into the guide groove and is in sliding connection with the guide groove; the plectrum component comprises a plectrum arranged on the outer side of the turntable; an underwater transmission shaft is connected between the two turntables;
an underwater driving motor and two underwater adjusting motors; the two underwater adjusting motors are respectively connected with the two track discs and are used for respectively driving the two track discs to rotate; the underwater driving motor is connected with the underwater transmission shaft and is used for driving the two turntables to synchronously rotate so as to drive the poking sheets to move and form underwater propelling force;
land travel device, comprising:
two front wheels respectively connected to the left and right sides of the front part of the cabin body, and two rear wheels respectively connected to the left and right sides of the rear part of the cabin body; a connecting rod transmission mechanism is connected between the two front wheels; a land transmission shaft is connected between the two rear wheels;
a land steering motor and a land driving motor; the land steering motor is connected with the connecting rod transmission mechanism and is used for driving the two front wheels to synchronously steer; the land driving motor is connected with the land transmission shaft and is used for driving the two rear wheels to synchronously rotate to form land travelling force.
According to the technical scheme, the amphibious robot has the underwater propulsion function and the land advancing function, so that amphibious application of underwater geological detection equipment is realized, and amphibious adaptability of the amphibious robot is improved.
In some of these embodiments, the guide slot includes a circular arc section and a straight section; the rotating center of the turntable is positioned on the axis of the arc section; the plectrum component also comprises a rotating arm clamped between the turntable and the track disc; the rotating arm is provided with a rotating shaft in a protruding mode towards the middle of one side of the rotating disc, the rotating shaft penetrates through the rotating disc and is in rotating connection with the rotating disc, and the poking piece is connected to one end, exposed out of the rotating disc, of the rotating shaft; the end part of the rotating arm, which faces one side of the track disc, is convexly provided with a guide rod, and the guide rod is inserted into the guide groove and is in sliding connection with the guide groove; the poking piece is arc-shaped; when the guide rod slides in the circular arc section of the guide groove, the axis of the poking piece is collinear with the axis of the circular arc section; when the guide rod slides in the straight section of the guide groove, the middle axial surface of the poking piece is parallel to the straight section. The technical scheme improves the underwater propulsion efficiency and reduces noise.
In some embodiments, a limiting post is convexly arranged on one side of the turntable, which faces the rotating arm, and the limiting post is abutted against one side surface of the rotating arm when the guide rod slides in the arc section of the guide groove.
In some embodiments, each drive wheel set includes a plurality of paddle assemblies that are evenly spaced about the center of rotation of the turntable.
In some embodiments, the two track discs in the underwater rear propulsion mechanism are hubs of two rear wheels respectively, two ends of the land transmission shaft are connected with the two track discs respectively, and the land driving motor is connected with one of the track discs so as to drive the two rear wheels to synchronously rotate through the land transmission shaft and the two track discs; the land transmission shaft comprises two coaxially arranged land transmission half shafts, and a first clutch is arranged between the two land transmission half shafts and used for connecting or disconnecting the two land transmission half shafts; the land driving motor is an underwater adjusting motor in the underwater rear propulsion mechanism; a second clutch is arranged between the other underwater adjusting motor in the underwater rear propulsion mechanism and the track disc connected with the other underwater adjusting motor, and the second clutch is used for connecting or disconnecting the underwater adjusting motor and the track disc. According to the technical scheme, flexible switching between the land rear driving mechanism and the underwater rear propulsion mechanism can be realized, and compactness of overall structural layout of the amphibious robot is realized.
In some embodiments, a third clutch is arranged between the underwater driving motor and the underwater transmission shaft in the underwater rear propulsion mechanism and used for connecting or disconnecting the underwater driving motor and the underwater transmission shaft.
In some of these embodiments, the linkage includes a slider, two tie rods, and two rotating rods; the sliding block is connected in the cabin body in a sliding way and can slide left and right; the upper ends of the two rotating rods are respectively connected with the cabin in a rotating way, the lower ends of the two rotating rods are respectively connected with wheel shafts of the two front wheels, and pushing arms are convexly arranged on the side surfaces of the rotating rods; one end of each of the two pull rods is respectively and rotatably connected with the sliding block, and the other end of each of the two pull rods is respectively and rotatably connected with the two pushing arms; the land steering motor is connected with the sliding block and is used for driving the sliding block to slide so as to drive the two front wheels to synchronously steer.
The invention also provides a motion control method of the amphibious robot for underwater geological exploration, which is carried out by adopting the amphibious robot; the motion control method comprises the following steps:
the underwater propulsion control method comprises the steps of respectively adjusting the directions of straight sections of guide grooves on four track plates through four underwater adjusting motors, driving the four rotating plates to rotate through two underwater driving motors, and driving the poking sheets in the four driving wheel sets to move so as to form underwater propulsion force, so that the amphibious robot can move straight, turn and lift underwater;
the land travel control method is characterized in that the land driving motor drives the two rear wheels to rotate, and the land steering motor drives the two front wheels to steer, so that the amphibious robot can directly travel and steer on the land.
In some of these embodiments, the underwater propulsion control method specifically includes:
disconnecting the first clutch, and electrically engaging the second clutch with the third clutch;
when the amphibious robot moves forward under water, four underwater adjusting motors are started at first, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the right-down horizontal direction; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater straight forward;
when the amphibious robot moves forwards and backwards under water, four underwater adjusting motors are started, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the right upper horizontal direction; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater straight-going backward;
when the amphibious robot ascends underwater, four underwater adjusting motors are started at first, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the vertical direction in front; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater rising;
when the amphibious robot descends under water, four underwater adjusting motors are started at first, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the right-rear vertical direction; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater descent;
When the amphibious robot turns left under water, four underwater adjusting motors are started, the straight sections of the guide grooves on the two track plates on the left side of the cabin body are adjusted to the right upper horizontal position, and the straight sections of the guide grooves on the two track plates on the right side of the cabin body are adjusted to the right lower horizontal position; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, so that the underwater left rotation is realized;
when the amphibious robot turns right under water, four underwater adjusting motors are started, the straight sections of the guide grooves on the two track plates on the left side of the cabin body are adjusted to the right-lower horizontal direction, and the straight sections of the guide grooves on the two track plates on the right side of the cabin body are adjusted to the right-upper horizontal direction; then, two underwater driving motors are started to drive the four turntables to rotate so as to drive the poking sheets to move, and underwater right-turning is achieved.
