CN211000799U - Frog-wheel-paddle-leg-imitating integrated amphibious propeller - Google Patents

Abstract

The utility model provides an imitative frog wheel oar leg integration amphibious propeller, includes propeller wheel (1), imitative frog leg mechanism (3), propeller shaft (2), through the propulsion equipment form with propeller wheel and imitative frog leg mechanism combine, can advance in water route and land road respectively, can realize superior amphibious and land and land off-road performance, solved and need adopt two sets of pusher in order to adapt to land and aquatic environment respectively among the prior art, the very complicated problem of propulsion mechanism structure, stable in structure, the operation process is stable.

Description

An integrated amphibious propeller imitating frog wheel and paddle legs

technical field

The utility model relates to an integrated amphibious propeller of imitation frog wheels and paddle legs, belonging to the field of integrated driving devices.

Background technique

Most of the existing amphibious drive equipment adopts two sets of propulsion devices to adapt to the land and water environment respectively, and water jet propulsion is generally used when sailing on the water surface. In the process of going from sea to land, the two sets of propulsion modes must be switched, which makes their propulsion mechanism structure very complex and inconvenient to operate and maintain. Hovercraft is another weapon for amphibious warfare. Although it can use a single set of propulsion system to achieve the process of landing from the sea, the thrust of the air propeller propulsion method is obviously insufficient when used on land.

According to the different driving mechanisms and motion forms of amphibious robots, the existing amphibious robots can be roughly divided into two categories: single driving type and compound driving type. , crawler type, etc., it is difficult to fully meet the many requirements of the robot in water or on land. At the same time, two sets of propulsion modes must use two sets of equipment, and the propulsion mechanism is too complicated.

Utility model content

The technical problem solved by the utility model is: in the current prior art, most of the amphibious drive equipment adopts two sets of push devices to adapt to the land and water environment respectively, the structure of the push mechanism is very complex, and the operation and maintenance are inconvenient. Frog wheel paddle leg integrated amphibious thruster.

The utility model solves the above-mentioned technical problems through the following technical solutions:

An amphibious propeller that imitates frog wheel and paddle legs, comprises a propeller wheel, an imitation frog leg mechanism, and a propeller axle. Driven by the external drive mechanism, the propeller axle drives the propeller wheel to rotate at the same time, and the imitation frog leg mechanism is evenly distributed on the outer side of the propeller wheel near the edge. In the land environment, it is folded and folded on the outer side of the propeller wheel.

The imitation frog leg mechanism includes a flipper member, a heel member, a thigh member, a calf member, and a root joint. The root joints are evenly distributed and arranged on the outer side of the propeller wheel near the edge, and one end of the thigh member is connected to the propeller through the root joint. On the wheel, the other end of the thigh member is connected to one end of the calf member, the other end of the calf member is connected to the heel member, and the heel member is connected to the connection point of the flipper member.

The connection between the root joint and the thigh member, the connection between the thigh member and the lower leg member, and the connection between the lower leg member and the heel member can be rotated at any angle in the plane of the vertical propeller wheel.

The flipper member can rotate at any angle within the vertical propeller wheel plane, and can rotate around the axis of the heel member at the same time.

The imitation frog leg mechanism includes a water propulsion mode and a land motion mode, wherein:

Underwater propulsion mode: adjust the stretched state of the imitation frog leg mechanism according to the change of the movement angle of the imitation frog leg mechanism, and assist the external drive mechanism to carry out underwater propulsion;

Land movement mode: The imitation frog leg mechanism is completely retracted into the outer edge of the propeller wheel, and the external drive mechanism is driven forward by the propeller wheel.

The underwater propulsion mode is specifically:

Taking the opposite direction to the forward direction of the feeder wheel as the 0° position, and the clockwise direction as the positive direction, the angle of the real-time rotation position of the root joint is determined. The leg mechanism is in a folded state, the thigh member is close to the outer side of the wheel of the propeller, the angle between the thigh member and the calf member is 0°, the angle between the calf member and the heel member is 180°, and the heel member and the flipper member are in the same plane. ;

If the current rotation position angle range is between [90°, 135°), the imitation frog leg mechanism changes from the retracted state, and the flipper member rotates 90° around its own axis, and flips in the direction of the propeller wheel;

If the current rotation position angle range is between [135°, 180°), the flipper member remains unchanged, and the heel member, thigh member, and calf member extend straight to the maximum length;

If the current rotation position angle range is between [180°, 270°), the imitation frog leg mechanism returns to the retracted state, and the plane of the flipper member is parallel to the outer side of the propeller wheel;

If the current rotation position angle range is between [270°, 360°), the flipper member plane rotates to the same plane as the movement plane of the thigh member and the calf member.

