阅读说明：本技术 一种水陆两用机器人 (Amphibious robot ) 是由 杜鹏 郝欣恺 胡海豹 黄潇 于 2020-07-22 设计创作，主要内容包括：本发明公开了一种水陆两用机器人,包括外球壳,所述外球壳的两侧外壁上分别固定安装有侧气囊a与侧气囊b,所述外球壳外表面的中部位置处开设有中槽,所述外球壳的顶面开设有安装槽a,且安装槽a内固定安装有光伏板,所述外球壳的底部可拆卸安装有底壳,所述底壳的外表面上开设有安装槽b；本发明通过在内部安装有可驱动转动的重物块,重物块旋转时可有效改变重物块的位置,从而有效改变该球体机器人的重心位置,使该机器人向重心位置处滚动,通过重心的变化驱动该机器人,该驱动方式也同样适用于水陆,不会在外部增设其他的驱动结构,大大提高了该机器人整体的美观性也使机器人结构不会特别复杂,维修保养方便。(The invention discloses an amphibious robot, which comprises an outer spherical shell, wherein side air bags a and b are fixedly installed on the outer walls of the two sides of the outer spherical shell respectively, a middle groove is formed in the middle position of the outer surface of the outer spherical shell, an installation groove a is formed in the top surface of the outer spherical shell, a photovoltaic panel is fixedly installed in the installation groove a, a bottom shell is detachably installed at the bottom of the outer spherical shell, and an installation groove b is formed in the outer surface of the bottom shell; according to the spherical robot, the weight block capable of driving to rotate is arranged in the spherical robot, the position of the weight block can be effectively changed when the weight block rotates, so that the gravity center position of the spherical robot is effectively changed, the spherical robot rolls to the gravity center position, the spherical robot is driven through the change of the gravity center, the driving mode is also suitable for land and water, other driving structures cannot be additionally arranged outside, the integral attractiveness of the spherical robot is greatly improved, the structure of the spherical robot cannot be particularly complex, and the spherical robot is convenient to maintain.)

1. An amphibious robot comprises an outer spherical shell (1), and is characterized in that side air bags a (5) and b (6) are fixedly mounted on the outer walls of the two sides of the outer spherical shell (1) respectively, a middle groove (3) is formed in the middle of the outer surface of the outer spherical shell (1), a mounting groove a (8) is formed in the top surface of the outer spherical shell (1), a photovoltaic plate (7) is fixedly mounted in the mounting groove a (8), a bottom shell (10) is detachably mounted at the bottom of the outer spherical shell (1), a mounting groove b (12) is formed in the outer surface of the bottom shell (10), a handle (11) is rotatably mounted in the mounting groove b (12) through a connecting shaft (22), a connecting spring a (21) is mounted on the connecting shaft (22), a mounting groove c (24) is formed in the bottom surface of the outer spherical shell (1), and a connecting bolt (26) is mounted on the inner side of the mounting groove c (24) through a connecting spring b (27), the photovoltaic solar cell comprises a side air bag a (5) and a side air bag b (6), wherein a storage battery (14) is fixedly mounted inside the side air bag a (5) and the side air bag b (6) through mounting brackets (13), a driving motor (15) is fixedly mounted on a middle mounting shaft (18) fixedly mounted at the central position of an outer spherical shell (1), a connecting rod (19) is fixedly mounted at one end of a rotating shaft (16) mounted at the output end of the driving motor (15) through a shaft sleeve (17), a heavy object block (20) is fixedly mounted at the bottom end of the connecting rod (19), and the photovoltaic panel (7) and the driving motor (15) are electrically connected with the storage battery (14).

2. An amphibious robot according to claim 1, characterised in that air taps (4) are fixedly mounted to the outside of both side air bags a (5) and b (6).

3. An amphibious robot according to claim 1, characterised in that non-slip mats (2) are fixedly mounted in the centre channel (3) and that the non-slip mats (2) have a number of protruding particles on their outer surface.

4. An amphibious robot according to claim 1, characterised in that one end of the connecting spring a (21) is fixedly connected with the outer wall of the connecting shaft (22), and the other end of the connecting spring a (21) is fixedly connected with the side wall of the mounting groove b (12).