In some of these embodiments, the land travel control method specifically includes:
disconnecting the second clutch and the third clutch, and electrically engaging the first clutch;
the land driving motor is started to drive the two rear wheels to synchronously rotate, and the amphibious robot can directly move forward or directly move backward on the land by controlling the rotation direction of the land driving motor; when the amphibious robot needs to turn in straight line, the land steering motor is started to drive the two front wheels to synchronously turn, and the left turn or the right turn of the amphibious robot on land is realized by controlling the rotation direction of the land steering motor.
Based on the technical scheme, the amphibious robot for underwater geological exploration and the motion control method thereof in the embodiment of the invention realize amphibious application of underwater geological exploration equipment and improve amphibious adaptability of the underwater geological exploration equipment.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
figure 1 is a schematic view of the overall structure of the amphibious robot of the present invention;
figure 2 is a bottom view of the internal structure of the amphibious robot of the present invention (bilge, wheel cover not shown);
figure 3 is a schematic view of the structure at the drive wheel set in the amphibious robot of the invention;
figure 4 is an exploded view of the structure at the drive wheel set in the amphibious robot of the present invention;
figure 5 is a front view at a drive wheel set in an amphibious robot of the invention;
figure 6 is a schematic view of the structure at the link transmission mechanism in the amphibious robot of the present invention;
figure 7 is an exploded view of the structure at the link transmission mechanism in the amphibious robot of the present invention;
Figure 8 is a schematic view of the state of the drive wheel set of the amphibious robot of the present invention when travelling underwater;
fig. 9 is a schematic view showing a state of a driving wheel set when the amphibious robot of the present invention is retreated under water;
figure 10 is a schematic view of the state of the drive wheel set of the amphibious robot of the present invention when ascending underwater;
fig. 11 is a schematic view showing a state of a driving wheel set when the amphibious robot of the present invention descends under water.
In the figure:
10. a cabin body; 11. an underwater geological detection device; 12. an underwater front propulsion mechanism; 13. an underwater rear propulsion mechanism; 14. a land rear drive mechanism; 15. a land front steering mechanism; 16. a wheel cover; 20. a driving wheel group; 21. a track disc; 211. a guide groove; 2111. a circular arc section; 2112. a straight section; 22. a turntable; 221. a limit column; 23. a paddle assembly; 231. a pulling piece; 232. a rotating arm; 233. a rotating shaft; 234. a guide rod; 235. a small bearing; 31. an underwater front drive shaft; 32. an underwater rear drive shaft; 33. an underwater front drive motor; 34. driving a motor underwater; 35. an underwater left front adjusting motor; 36. an underwater right front adjusting motor; 37. the motor is regulated at the left rear part under water; 38. the motor is regulated at the right rear under water; 39. a land-based drive motor; 40. a land steering motor; 41. a first clutch; 42. a second clutch; 43. a third clutch; 51. a rear wheel; 52. a front wheel; 53. a land transmission shaft; 531. a land transmission half shaft; 6. a link transmission mechanism; 61. a slide block; 62. a slide rail; 63. a pull rod; 64. a rotating rod; 65. pushing arms; 66. and stopping blocks.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "lateral," "longitudinal," "upper," "lower," "top," "bottom," "inner," "outer," "left," "right," "front," "rear," "vertical," "horizontal," etc. indicate or refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of describing the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 11, the present invention provides an amphibious robot for underwater geological exploration, comprising a hull 10, an underwater propulsion device and a land travelling device.
The cabin body 10 is internally provided with a containing cavity, and the front end of the cabin body 10 is provided with an underwater geological detection device 11 for carrying out underwater geological exploration and other works.
The underwater propulsion device comprises two sets of underwater propulsion mechanisms arranged at the front and rear parts of the cabin 10, respectively denoted as an underwater front propulsion mechanism 12 and an underwater rear propulsion mechanism 13. Each set of underwater propulsion mechanism comprises two driving wheel sets 20, an underwater transmission shaft, an underwater driving motor and two underwater adjusting motors, wherein the underwater driving motor and the two underwater adjusting motors are arranged in the cabin body 10.
The two driving wheel sets 20 of each underwater propulsion mechanism are respectively connected to the left and right sides of the outer wall of the cabin 10. Each drive wheel set 20 includes a track plate 21, a turntable 22, and a paddle assembly 23. The track disc 21 is rotatably connected to the cabin 10, and a circle of guide grooves 211 are concavely formed on the outer side surface of the track disc 21. The turntable 22 is rotatably connected to the outside of the track plate 21. The plectrum component 23 is connected to the periphery of the turntable 22, and one end of the plectrum component 23 penetrates through the turntable 22, is inserted into the guide groove 211, and is in sliding connection with the guide groove 211; the plectrum component 23 comprises a plectrum 231 arranged on the outer side of the turntable 22; when the turntable 22 rotates, the plectrum component 23 thereon is driven to rotate around the rotation center of the turntable 22, and one end of the plectrum component 23 inserted into the guiding groove 211 also slides along the guiding groove 211. The underwater transmission shaft is connected between the two turntables 22 to drive the two turntables 22 to synchronously rotate under the action of external force. The underwater transmission shaft can be formed by butt joint of two coaxially arranged shaft rods, and a shaft seat and a connecting piece are arranged at the butt joint position of the two shaft rods, so that the overall strength and the transmission stability of the underwater transmission shaft are ensured.