The deployment and retraction of the imitation frog leg mechanism are controlled by an external driving mechanism.

The number of the imitation frog leg mechanisms is not less than 3.

The flipper member has a trapezoidal shape.

The installation angle intervals of the adjacent imitation frog leg mechanisms are equally divided according to the specific number of imitation frog leg mechanisms, and the radial installation positions of the imitation frog leg mechanisms on the outer surface of the wheel of the propeller are the same.

The advantages of the present utility model compared with the prior art are:

The utility model provides an integrated amphibious propeller that imitates a frog wheel, paddle-leg, and adopts the same set of propulsion devices in the form of a propulsion device that combines the propeller wheel and the imitation frog leg mechanism, which can be propelled separately on water and land. It can achieve superior off-road performance of amphibious landing. The use of the imitation frog leg mechanism only generates forward thrust when it is in the water, and when its recovery process is placed in the air above the water surface, it greatly reduces the advance of the propeller and the amphibious robot. resistance, effectively improve the propulsion efficiency, and at the same time, the movement process is stable, which can realize the form of amphibious movement in both water and land environments in the real environment.

Description of drawings

1 is a schematic structural diagram of the amphibious thruster provided by the utility model;

2 is a schematic structural diagram of the imitation frog leg mechanism provided by the utility model;

Fig. 3 is the 0° position state of the imitation frog leg mechanism provided by the utility model;

Fig. 4 is the 45° position state of the imitation frog leg mechanism provided by the utility model;

Fig. 5 is the 90° position state of the imitation frog leg mechanism provided by the utility model;

Figure 6 is the 135° position state of the imitation frog leg mechanism provided by the utility model;

7 is the 180° position state of the imitation frog leg mechanism provided by the utility model;

Fig. 8 is the 225° position state of the imitation frog leg mechanism provided by the utility model;

Fig. 9 is the 270° position state of the imitation frog leg mechanism provided by the utility model;

Figure 10 is the 315° position state of the imitation frog leg mechanism provided by the utility model;

11 is a schematic diagram 1 of the overall state change of the imitation frog leg mechanism provided by the utility model;

12 is a schematic diagram 2 of the overall state change of the imitation frog leg mechanism provided by the utility model;

Detailed ways

An integrated amphibious propeller that imitates frog wheels and paddle legs, mainly includes a propeller wheel 1, an imitation frog leg mechanism 3, a propeller axle 2, and the propeller axle 2 is connected with an external driving mechanism, and is driven by the external driving mechanism to rotate and propel The propeller axle 2 drives the propeller wheel 1 forward at the same time, and the imitation frog leg mechanism 3 assisting the advancement of the propeller wheel 1 is arranged on the outer side of the propeller wheel 1 near the edge, and is evenly distributed according to the specific quantity of the imitation frog leg mechanism 3, and the number is not less than 3, all the imitation frog leg mechanisms 3 have the same radial installation position on the outer surface of the propeller wheel 1.

The imitation frog leg mechanism 3 unfolds the auxiliary propeller wheel 1 to advance in the water, and at the same time is folded and folded on the outer side of the propeller wheel 1 in the land environment, and specifically includes a flipper member 301, a heel member 302, a thigh member 303, a calf member 304, and a root. Joints 305, the root joints 305 are evenly distributed and arranged on the outer side of the propeller wheel 1 near the edge, one end of the thigh member 303 is connected to the propeller wheel 1 through the root joint 305, the other end of the thigh member 303 is connected with one end of the calf member 304, and the calf member 304 is connected. The other end of 304 is connected to the heel member 302 , and the heel member 302 is connected to the connection point of the flipper member 301 .

In the imitation frog leg mechanism 3, the root joint 305, the connection between the thigh member 303, the connection between the thigh member 303 and the calf member 304, and the connection between the calf member 304 and the heel member 302 can be arbitrarily performed in the plane of the vertical propeller wheel 1. At the same time, the flipper member 301 can rotate at any angle in the plane of the vertical propeller wheel 1, and can rotate around the axis of the heel member 302 at the same time. The imitation frog leg mechanism 3 needs to be adjusted relative to other parts except the flipper member 301 The three-dimensional rotation position of the flipper member 301 in the angle and trapezoidal shape realizes changes in the unfolded and folded states.

