The invention relates to an omnidirectional vector propulsion amphibious spherical robot structure. Comprising two semispherical shells and semispherical cabin covers arranged on the two sides of the two semispherical shells, and a disc is arranged on the inner surface of the side, close to the semispherical cabin covers, of each semispherical shell; a cross-shaped chassis is arranged in a space formed by the two hemispherical shells, two groups of opposite long-shaft motors and short-shaft motors which are fixed relative to the chassis through supports are arranged on the lower surface of the cross-shaped chassis, and the two long-shaft motors are connected with a disc through long-shaft couplings; output shafts of the two short-shaft motors are rotationally connected with two swing rods through short-shaft couplings, the lower ends of the swing rods are connected with a weight block, and the weight block is in a column shape with a semicircular cross section; a channel is installed in the hemispherical hatch cover, and an underwater tunnel propeller is arranged in the channel. The spherical robot and the amphibious robot are organically fused in the mode that the hemispherical hatch covers are expanded on the left side and the right side of the spherical robot, and the electric underwater tunnel propellers are installed in the hemispherical hatch covers.
本发明为一种全向矢量推进水陆两栖球形机器人结构。包括两个半球壳,设置在两个半球壳两侧的半球舱盖,半球壳靠近半球舱盖的一侧的内表面设有圆盘;两个半球壳组成的空间内设有十字型底盘,十字型底盘下表面设有两组相对的、且通过支架与底盘相对固定的长轴电机和短轴电机,两个长轴电机通过长轴联轴器与圆盘连接;两个短轴电机的输出轴通过短轴联轴器转动连接两个摆杆,摆杆下端连接重物块,重物块为横截面呈半圆形的柱形;半球舱盖内安装槽道,槽道内设置水下隧道推进器。本发明通过将球形机器人左右两侧扩充半球舱盖,并在里面安装电动水下隧道推进器的方式,从而实现球形机器人与两栖机器人的有机融合。
Omnidirectional vector propulsion amphibious spherical robot
一种全向矢量推进水陆两栖球形机器人
2023-03-28
Patent
Elektronische Ressource
Chinesisch
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