The two underwater adjusting motors of each underwater propulsion mechanism are respectively connected with the two track plates 21 and are used for respectively driving the two track plates 21 to rotate so as to adjust the azimuth state of the guide groove 211 on the track plate 21. The connection between the underwater adjusting motor and the track disc 21 includes, but is not limited to, a gear engagement connection; specifically, a driving gear is sleeved on an output shaft of the underwater adjusting motor, and a driven gear meshed with the driving gear is sleeved at one end of the track disc 21 inserted into the inner side of the cabin 10; when the underwater adjusting motor is started, an output shaft of the underwater adjusting motor rotates, and the track disc 21 is driven to rotate through meshing transmission of the driving gear and the driven gear.
The underwater drive motor of each set of underwater propulsion mechanism is connected to an underwater drive shaft in a manner that includes, but is not limited to, a geared connection. When the underwater driving motor is started, the underwater transmission shaft is driven to rotate, so that the two turntables 22 are driven to synchronously rotate, and the poking sheets 231 on the turntables 22 are driven to move; it will be appreciated that the paddle 231, when moved, is capable of propelling a flow of water, creating an underwater propulsion of the amphibious robot. Further, the initial azimuth state of the plectrum 231 on the four driving wheel sets 20 is adjusted to control the movement gesture of the plectrum 231 on each driving wheel set 20, so as to realize the underwater straight running, steering and lifting of the amphibious robot.
For ease of understanding and description to follow, the underwater drive shaft of the underwater front propulsion mechanism 12 is referred to as an underwater front drive shaft 31, its underwater drive motor is referred to as an underwater front drive motor 33, and the underwater adjustment motors on the left and right sides thereof are referred to as an underwater left front adjustment motor 35 and an underwater right front adjustment motor 36, respectively; the underwater drive shaft of the underwater rear propulsion mechanism 13 is referred to as an underwater rear drive shaft 32, its underwater drive motor is referred to as an underwater rear drive motor 34, and the underwater adjustment motors on the left and right sides thereof are referred to as an underwater left rear adjustment motor 37 and an underwater right rear adjustment motor 38, respectively.
The land travel device includes a land rear drive mechanism 14 disposed at the rear of the cabin 10 and a land front steering mechanism 15 disposed at the front of the cabin 10. The land rear driving mechanism 14 comprises two rear wheels 51 connected to the left and right sides of the rear part of the cabin 10, a land transmission shaft 53 connected between the two rear wheels 51, and a land driving motor 39 arranged in the cabin 10 and connected with the land transmission shaft 53; the connection between the land drive motor 39 and the land drive shaft 53 includes, but is not limited to, a geared connection; when the land driving motor 39 is started, the land driving shaft 53 is driven to rotate, so that the two rear wheels 51 are driven to synchronously rotate, land travelling force is formed, and land straight running of the amphibious robot is realized. The land front steering mechanism 15 comprises two front wheels 52 connected to the left and right sides of the front part of the cabin 10, a connecting rod transmission mechanism 6 connected between the two front wheels 52, and a land steering motor 40 arranged in the cabin 10 and connected with the connecting rod transmission mechanism 6; the form of connection between the land steer motor 40 and the link drive 6 includes, but is not limited to, a geared connection; when the motor of the land steering motor 40 is started, the connecting rod transmission mechanism 6 is driven to move, so that the two front wheels 52 are driven to synchronously steer, and steering in the land straight running of the amphibious robot is realized.
According to the above-mentioned exemplary embodiment, by arranging the underwater propulsion device and the land traveling device, the amphibious robot can have both the underwater propulsion function and the land traveling function; the amphibious robot can realize the underwater geological detection function and the land traveling function by matching with the underwater geological detection device 11 carried at the front end of the cabin body 10, thereby realizing the amphibious application of the underwater geological detection equipment and improving the amphibious adaptability of the underwater geological detection equipment.
As shown in fig. 2-5, in some embodiments, the guide slot 211 on the track disk 21 includes a circular arc segment 2111 and a straight segment 2112, the circular arc segment 2111 and the straight segment 2112 forming a closed loop, the junction of the straight segment 2112 and the circular arc segment 2111 transitioning smoothly. The rotation center of the turntable 22 is located on the axis of the circular arc section 2111.
The paddle assembly 23 further includes a swivel arm 232 sandwiched between the turntable 22 and the track disk 21. The middle part of one side of the rotating arm 232 facing the turntable 22 is convexly provided with a rotating shaft 233, and the rotating shaft 233 penetrates through the turntable 22 and is rotationally connected with the turntable 22; the paddle 231 is connected to the rotating shaft 233 to expose one end of the turntable 22. The end part of the rotating arm 232, which faces one side of the track disc 21, is convexly provided with a guide rod 234, and the guide rod 234 is inserted into the guide groove 211 and is in sliding connection with the guide groove; further, the guide rod 234 is sleeved with a small bearing 235, and the outer diameter of the small bearing 235 is matched with the groove width of the guide groove 211, so that smoothness of the guide rod 234 when sliding in the guide groove 211 is ensured, and abrasion is reduced. Specifically, the vertical distance between the center line of the straight section 2112 of the guide groove 211 and the center of the circular arc section 2111 is equal to the plane distance between the rotation center of the turntable 22 and the center of the rotating shaft 233; the planar distance between the center of the spindle 233 and the center of the guide rod 234 is equal to the radial dimension of the circular arc segment 2111 of the guide slot 211 minus the vertical distance between the centerline of the straight segment 2112 and the center of the circular arc segment 2111.
The poking piece 231 is arc-shaped; when the rotary table 22 rotates under the action of external force to drive the shifting piece assembly 23 to rotate around the rotation center of the rotary table 22, the guide rod 234 slides in the guide groove 211. When the guide rod 234 slides in the arc section 2111 of the guide groove 211, the length direction of the rotating arm 232 is positioned in the radial direction of the turntable 22, the axis of the shifting piece 231 is collinear with the axis of the arc section 2111, and the moving direction of the shifting piece 231 is the same as the radian of the shifting piece, so that the pushing action on water flow is reduced; when the guide rod 234 slides in the straight section 2112 of the guide groove 211, the length direction of the rotating arm 232 is parallel to the straight section 2112, the central axial surface of the pulling piece 231 is parallel to the straight section 2112, and at the moment, the cambered surface of the pulling piece 231 is almost perpendicular to the rotating direction of the turntable 22, so that more efficient underwater propulsion can be provided, and further the propulsion efficiency is improved; moreover, the stirring mode of the stirring piece 231 has less stirring of water flow and lower noise, so that the amphibious robot has better underwater stealth performance.
