US 11,752,819 B2Granted

Wheel-legged amphibious mobile robot with variable attack angle

AssigneeShanghai University

InventorsYi Sun, Longteng Zhang, Huayan Pu, Min Wang, Yan Peng, Jiheng Ding, Jun Luo, Shaorong Xie

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Abstract

A wheel-legged amphibious mobile robot with a variable attack angle, which belongs to the technical field of robot structure technology. The robot includes three parts: motion unit, body trunk and power unit. As a key structure, the motion unit mainly includes a moving mechanism, a wheel assembly, a telescopic mechanism and a transmission device. The robot drives the telescopic mechanism to reciprocate linearly through a gear and rack set, and pushes “legs” to expand and retract, so as to realize a mutual switching between a wheeled mode and a gait mode. Under transmission of bevel gear set, the blades can rotate at any same angle at the same time, to change the attack angle and realize the steering. The robot provided by the present disclosure can effectively adapt to a complex and harsh amphibious environment, and meet a series of operation requirements such as rapid movement, obstacle climbing, underwater steering.

Claims9

Dependent claims

A wheel-legged amphibious mobile robot with a variable attack angle, comprising two motion units, a body trunk, two main shafts and a power device;

the two motion units have a same structure;
the power device comprises two first power units, two second power units and one third power unit;
one of the two motion units, one of the two second power units, one of the two first power units, the third power unit, another of the two first power units, another of the two second power unit and another of the two motion units are successively arranged in series;
two ends of one of the two main shafts are fixedly connected with the one of two motion units and the one of the two first power unit respectively at one side of the third power unit, and two ends of another main shaft are fixedly connected with the another of two motion units and the another of the two first power unit at another side of the third power unit;
the third power unit and the two first power units are provided within the body trunk;
the power device are configured to drive the motion units to move in a wheeled mode or in a gait mode;
wherein the two motion units each comprise a wheel assembly, a transmission device, moving mechanisms and a telescopic mechanism;
the wheel assembly comprises a slotted wheel, a shaft seat and a rotating disc;
and the transmission device comprises a bevel gear set comprising one bevel gear and three bevel pinions;
the three bevel pinions are evenly distributed around an outer periphery of the bevel gear by tooth meshing, and two gear and rack sets.

7 more elements

A wheel-legged amphibious mobile robot with a variable attack angle, comprising two motion units, a body trunk, two main shafts and a power device;

the two motion units have a same structure;
the power device comprises two first power units, two second power units and one third power unit;
one of the two motion units, one of the two second power units, one of the two first power units, the third power unit, another of the two first power units, another of the two second power unit and another of the two motion units are successively arranged in series;
two ends of one of the two main shafts are fixedly connected with the one of two motion units and the one of the two first power unit respectively at one side of the third power unit, and two ends of another main shaft are fixedly connected with the another of two motion units and the another of the two first power unit at another side of the third power unit;
the third power unit and the two first power units are provided within the body trunk;
the power device are configured to drive the motion units to move in a wheeled mode or in a gait mode;
wherein the third power unit comprises two mounting plates, a direct current brushless motor, an encoder and a push-pull shaft;
the two mounting plates are connected through a connecting rod;
the pressure plate is fixedly connected with the two mounting plates;
the direct current brushless motor is fixed on one of the two mounting plates at one side, another one of the two mounting plates at another side is connected with the encoder through hexagon socket round head bolts, and a connecting disc and the direct current brushless motor are connected through hexagon socket head bolts with spring washers;
an encoding disk is fixed with the connecting disc through hexagon socket round head bolts;
the push-pull shaft is fixedly connected with the connecting disc through hexagon socket head bolts;
a locking stop collar is fixed on one end of the push-pull shaft through set screws.

10 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/287,491Filed 4 Sep 2020
Priority: CN 201910839471.46 Sep 2019
Published: US 2021/0379946 A19 Dec 2021
Granted: 12 Sep 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification19 codes

B60F 3/0007
Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water: arrangement…
B60B 19/02
Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group: convertible, e.g. from road wheel to…
B60F 3/003
Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water: parts or…
B63G 8/001
Underwater vessels, e.g. submarines; Equipment specially adapted therefor: underwater vessels adapted for special purposes, e.g. unmanned…