5. An amphibious robot according to claim 1, characterised in that the handle (11) is externally fitted with anti-slip covers (23).

6. An amphibious robot as claimed in claim 1, characterised in that the external part of the connector pin (26) is fixedly provided with a lug (25), and one end of the connector pin (26) passes through and is inserted into a connecting hole formed in the inner part of the bottom shell (10).

7. An amphibious robot according to claim 1, characterised in that two of the drive motors (15) are mounted symmetrically about the longitudinal centre axis of the outer spherical shell (1) and that the drive motors (15) are both mounted on a centrally mounted shaft (18).

8. An amphibious robot according to claim 1, characterised in that between the photovoltaic panel (7) and the mounting groove a (8) a sealing gasket is mounted.

9. An amphibious robot according to claim 1, characterised in that the connecting rod (19) and weight (20) are both rotatable 360 ° in the vertical plane of the outer spherical shell (1).

Technical Field

The invention belongs to the field of robots, and particularly relates to an amphibious robot.

Background

With the development of science and technology, research into a robot, which is a machine device that automatically performs work, has become more and more intensive. The operation can be directly carried out by receiving human commands, and programs can be directly set in the system, and actions can be formulated according to principles formulated by artificial intelligence technology. The appearance of the robot can replace people to complete dangerous and difficult work tasks, is a product of advanced integration control theory, mechano-electronics, computers, materials and bionics, and has important application in the fields of industry, medicine, agriculture, building industry, even military and the like.

The traditional robots are generally divided into a land robot, a water surface robot and a flying robot, wherein the same type of robots can only complete a certain type of work, for example, the general land robot cannot run in a water body, and the water surface robot cannot run on the land, so that the functionality of the robot is greatly reduced, some robots are provided with a land driving mechanism and a water surface driving mechanism, but the robots are complicated in structure due to numerous structures, the size of the robots is increased, the robots are inconvenient to use, the later maintenance and repair cost is too high, and the traditional robots are generally provided with batteries in the robots for the robots to use, but the robots are generally long in working time, especially for the operation type of robots, the service strokes are far, and the capacities of the batteries in the robots are not enough to support the robots to use electricity, it needs to be charged frequently, which is troublesome, and also consumes a large amount of electric energy, and needs to be improved to some extent.

Disclosure of Invention

The invention aims to provide an amphibious robot, so as to solve the problems that the traditional robots proposed in the background technology are generally divided into a land robot, a water surface robot and a flying robot, the same type of robots can only complete certain types of work, for example, the general land robot can not run in a water body, and the water surface robot can not run on the land, so that the functionality is greatly reduced, some robots are provided with both a land driving mechanism and a water surface driving mechanism, but due to the fact that the structures are numerous, the structure of the robot is complex, the size of the robot is increased, the robot is inconvenient to use, the later maintenance cost is too high, and the traditional robots are generally internally provided with batteries for the robots, but the robots are generally long in working time, especially for the running type of robots, the use stroke is also far away, and the battery capacity of general internally mounted is not enough to support the robot power consumption, needs often to charge it, and is comparatively troublesome, and also can consume the problem of a large amount of electric energy.

In order to achieve the purpose, the invention provides the following technical scheme:

an amphibious robot comprises an outer spherical shell, wherein side air bags a and b are fixedly mounted on the outer walls of the two sides of the outer spherical shell respectively, a middle groove is formed in the middle position of the outer surface of the outer spherical shell, a mounting groove a is formed in the top surface of the outer spherical shell, a photovoltaic panel is fixedly mounted in the mounting groove a, a bottom shell is detachably mounted at the bottom of the outer spherical shell, a mounting groove b is formed in the outer surface of the bottom shell, a handle is rotatably mounted in the mounting groove b through a connecting shaft, a connecting spring a is mounted on the connecting shaft, a mounting groove c is formed in the bottom surface of the outer spherical shell, a connecting bolt is mounted on the inner side of the mounting groove c through the connecting spring b, storage batteries are fixedly mounted in the side air bags a and the side air bags b through mounting brackets, and a driving motor is fixedly mounted on a central mounting shaft fixedly mounted at the central position, the photovoltaic panel and the driving motor are both electrically connected with the storage battery.

As a further scheme of the invention: and air nozzles are fixedly arranged outside the side air bag a and the side air bag b.