The above-described exemplary embodiment refines the shape design of the guide groove 211 on the track disc 21 and the structural design of the plectrum assembly 23, and improves the underwater propulsion efficiency, reduces noise, and improves the underwater stealth performance on the basis of realizing the underwater propulsion function of the amphibious robot.
As shown in fig. 2-5, in some embodiments, a side of the turntable 22 facing the rotating arm 232 is convexly provided with a limiting post 221, and when the guide rod 234 slides along the arc segment 2111 of the guide groove 211, the limiting post 221 abuts against a side surface of the rotating arm 232, which is far away from one end of the guide rod 234. In the process of rotating the turntable 22 and driving the plectrum component 23 to move, the limiting column 221 carries out unidirectional limitation on the rotating direction of the rotating arm 232, so that when the guide rod 234 moves to the straight section 2112 of the guide groove 211 each time, the rotating arm 232 deflects only in the same direction, and therefore, when the guide rod 234 slides in the straight section 2112 of the guide groove 211, the cambered surfaces of the circular arc-shaped plectrum 231 face the same direction, and more specifically, the cambered surface convex direction of the plectrum 231 is opposite to the rotating direction of the turntable 22, so that water flow can be better pushed, and propelling force can be obtained.
As shown in fig. 2-5, in some embodiments, each drive wheel set 20 includes a plurality of paddle assemblies 23, the plurality of paddle assemblies 23 being evenly spaced about the center of rotation of the rotor 22; in the rotating process of the turntable 22, the plurality of poking sheets 231 sequentially move to the straight sections 2112 of the guide grooves 211 to push water flow in turn and efficiently, so that the propulsion efficiency is further improved, and continuous and stable underwater propulsion is realized.
As shown in fig. 1 and 2, in some embodiments, the two track disks 21 in the underwater rear propulsion mechanism 13 are hubs of two rear wheels 51, respectively, two ends of the land transmission shaft 53 are connected to the two track disks 21, respectively, and the land driving motor 39 is connected to one of the track disks 21 in a manner including, but not limited to, a gear engagement connection. When the land driving motor 39 is started, the track disc 21, the land transmission shaft 53 and the other track disc 21 connected with the land driving motor are driven to rotate, and further the two rear wheels 51 are driven to synchronously rotate. The land transmission shaft 53 comprises two coaxially arranged land transmission half shafts 531, and a first clutch 41 is arranged between the two land transmission half shafts 531 for connecting or disconnecting the two land transmission half shafts 531 with or from each other; specifically, when the first clutch 41 is electrically engaged, the two land transmission half shafts 531 are connected to each other for synchronous transmission; when the first clutch 41 is disconnected, the two land transmission half shafts 531 are disconnected from each other, and the movement states of the two land transmission half shafts do not affect each other. The land driving motor 39 is an underwater adjusting motor in the underwater rear propulsion mechanism 13, such as an underwater right rear adjusting motor 38; a second clutch 42 is arranged between the other underwater adjusting motor in the underwater rear propulsion mechanism 13 and the track disc 21 connected with the other underwater adjusting motor, and is used for connecting or disconnecting the underwater adjusting motor and the track disc 21; it is understood that the land drive motor 39 may be either the underwater right rear adjustment motor 38 or the underwater left rear adjustment motor 37, and the land drive motor 39 in this embodiment is the underwater right rear adjustment motor 38.
To further illustrate, when the amphibious robot is to travel on land, the first clutch 41 is electrically engaged, the second clutch 42 is electrically disconnected and separated, so as to switch the rear part of the cabin 10 into the land rear driving mechanism 14, the land driving motor 39 is started, and the two track discs 21 in the underwater rear propulsion mechanism 13, namely the two rear wheels 51, are synchronously rotated by the land transmission shaft 53; at this time, the second clutch 42 is de-energized and disengaged, so that the rotation of the track disc 21 is not transmitted to the other underwater adjusting motor in the underwater rear propulsion mechanism 13. When the amphibious robot is to be propelled under water, the second clutch 42 is electrically connected, the first clutch 41 is disconnected and separated, so that the rear part of the cabin 10 is switched to be the underwater rear propulsion mechanism 13, the underwater right rear adjusting motor 38 and the underwater left rear adjusting motor 37 can be respectively started to respectively drive the track discs 21 connected with the underwater right rear adjusting motor 38 and the underwater left rear adjusting motor 37 to rotate so as to respectively adjust the directions of straight sections 2112 of the guide grooves 211 on the track discs 21 connected with the underwater right rear adjusting motor; because the first clutch 41 is disconnected and disconnected at this time, the two land transmission half shafts 531 are in a disengaged state, so that the rotation states of the left and right track plates 21 are not affected, and the respective adjustment of the directions of the straight sections 2112 of the guide grooves 211 on the track plates 21 is realized.
In the above-described exemplary embodiment, the compactness of the overall structural layout of the amphibious robot is achieved by the fusion structural design between the rear rail disc 21 of the cabin 10 and the rear wheel 51, and the common design of the land drive motor 39 and an underwater adjusting motor; by the arrangement of the first clutch 41 and the second clutch 42, flexible switching between the land rear driving mechanism 14 and the underwater rear propulsion mechanism 13 can be realized, and the amphibious application requirement of the amphibious robot can be met.
As shown in fig. 2, in some embodiments, a third clutch 43 is provided between the underwater rear drive motor 34 and the underwater rear propeller shaft 32 for interconnecting or disconnecting the underwater rear drive motor 34 and the underwater rear propeller shaft 32. When the amphibious robot travels on land, the turntable 22 may rotate due to the influence of the rotation of the track disc 21 in the underwater rear propulsion mechanism 13 or the vibration during the land travel, and further drives the underwater rear transmission shaft 32 to rotate, so that the third clutch 43 is disconnected and separated, and thus the rotation is not transmitted to the underwater rear driving motor 34.