Corresponding to the state of the imitation frog leg mechanism 3, the imitation frog leg mechanism 3 has the following two working modes. The switching of the working mode is controlled by the external drive mechanism, including the underwater propulsion mode and the land motion mode, among which:

Underwater propulsion mode: adjust the stretched state of the imitation frog leg mechanism 3 according to the change of the movement angle of the imitation frog leg mechanism 3, and assist the external drive mechanism for underwater propulsion;

The underwater propulsion mode is as follows:

Taking the direction opposite to the forward direction of the feeder wheel 1 as the 0° position, and the clockwise direction as the positive direction, the angle of the real-time rotation position of the root joint 305 is determined. If the current rotation position angle range is between (0°, 90°), The imitation frog leg mechanism 3 is in a folded state, the thigh member 303 is close to the outer side of the propeller wheel 1, the angle between the thigh member 303 and the calf member 304 is 0°, the angle between the calf member 304 and the heel member 302 is 180°, and the heel member 302 is 180°. The member 302 is in the same plane as the flipper member 301;

If the current rotation position angle range is between [90°, 135°), the imitation frog leg mechanism 3 changes from the retracted state, and the flipper member 301 rotates 90° around its own axis, and flips in the direction of the propeller wheel 1;

If the current rotation position angle range is between [135°, 180°), the flipper member 301 remains in the same state, and the heel member 302, the thigh member 303, and the calf member 304 are extended in a straight line to the maximum length;

If the current rotation position angle range is between [180°, 270°), the imitation frog leg mechanism 3 returns to the retracted state, and the plane of the flipper member 301 is parallel to the outer side of the propeller wheel 1;

If the current rotation position angle range is between [270°, 360°), the flipper member 301 is rotated to the same plane as the movement plane of the thigh member 303 and the calf member 304;

Land motion mode: the imitation frog leg mechanism 3 is completely retracted into the outer edge of the propeller wheel 1, and the external drive mechanism is driven forward by the propeller wheel 1.

Further description is given below through specific embodiments and specific workflow:

In this embodiment, as shown in FIG. 3 , the direction opposite to the advancing direction of the feeder wheel 1 is taken as the 0° position, and the clockwise direction is the positive direction, and the angle of the real-time rotation position of the root joint 305 is determined. The leg mechanism 3 is in the 0° position of the wheel, at this time the plane of the flipper member 301 is parallel to the horizontal plane, and the thigh member 303, the calf member 304, the heel member 302 and the flipper member 301 are in the same plane, the whole mechanism is in a retracted state, the flippers The member 301 is close to the outer edge of the wheel; in the process of changing the wheel from 0° to 90°, as shown in Figures 4 and 5, the posture of the imitation frog leg mechanism 3 remains basically unchanged.

As shown in FIG. 6 , after the imitation frog leg mechanism 3 is drawn through 90°, its function as a paddle basically ends. After the plane of the flipper member 301 rotates 90° around its own axis, it rotates in the direction of the inner wheel until it is connected with the thigh member. 303. The plane formed by the calf member 304 and the heel member 302 is in a vertical state;

As shown in FIG. 7 , in the process of rotating from about 135° to 180°, the thigh member 303 , the calf member 304 and the heel member 302 of the imitation frog leg mechanism 3 are rapidly stretched until the entire mechanism is in the longest state. When the flipper member 301 plane always keeps the motion plane of the thigh member 303, the calf member 304, and the heel member 302 vertical, to ensure that sufficient thrust is generated during the simulated frog kicking and swimming;

As shown in FIGS. 8 and 9 , when the imitation frog leg mechanism 3 crosses 180° to exit the water, the imitation frog leg mechanism 3 is gradually recovered, and the relative positions of the thigh member 303 , the calf member 304 and the heel member 302 return to the 0° position. , but the plane of the flipper member 301 should be kept parallel to the plane of the wheel first, which is mainly to reduce the air resistance during the forward process;

As shown in FIG. 10 , when the imitation frog leg mechanism 3 is shrunk, and the rotation angle is changed from 270° to 360° (0°), before the mechanism enters the water again, the flipper member 301 plane rotates around its own axis to connect with the thigh member 303, The motion planes on which the calf member 304 and the heel member 302 are located are parallel, and the paddle again performs the paddle function as the wheel rotates into the water.

The movement process of the imitation frog leg mechanism 3 is mainly shown in Figure 11 and Figure 12, which is the movement process after the combination of multiple groups of the imitation frog leg mechanism 3 and the wheels, so as to realize the whole propulsion process of the bionic propeller.

The content not described in detail in the specification of the present utility model belongs to the well-known technology of those skilled in the art.