By adopting the scheme, the side air bag a and the side air bag b can be inflated through the air nozzles by installing the air nozzles, so that the side air bag a and the side air bag b are expanded, and the buoyancy of the robot can be improved by the air bags a and the side air bags b in the water body.

As a further scheme of the invention: and the middle groove is fixedly provided with an anti-slip pad, and the outer surface of the anti-slip pad is provided with a plurality of raised particles.

By adopting the scheme, the friction force of the robot during operation on land can be effectively improved by installing the non-slip mat, the robot is prevented from slipping during operation, and the friction force of the robot contacting with the ground is further improved by the raised particles.

As a further scheme of the invention: and one end of the connecting spring a is fixedly connected with the outer wall of the connecting shaft, and the other end of the connecting spring a is fixedly connected with the side wall of the mounting groove b.

Adopt above-mentioned scheme, when rotating the handle, this connecting axle rotates simultaneously, because fixed connection between the connecting spring a other end and the mounting groove b lateral wall leads to connecting spring a to produce deformation, when loosening the handle, connecting spring a loses torsion, can recover to drive the handle through the connecting axle and reset, accomplish the automation of handle and accomodate.

As a further scheme of the invention: and an anti-slip sleeve is sleeved outside the handle.

By adopting the scheme, the anti-slip sleeve is arranged, so that the external friction force of the handle is effectively improved.

As a further scheme of the invention: the outer portion of the connecting bolt is fixedly provided with a convex block, and one end of the connecting bolt penetrates through and is clamped and embedded into a connecting hole formed in the bottom shell.

By adopting the scheme, the connecting bolt can be effectively moved by the convex block through the installation of the convex block, and one end of the connecting bolt penetrates through and is clamped and embedded into the connecting hole formed in the bottom shell, so that the effective fixed connection on the bottom shell can be completed.

As a further scheme of the invention: two driving motors are symmetrically arranged about the longitudinal central axis of the outer spherical shell, and the driving motors are arranged on a middle mounting shaft.

By adopting the scheme, the double-driving motor can effectively drive the connecting rod and the heavy object to rotate simultaneously, and the driving motor is arranged on the middle mounting shaft, so that the gravity of the driving motor is coaxial, and the unstable gravity center can not occur.

As a further scheme of the invention: and a sealing gasket is arranged between the photovoltaic panel and the mounting groove a.

By adopting the scheme, the sealing gasket is arranged, so that the phenomenon that water flows into the robot through the gap between the photovoltaic panel and the mounting groove a when the robot runs in a water body is avoided.

As a further scheme of the invention: the connecting rod and the heavy object block can rotate in the vertical plane of the outer spherical shell by an angle.

By adopting the scheme, the connecting rod and the heavy object block can rotate in the vertical plane of the outer spherical shell by an angle, so that the spherical robot can effectively do rolling motion.

Compared with the prior art, the robot is designed into a sphere, the antiskid pad is arranged outside the sphere, and the air bag is arranged outside the sphere, so that the robot can run on the land and also on the water surface, the amphibious function is realized, the friction force of the robot when running on the land can be effectively improved by the antiskid pad, the robot is prevented from slipping in the running process, the buoyancy of the robot in a water body can be effectively improved by the air bag, the robot is effectively floated on the water surface, and the function is strong;

according to the spherical robot, the weight block capable of driving to rotate is arranged in the spherical robot, the position of the weight block can be effectively changed when the weight block rotates, so that the gravity center position of the spherical robot is effectively changed, the spherical robot rolls to the gravity center position, the spherical robot is driven through the change of the gravity center, the driving mode is also suitable for land and water, other driving structures cannot be additionally arranged outside, the integral attractiveness of the spherical robot is greatly improved, the structure of the spherical robot cannot be particularly complex, and the spherical robot is convenient to maintain;

according to the invention, the photovoltaic panel is arranged outside, when the robot is not used, the robot can be placed under the sunlight, the photovoltaic panel can effectively collect solar energy and convert the solar energy into electric energy to be stored in the storage battery for the robot to use, and renewable energy sources are effectively utilized;