As shown in fig. 2, 6, 7, in some embodiments, the linkage 6 includes a slider 61, two tie rods 63, and two rotating rods 64. The sliding block 61 is slidably connected to a sliding rail 62 in the cabin 10, the length direction of the sliding rail 62 is parallel to the left-right direction of the cabin 10, and the sliding block 61 can slide left and right along the sliding rail 62. The upper ends of the two rotating rods 64 are respectively and rotatably connected with the cabin 10, and the lower ends are respectively connected with the wheel shafts of the two front wheels 52; push arms 65 are provided protruding from the sides of the rotating lever 64. One end of each of the two tie rods 63 is rotatably connected to the slider 61, and the other end is rotatably connected to the two push arms 65. Land steer motor 40 is coupled to slide 61 in a manner that includes, but is not limited to, a gear engagement connection; when the land steering motor 40 is started, the driving slide block 61 slides left and right, and the two front wheels 52 are driven to synchronously steer by the pull rod 63 and the rotating rod 64. Further, stoppers 66 are provided at both ends of the slide rail 62 in the longitudinal direction to limit the left-right movement distance of the slide block 61, that is, the degree of steering of the two front wheels 52. The exemplary embodiment enables a steering function in land straight running of an amphibious robot.
In some embodiments, there are separate buoyancy adjustment systems, energy systems, and communication control systems within the amphibious robot capsule 10. The buoyancy regulating system is used for regulating the total buoyancy, the energy system is used for providing energy power for the amphibious robot, and the communication control system cabin is used for carrying out action control, data and instruction communication and the like on the amphibious robot.
As shown in fig. 1, in some embodiments, each track pad 21 is covered with a wheel cover 16 to prevent the paddle 231 from being damaged by direct impact when the amphibious robot travels under water.
The invention also provides a motion control method of the amphibious robot for underwater geological exploration, which is carried out by adopting the amphibious robot, and is shown in the figures 1-11. The motion control method includes an underwater propulsion control method and a land travel control method.
The underwater propulsion control method specifically comprises the following steps: the orientation of straight sections 2112 of the guide grooves 211 on the four track plates 21 are respectively adjusted by the four underwater adjusting motors so as to initialize the orientation state of the shifting sheet 231 in the four driving wheel sets 20; the four turntables 22 are driven to rotate by the two underwater driving motors to drive the poking sheets 231 in the four driving wheel sets 20 to move, so that underwater propelling force is formed, and the amphibious robot can move straight, turn and lift underwater.
The land travel control method specifically comprises the following steps: the land driving motor 39 drives the two rear wheels 51 to rotate, and the land steering motor 40 drives the two front wheels 52 to steer, so that the amphibious robot can move straight and steer on the land.
The above-described exemplary embodiment enables the amphibious robot to travel on land as well as to be propelled under water by application control of the underwater driving motor, the underwater adjusting motor, the land driving motor 39 and the land steering motor 40, enriches the movement patterns thereof under water and on land, realizes amphibious application of underwater geological exploration equipment, and improves amphibious adaptive capacity thereof.
Referring to fig. 1-11, in some embodiments, the underwater propulsion control method specifically includes:
first, the first clutch 41 is disconnected and the second clutch 42 and the third clutch 43 are electrically engaged; then, corresponding control is performed according to the following requirement of the amphibious robot on underwater movement, in the embodiment, the two underwater driving motors, namely the underwater front driving motor 33 and the underwater rear driving motor 34, always keep clockwise rotation;
when the amphibious robot moves forward under water, four underwater adjusting motors are started first, and straight sections 2112 of the guide grooves 211 on the four track plates 21 are respectively adjusted to a right-down horizontal direction, as shown in fig. 8; then, two underwater driving motors are started to drive the four turntables 22 to rotate so as to drive the poking sheets 231 to move, and the straight sections 2112 of the guide grooves 211 are positioned in the right-under horizontal direction, so that the poking sheets 231 of the four driving wheel sets 20 push forward horizontally, and the amphibious robot realizes underwater straight forward;
When the amphibious robot moves forward and backward under water, four underwater adjusting motors are started first, and straight sections 2112 of the guide grooves 211 on the four track plates 21 are respectively adjusted to a right upper horizontal direction, as shown in fig. 9; then, two underwater driving motors are started to drive the four turntables 22 to rotate so as to drive the poking sheets 231 to move, and the straight sections 2112 of the guide grooves 211 are positioned in the right upper horizontal direction, so that the propelling forces of the poking sheets 231 of the four driving wheel sets 20 are all horizontal backward, and the amphibious robot realizes underwater straight-going backward;
when the amphibious robot ascends underwater, four underwater adjusting motors are started first, and straight sections 2112 of the guide grooves 211 on the four track plates 21 are respectively adjusted to a right front vertical orientation, as shown in fig. 10; then, two underwater driving motors are started to drive the four turntables 22 to rotate so as to drive the poking sheets 231 to move, and the straight sections 2112 of the guide grooves 211 are positioned in the right front vertical direction, so that the propelling forces of the poking sheets 231 of the four driving wheel sets 20 are all vertical upwards, and the amphibious robot is enabled to ascend underwater;
when the amphibious robot descends under water, four underwater adjusting motors are started first, and straight sections 2112 of the guide grooves 211 on the four track plates 21 are respectively adjusted to a right-rear vertical orientation, as shown in fig. 11; then, two underwater driving motors are started to drive the four turntables 22 to rotate so as to drive the poking sheets 231 to move, and the straight sections 2112 of the guide grooves 211 are positioned in the right-rear vertical direction, so that the poking sheets 231 of the four driving wheel sets 20 push vertically downwards, and the amphibious robot is lowered underwater;
When the amphibious robot turns left under water, the left front underwater adjusting motor 35 and the left rear underwater adjusting motor 37 are started, the straight sections 2112 of the guide grooves 211 on the two track plates 21 on the left side of the cabin body 10 are adjusted to the right upper horizontal direction, the right front underwater adjusting motor and the right rear underwater adjusting motor 38 are started, and the straight sections 2112 of the guide grooves 211 on the two track plates 21 on the right side of the cabin body 10 are adjusted to the right lower horizontal direction; then, starting two underwater driving motors to drive the four turntables 22 to rotate so as to drive the plectrum 231 to move, and enabling the plectrum 231 of the four driving wheel sets 20 to generate clockwise steering moment, so that the amphibious robot realizes underwater left-turning;
when the amphibious robot turns right under water, firstly, the left front underwater adjusting motor 35 and the left rear underwater adjusting motor 37 are started, the straight sections 2112 of the guide grooves 211 on the two track plates 21 on the left side of the cabin body 10 are adjusted to the right lower horizontal direction, the right front underwater adjusting motor 36 and the right rear underwater adjusting motor 38 are started, and the straight sections 2112 of the guide grooves 211 on the two track plates 21 on the right side of the cabin body 10 are adjusted to the right upper horizontal direction; then, the two underwater driving motors are started to drive the four turntables 22 to rotate so as to drive the plectrum 231 to move, and the propulsive force of the plectrum 231 of the four driving wheel sets 20 generates anticlockwise steering torque, so that the amphibious robot realizes underwater right-turning.