Claims (10)

1. an imitation frog wheel paddle leg integrated amphibious propeller, is characterized in that: comprise propeller wheel (1), imitation frog leg mechanism (3), propeller axle (2), described propeller wheel (1) ) is connected with the external drive mechanism through the propeller axle (2) arranged in the center of the propeller wheel (1), the propeller axle (2) drives the propeller wheel (1) to rotate simultaneously under the driving of the external drive mechanism, and the propeller wheel ( 1) The imitation frog leg mechanism (3) is evenly distributed on the outer side near the edge, and the imitation frog leg mechanism (3) unfolds the auxiliary propeller wheel (1) in the water to move forward, and at the same time, it is folded and folded in the propeller in the land environment. Outer side of wheel (1). 2. A kind of imitation frog wheel paddle leg integrated amphibious propeller according to claim 1, is characterized in that: described imitation frog leg mechanism (3) comprises flipper member (301), heel member (302), A thigh member (303), a calf member (304), and a root joint (305), the root joints (305) are evenly distributed and arranged on the outer side of the propeller wheel (1) near the edge, and one end of the thigh member (303) passes through the root joint (305) is connected to the propeller wheel (1), the other end of the thigh member (303) is connected to one end of the lower leg member (304), the other end of the lower leg member (304) is connected to the heel member (302), and the heel member (302) ) is connected to the connection point of the flipper member (301). 3. a kind of imitation frog wheel paddle leg integrated amphibious propeller according to claim 2, is characterized in that: described root joint (305) is connected with thigh member (303), thigh member (303) and calf The connection between the member (304) and the connection between the calf member (304) and the heel member (302) can be rotated at any angle in the plane of the vertical propeller wheel (1). 4. a kind of imitation frog wheel paddle leg integrated amphibious propeller according to claim 2, is characterized in that: described flipper member (301) can carry out any angle rotation in vertical propeller wheel (1) plane, At the same time, it can rotate around the axis of the heel member (302). 5. a kind of imitation frog wheel paddle leg integrated amphibious propeller according to claim 1, is characterized in that: described imitation frog leg mechanism (3) comprises water propulsion mode and land motion mode, wherein: Underwater propulsion mode: adjust the stretched state of the imitation frog leg mechanism (3) according to the change of the movement angle of the imitation frog leg mechanism (3), and assist the external drive mechanism for underwater advancement; Land motion mode: the imitation frog leg mechanism (3) is completely retracted into the outer side edge of the propeller wheel (1), and the external drive mechanism is driven forward by the propeller wheel (1). 6. a kind of imitation frog wheel paddle leg integrated amphibious propeller according to claim 5, is characterized in that: described water propulsion mode is specially: Taking the direction opposite to the forward direction of the feeder wheel (1) as the 0° position, and the clockwise direction as the positive direction, the angle of the real-time rotation position of the root joint (305) is determined, if the current rotation position angle range is between (0°, 90° °), the imitation frog leg mechanism (3) is in a folded state, the thigh member (303) is close to the outer side of the propeller wheel (1), the angle between the thigh member (303) and the calf member (304) is 0°, and the calf member (304) is 0°. (304), the angle between the heel members (302) is 180°, and the heel member (302) and the flipper member (301) are in the same plane; If the current rotation position angle range is between [90°, 135°), the imitation frog leg mechanism (3) changes from the retracted state, the flipper member (301) rotates 90° around its own axis, and moves toward the propeller wheel (1). ) direction is reversed; If the angle range of the current rotation position is between [135°, 180°), the flipper member (301) remains in the same state, and the heel member (302), thigh member (303), and calf member (304) are extended in a straight line to the maximum length ; If the current rotation position angle range is between [180°, 270°), the imitation frog leg mechanism (3) returns to the retracted state, and the plane of the flipper member (301) is parallel to the outer side surface of the propeller wheel (1); If the current rotation position angle range is between [270°, 360°), the flipper member (301) is rotated to the same plane as the movement plane of the thigh member (303) and the lower leg member (304). 7 . The integrated amphibious propeller of imitation frog wheel, paddle legs and legs according to claim 1, characterized in that: the expansion and retraction of the imitation frog leg mechanism (3) are controlled by an external drive mechanism. 8 . The integrated amphibious propeller of imitation frog wheel and paddle legs according to claim 1 , wherein the number of the imitation frog leg mechanisms ( 3 ) is not less than 3. 9 . 9 . The integrated amphibious propeller according to claim 2 , wherein the flipper member ( 301 ) is in a trapezoidal shape. 10 . 10. a kind of imitation frog wheel paddle leg integrated amphibious propeller according to claim 1, is characterized in that: the installation angle interval of adjacent imitation frog leg mechanism (3) is according to imitation frog leg mechanism (3) specific quantity Evenly divided, and the radial installation positions of the imitation frog leg mechanism (3) on the outer surface of the propeller wheel (1) are the same.

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