according to the invention, the detachable bottom shell is externally arranged, and the waterproof sealing outer pad is arranged between the bottom shell and the spherical shell, so that when the structure in the spherical shell is damaged, the bottom shell can be rapidly detached to overhaul the internal structure, the operation is convenient and rapid, and the waterproof sealing outer pad can effectively prevent water from entering the robot when the robot operates in a water body;

according to the invention, the lifting handle capable of being automatically stored is arranged on the bottom shell, the robot can be carried through the lifting handle, the carrying is more portable, and when the lifting handle is not used, the lifting handle can be automatically stored, the attractiveness of the robot is not influenced, and the operation effect of the robot is not influenced;

according to the invention, the connecting bolt with the spring is arranged, when the bottom shell is stably installed, the connecting bolt is directly inserted into the connecting hole in the spherical shell to complete installation, and when the connecting bolt is detached, the connecting bolt is separated from the connecting hole to complete detachment, so that the installation and detachment are convenient and rapid, and the stability during installation is high.

Drawings

Fig. 1 is a schematic structural view of an amphibious robot.

Fig. 2 is a plan view of an amphibious robot.

Fig. 3 is a schematic view of the bottom structure of an amphibious robot.

Fig. 4 is a schematic view of the internal structure of an amphibious robot.

Fig. 5 is an enlarged schematic view of an amphibious robot at a.

Fig. 6 is an enlarged schematic view of the amphibious robot at B.

In the figure: 1. an outer spherical shell; 2. a non-slip mat; 3. a middle groove; 4. an air tap; 5. a side airbag a; 6. a side airbag b; 7. a photovoltaic panel; 8. a mounting groove a; 9. a waterproof sealing outer gasket; 10. a bottom case; 11. a handle; 12. mounting grooves b; 13. mounting a bracket; 14. a storage battery; 15. a drive motor; 16. a rotating shaft; 17. a shaft sleeve; 18. A middle mounting shaft; 19. a connecting rod; 20. a heavy material block; 21. a connecting spring a; 22. a connecting shaft; 23. an anti-slip sleeve; 24. mounting grooves c; 25. a bump; 26. connecting a bolt; 27. a spring b is connected.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1-6, an amphibious robot includes an outer spherical shell 1, a side air bag a5 and a side air bag b6 are fixedly mounted on the outer walls of both sides of the outer spherical shell 1, an air tap 4 is fixedly mounted outside each of the side air bags a5 and the side air bag b6, the side air bags a5 and the side air bag b6 can be inflated through the air tap 4 by mounting the air tap 4, so that the side air bags a5 and the side air bag b6 are inflated, the buoyancy of the robot can be improved by the air bags a5 and the side air bags b6 inside a water body, a middle groove 3 is formed in the middle position of the outer surface of the outer spherical shell 1, a non-slip mat 2 is fixedly mounted in the middle groove 3, and a plurality of protruding particles are provided on the outer surface of the non-slip mat 2, so that the friction of the robot when the robot runs on the ground can be effectively improved, the robot is prevented from slipping during running, and the protruding particles further improve the friction of the robot contacting the ground, the top surface of outer spherical shell 1 has been seted up mounting groove a8, and fixed mounting has photovoltaic board 7 in mounting groove a8, the bottom demountable installation of outer spherical shell 1 has drain pan 10, mounting groove b12 has been seted up on the surface of drain pan 10, handle 11 is installed through connecting axle 22 rotation in mounting groove b 12's inside, and installs coupling spring a21 on the connecting axle 22, fixed connection between coupling spring a21 one end and the outer wall of connecting axle 22, and fixed connection between the coupling spring a21 other end and the mounting groove b12 lateral wall, when rotating handle 11, this connecting axle 22 rotates simultaneously, because fixed connection between the coupling spring a21 other end and the mounting groove b12 lateral wall leads to coupling spring a21 to produce deformation, when loosening handle 11, coupling spring a21 loses torsion, can recover to drive handle 11 through connecting axle 22 and reset, accomplish the automatic storage to handle 11, the outer part of the handle 11 is sleeved with an anti-slip sleeve 23, the outer friction force of the handle 11 is effectively improved by installing the anti-slip sleeve 23, the bottom surface of the outer spherical shell 1 is provided with a mounting groove c24, the inner side of the mounting groove c24 is provided with a connecting bolt 26 by a connecting spring b27, the outer part of the connecting bolt 26 is fixedly provided with a convex block 25, one end of the connecting bolt 26 penetrates through and is clamped into a connecting hole arranged in the bottom shell 10, the connecting bolt 26 can be effectively moved by the convex block 25 by installing the convex block 25, one end of the connecting bolt 26 penetrates through and is clamped into the connecting hole arranged in the bottom shell 10 to complete effective fixed connection to the bottom shell 10, the insides of the side air bag a5 and the side air bag b6 are both fixedly provided with a storage battery 14 by an installing support 13, and a driving motor 15 is fixedly installed on a central installing shaft 18 fixedly installed at the central position, two driving motors 15 are symmetrically arranged about a longitudinal central axis of the outer spherical shell 1, the driving motors 15 are all arranged on a middle-arranged installation shaft 18, the two driving motors 15 can simultaneously and effectively drive a connecting rod 19 and a heavy object block 20 to rotate, the driving motors 15 are all arranged on the middle-arranged installation shaft 18, the gravity of the driving motors 15 is ensured to be coaxial, the unstable gravity center can not occur, one end of a rotating shaft 16 arranged on the output end of the driving motor 15 is fixedly provided with the connecting rod 19 through a shaft sleeve 17, the bottom end of the connecting rod 19 is fixedly provided with the heavy object block 20, the connecting rod 19 and the heavy object block 20 can both rotate within 360 degrees in a vertical plane of the outer spherical shell 1, the connecting rod 19 and the heavy object block 20 can both rotate within 360 degrees in the vertical plane of the outer spherical shell 1, the spherical robot can effectively perform rolling body movement, and the photovoltaic panel 7 and the driving motors 15 are, install sealed the pad between photovoltaic board 7 and the mounting groove a8, through installing sealed the pad, avoid this robot to move in the water, water flows into the robot through the clearance between photovoltaic board 7 and the mounting groove a 8.