As shown in connection with fig. 1-7, in some embodiments, the land travel control method specifically includes:
first, the second clutch 42 and the third clutch 43 are disconnected and the first clutch 41 is electrically engaged;
then, the land driving motor 39 is started to drive the two rear wheels 51 to rotate synchronously, and the amphibious robot can move forward or backward on the land by controlling the rotation direction of the land driving motor 39; in the present embodiment, the land driving motor 39 is rotated counterclockwise to realize the forward movement of the land, and the land driving motor 39 is rotated clockwise to realize the backward movement of the land.
When the amphibious robot needs to turn in straight line, the land steering motor 40 is started to drive the two front wheels 52 to synchronously turn, and the left turn or the right turn of the amphibious robot on land is realized by controlling the rotation direction of the land steering motor 40; in this embodiment, the land steering motor 40 turns clockwise to realize a right-hand land turn, and the land steering motor 40 turns clockwise to realize a left-hand land turn.
By way of illustration of various embodiments of the amphibious robot for underwater geological exploration and the method of motion control thereof according to the present invention, it can be seen that the present invention has at least one or more of the following advantages:
1) Through the arrangement of the underwater front propulsion mechanism 12 and the underwater rear propulsion mechanism 13, the amphibious robot can realize underwater straight running, steering and lifting functions; the amphibious robot can realize the functions of straight running and steering on land through the arrangement of the land rear driving mechanism 14 and the land front steering mechanism 15; therefore, the amphibious application of the underwater geological detection equipment is realized, and the amphibious adaptability of the underwater geological detection equipment is improved;
2) Through the arrangement of the four driving wheel sets 20 and the application of the underwater adjusting motor and the underwater driving motor, the propulsion direction of the poking sheets 231 on the four driving wheel sets 20 is flexibly adjusted, so that the amphibious robot can realize the functions of underwater straight forward, straight backward, ascending, descending, left and right steering and the like, and an additional posture adjusting steering engine device is not required to be installed, so that the amphibious robot is simpler in structure;
3) The cambered surface of the poking piece 231 for providing propulsion in the driving wheel set 20 is almost vertical to the rotation direction of the turntable 22, so that more efficient underwater propulsion can be provided, and the propulsion efficiency is improved; the stirring mode of the stirring piece 231 is small in stirring of water flow, low in noise and good in stealth performance;
4) Through the fusion structural design between the rear track disc 21 of the cabin 10 and the rear wheel 51, the common design of the land driving motor 39 and an underwater adjusting motor and the arrangement of the first clutch 41 and the second clutch 42, flexible switching between the land rear driving mechanism 14 and the underwater rear propulsion mechanism 13 is realized, and the compactness of the overall structural layout of the amphibious robot is realized.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (8)
1. Amphibious robot for underwater geological exploration, characterized by comprising:
the front end of the cabin body is provided with an underwater geological detection device;
the underwater propulsion device comprises an underwater front propulsion mechanism and an underwater rear propulsion mechanism which are respectively arranged at the front part and the rear part of the cabin body; the underwater front propulsion mechanism and the underwater rear propulsion mechanism both comprise:
the two driving wheel sets are respectively connected to the left side and the right side of the outer wall of the cabin body, and each driving wheel set comprises a track disc, a rotary disc and a poking piece component; the track disc is rotationally connected to the cabin body, and a circle of guide groove is concavely formed in the outer side face of the track disc; the turntable is rotationally connected to the outer side of the track disc; the poking piece component is connected to the periphery of the turntable, and one end of the poking piece component penetrates through the turntable, is inserted into the guide groove and is in sliding connection with the guide groove; the plectrum component comprises a plectrum arranged on the outer side of the turntable; an underwater transmission shaft is connected between the two turntables; the guide groove comprises an arc section and a straight section; the rotating center of the turntable is positioned on the axis of the circular arc section; the plectrum component further comprises a rotating arm clamped between the turntable and the track disc; the rotating arm is provided with a rotating shaft in a protruding mode towards the middle of one side of the rotating disc, the rotating shaft penetrates through the rotating disc and is in rotating connection with the rotating disc, and the poking piece is connected to one end, exposed out of the rotating disc, of the rotating shaft; the end part of the rotating arm, which faces one side of the track disc, is convexly provided with a guide rod, and the guide rod is inserted into the guide groove and is in sliding connection with the guide groove; the poking piece is arc-shaped; when the guide rod slides in the circular arc section of the guide groove, the axis of the poking piece is collinear with the axis of the circular arc section; when the guide rod slides in the straight section of the guide groove, the middle axial surface of the poking piece is parallel to the straight section;
An underwater driving motor and two underwater adjusting motors; the two underwater adjusting motors are respectively connected with the two track discs and are used for respectively driving the two track discs to rotate; the underwater driving motor is connected with the underwater transmission shaft and is used for driving the two turntables to synchronously rotate so as to drive the poking sheets to move and form underwater propelling force;
land travel device, comprising:
two front wheels respectively connected to the left and right sides of the front part of the cabin body, and two rear wheels respectively connected to the left and right sides of the rear part of the cabin body; a connecting rod transmission mechanism is connected between the two front wheels; a land transmission shaft is connected between the two rear wheels;
a land steering motor and a land driving motor; the land steering motor is connected with the connecting rod transmission mechanism and is used for driving the two front wheels to synchronously steer; the land driving motor is connected with the land transmission shaft and is used for driving the two rear wheels to synchronously rotate to form land travelling force;
two track discs in the underwater rear propulsion mechanism are hubs of two rear wheels respectively, two ends of the land transmission shaft are connected with the two track discs respectively, and the land driving motor is connected with one of the track discs so as to drive the two rear wheels to synchronously rotate through the land transmission shaft and the two track discs; the land transmission shaft comprises two coaxially arranged land transmission half shafts, and a first clutch is arranged between the two land transmission half shafts and used for connecting or disconnecting the two land transmission half shafts; the land driving motor is one underwater adjusting motor in the underwater rear propulsion mechanism; a second clutch is arranged between the other underwater adjusting motor in the underwater rear propulsion mechanism and the track disc connected with the other underwater adjusting motor, and the second clutch is used for connecting or disconnecting the underwater adjusting motor and the track disc.