It should be noted that: the outer spherical shell 1, the waterproof sealing outer pad 9 and the sealing pad can be made of resin, the storage battery 14 can be in the type of LC-P12100, the driving motor 15 can be in the type of IH6PF6N-19, and the non-slip pad 2 and the non-slip sleeve 23 can be made of rubber.

The working principle of the invention is as follows: when the robot runs on the land, the driving motor 15 is directly started, the driving motor 15 drives the connecting rod 19 and the heavy weight block 20 to move in a vertical plane through the rotating shaft 16, the center of gravity of the interior of the spherical robot is changed in real time in the vertical plane, so that the robot is driven to roll towards the direction of the change of the center of gravity, the land running of the robot is realized, the anti-skid mat 2 can effectively improve the friction force of the robot when the robot runs on the land, the robot is prevented from slipping in the running process, when the robot needs to run on the water surface, the side air bag a5 and the side air bag b6 are inflated through the air nozzle 4, the side air bag a5 and the side air bag b6 are inflated, the robot is placed on the water surface, the spherical shape enables the robot to float on the water surface, the buoyancy force of the robot can be improved through the side air bag a5 and the side air bag b6, the driving motor 15 is started, and the robot runs on the water surface through, when the robot is not used, the robot can be placed under the sunlight, the photovoltaic panel 7 can effectively collect solar energy and convert the solar energy into electric energy to be stored in the storage battery 14 for subsequent power utilization of the robot, when the structure in the sphere is damaged, one end of the connecting bolt 26 can be separated from the connecting hole formed in the bottom shell 10, the bottom shell 10 can be quickly disassembled to overhaul the internal structure, when the bottom shell 10 is installed after overhaul, one end of the connecting bolt 26 can penetrate through and be clamped and embedded into the connecting hole formed in the bottom shell 10 under the action of the connecting spring b27 to complete effective fixed connection on the bottom shell 10, when the robot needs to be carried, the handle 11 is rotated out, when the handle 11 is rotated, the connecting shaft 22 rotates simultaneously, because the other end of the connecting spring a21 is fixedly connected with the side wall of the mounting groove b12, the connecting spring a21 is deformed, when the handle 11 is loosened, the connecting spring a21 loses torsion and can be restored, so that the handle 11 is driven to reset through the connecting shaft 22, and the automatic storage of the handle 11 is completed.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.