2. An amphibious robot according to claim 1, wherein the turntable is provided with a limit post protruding towards one side of the swivel arm, and the guide rod is abutted against one side of the swivel arm when the guide groove arc section slides.
3. An amphibious robot according to claim 1, wherein each of the drive wheel sets comprises a plurality of paddle assemblies, the paddle assemblies being evenly spaced about the centre of rotation of the turntable.
4. An amphibious robot according to claim 1, wherein a third clutch is provided between the underwater drive motor and the underwater drive shaft in the underwater rear propulsion mechanism for interconnecting or disconnecting the underwater drive motor and the underwater drive shaft.
5. The amphibious robot of claim 1, wherein the link drive comprises a slider, two tie rods and two swivel rods; the sliding block is connected in the cabin body in a sliding way and can slide left and right; the upper ends of the two rotating rods are respectively connected with the cabin in a rotating way, the lower ends of the two rotating rods are respectively connected with wheel shafts of the two front wheels, and pushing arms are convexly arranged on the side surfaces of the rotating rods; one end of each of the two pull rods is respectively and rotatably connected with the sliding block, and the other end of each of the two pull rods is respectively and rotatably connected with the two pushing arms; the land steering motor is connected with the sliding block and used for driving the sliding block to slide so as to drive the two front wheels to synchronously steer.
6. A method of controlling the motion of an amphibious robot for underwater geological exploration, characterized by using the amphibious robot as claimed in claim 4; the motion control method comprises the following steps:
the underwater propulsion control method comprises the steps that the orientations of straight sections of guide grooves on four track plates are respectively regulated by four underwater regulating motors, the four rotating plates are driven to rotate by two underwater driving motors, and the poking sheets in four driving wheel sets are driven to move to form underwater propulsion so as to realize straight running, steering and lifting of the amphibious robot under water;
the land traveling control method is characterized in that the land driving motor drives the two rear wheels to rotate, and the land steering motor drives the two front wheels to steer, so that the amphibious robot can move straight and steer on the land.
7. The motion control method according to claim 6, characterized in that the underwater propulsion control method specifically comprises:
disconnecting the first clutch, and electrically engaging the second clutch with the third clutch;
when the amphibious robot moves forward under water, four underwater adjusting motors are started at first, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the right-down horizontal direction; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater straight forward;
When the amphibious robot moves forwards and backwards under water, four underwater adjusting motors are started, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the right upper horizontal direction; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater straight-going backward;
when the amphibious robot ascends underwater, four underwater adjusting motors are started at first, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the vertical direction in front; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater rising;
when the amphibious robot descends under water, four underwater adjusting motors are started at first, and the straight sections of the guide grooves on the four track plates are respectively adjusted to the right-rear vertical direction; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, and realizing underwater descent;
when the amphibious robot turns left under water, four underwater adjusting motors are started, the straight sections of the guide grooves on the two track plates on the left side of the cabin body are adjusted to the right upper horizontal position, and the straight sections of the guide grooves on the two track plates on the right side of the cabin body are adjusted to the right lower horizontal position; then, starting two underwater driving motors to drive the four turntables to rotate so as to drive the poking sheets to move, so that the underwater left rotation is realized;
When the amphibious robot turns right under water, four underwater adjusting motors are started, the straight sections of the guide grooves on the two track plates on the left side of the cabin body are adjusted to the right-lower horizontal direction, and the straight sections of the guide grooves on the two track plates on the right side of the cabin body are adjusted to the right-upper horizontal direction; then, two underwater driving motors are started to drive the four turntables to rotate so as to drive the poking sheets to move, and underwater right-turning is achieved.
8. The motion control method according to claim 6, characterized in that the land travel control method specifically comprises:
disconnecting the second clutch and the third clutch, and electrically engaging the first clutch;
the land driving motor is started to drive the two rear wheels to synchronously rotate, and the amphibious robot can directly move forward or directly move backward on the land by controlling the rotation direction of the land driving motor; when the amphibious robot needs to turn in straight line, the land steering motor is started to drive the two front wheels to synchronously turn, and the left turn or the right turn of the amphibious robot on land is realized by controlling the rotation direction of the land steering motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311345015.7A CN117087366B (en) | 2023-10-18 | 2023-10-18 | Amphibious robot for underwater geological exploration and motion control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311345015.7A CN117087366B (en) | 2023-10-18 | 2023-10-18 | Amphibious robot for underwater geological exploration and motion control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117087366A CN117087366A (en) | 2023-11-21 |
| CN117087366B true CN117087366B (en) | 2024-01-05 |
Family
ID=88773684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311345015.7A Active CN117087366B (en) | 2023-10-18 | 2023-10-18 | Amphibious robot for underwater geological exploration and motion control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117087366B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999039973A1 (en) * | 1998-02-07 | 1999-08-12 | Futuretech Technologies Limited | Propulsion system |
| CN101028786A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Two-purpose robot mechanism with water and land functions |
| KR20100020176A (en) * | 2008-08-12 | 2010-02-22 | 주식회사 탑알앤디 | Handle operation type skid steering device |
| FR2950567A1 (en) * | 2009-09-25 | 2011-04-01 | Cefa | Amphibious vehicle for use in military application, has body structure having plane upper surface forming bridge, and lateral floating unit whose part is exposed to current and formed with section having minimal hydrodynamic resistance |
| CN204547629U (en) * | 2015-04-27 | 2015-08-12 | 上海海洋大学 | A kind of amphibious running gear |
| CN106347048A (en) * | 2016-11-03 | 2017-01-25 | 浙江水利水电学院 | Diameter-variable movable platform of amphibious wheel |
| CN209634197U (en) * | 2019-01-29 | 2019-11-15 | 苏州微孚智能科技有限公司 | A kind of detachable robot |
| WO2021043254A1 (en) * | 2019-09-06 | 2021-03-11 | 上海大学 | Wheel-legged amphibious mobile robot with variable angle of attack |
| CN215244194U (en) * | 2021-01-07 | 2021-12-21 | 中机恒通环境科技有限公司 | Amphibious robot for pipeline detection |
| CN218858665U (en) * | 2023-03-15 | 2023-04-14 | 青岛海洋科技中心 | Propulsion device |
| CN219406061U (en) * | 2023-05-04 | 2023-07-25 | 江苏科技大学 | A Multi-Motion Mode Underwater Hexapod Robot |
-
2023
- 2023-10-18 CN CN202311345015.7A patent/CN117087366B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999039973A1 (en) * | 1998-02-07 | 1999-08-12 | Futuretech Technologies Limited | Propulsion system |
| CN101028786A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Two-purpose robot mechanism with water and land functions |
| KR20100020176A (en) * | 2008-08-12 | 2010-02-22 | 주식회사 탑알앤디 | Handle operation type skid steering device |
| FR2950567A1 (en) * | 2009-09-25 | 2011-04-01 | Cefa | Amphibious vehicle for use in military application, has body structure having plane upper surface forming bridge, and lateral floating unit whose part is exposed to current and formed with section having minimal hydrodynamic resistance |
| CN204547629U (en) * | 2015-04-27 | 2015-08-12 | 上海海洋大学 | A kind of amphibious running gear |
| CN106347048A (en) * | 2016-11-03 | 2017-01-25 | 浙江水利水电学院 | Diameter-variable movable platform of amphibious wheel |
| CN209634197U (en) * | 2019-01-29 | 2019-11-15 | 苏州微孚智能科技有限公司 | A kind of detachable robot |
| WO2021043254A1 (en) * | 2019-09-06 | 2021-03-11 | 上海大学 | Wheel-legged amphibious mobile robot with variable angle of attack |
| CN215244194U (en) * | 2021-01-07 | 2021-12-21 | 中机恒通环境科技有限公司 | Amphibious robot for pipeline detection |
| CN218858665U (en) * | 2023-03-15 | 2023-04-14 | 青岛海洋科技中心 | Propulsion device |
| CN219406061U (en) * | 2023-05-04 | 2023-07-25 | 江苏科技大学 | A Multi-Motion Mode Underwater Hexapod Robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117087366A (en) | 2023-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104787285A (en) | Propeller vector propelling device | |
| CN102303492B (en) | Small-sized variable-structure propulsion device with amphibious function | |
| CN210212733U (en) | Amphibious robot based on wave fin propulsion | |
| CN116729606B (en) | Low-disturbance MPF bionic fluctuation propeller | |
| CN117087366B (en) | Amphibious robot for underwater geological exploration and motion control method thereof | |
| CN110733621A (en) | Underwater vehicle and tail vane adjusting mechanism based on linear transmission | |
| CN105109649B (en) | It is a kind of that the underwater vector propeller flexibly turned to is realized using Coanda effect | |
| CN211336395U (en) | An underwater equipment vector thruster | |
| CN110937088B (en) | A dual-drive AUV magnetic coupling vector propulsion device suitable for ice hole deployment | |
| KR101271614B1 (en) | Thruster for ship | |
| CN106904260A (en) | A kind of underwater dish aerodone | |
| CN110304224A (en) | Side-thrusting submersible and submerged method | |
| CN106428460B (en) | Cavitation jet cleaning hull robot turns magnetic pole adsorbing mechanism and crawler belt | |
| CN112319161A (en) | Rotor unmanned aerial vehicle capable of sailing underwater at high speed and control method thereof | |
| CN103434627A (en) | Automatic control mechanism of rocker sliding block type cycloid paddle | |
| CN110341916B (en) | Underwater robot's advancing device and system that verts | |
| CN112407137A (en) | Transmission mechanism for ship and ship | |
| CN115303486A (en) | Water-air amphibious unmanned aerial vehicle with rudder and balance rudder decoupled for control and working method | |
| CN208069987U (en) | Autonomous underwater vehicle and its six propellers simultaneously advance mechanism | |
| CN108482622B (en) | Unmanned underwater vehicle and its six-propeller synchronous propulsion mechanism | |
| CN110884633A (en) | An AUV Magnetically Coupled Vector Propulsion Device Suitable for Ice Hole Deployment | |
| CN114771785B (en) | Underwater bionic fish | |
| US20080119106A1 (en) | On-water/underwater movable toy | |
| CN220465765U (en) | Mixed type wheel oar | |
| CN205221064U (en) | Two annular flat plate paddle motor vessels that push away |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |