The invention relates to an amphibious bionic robot and belongs to the technical field of amphibious robots, the amphibious bionic robot comprises a robot body mechanism, a four-limb mechanism and a controller, in water, the four-limb mechanism slides back and forth to achieve water paddling, wheel discs located on the four limbs increase thrust through wide-face paddling, and resistance is reduced through narrow-face arm retracting; therefore, the paddling actions such as advancing, backing and steering are efficiently realized; on the land, the four-limb mechanism is converted into a leg configuration from an arm configuration in water, so that the whole machine is transformed into a crawling form; if the ground is flat, the wheel discs located on the four limbs can be converted into a four-wheel movement form, so that the robot can quickly advance in an energy-saving manner; based on the design scheme of a sea turtle fin imitating type composite motion mechanism with wide-face paddling, narrow-face arm moving, leg-arm switching and wheel-arm fusion, the robot has three motion modes of underwater four-limb paddling, land four-limb crawling and land wheel-type advancing, and therefore the robot can run in a complex and changeable amphibious environment.

    本发明涉及一种水陆两栖仿生机器人,属于水陆两栖机器人技术领域,包括:机身机构、四肢机构及控制器,在水中,四肢机构通过前后滑动实现水中划游,且位于四肢的轮盘通过宽面划水以增大推力,通过窄面收臂以减小阻力,从而高效地实现前进、倒退、转向等划水动作;在陆地上,四肢机构由水中的臂部构型转化腿部构型,从而使整机变形为爬行形态;若地面平坦,位于四肢的轮盘可转化为四轮运动形态,从而快速、节能地行进;基于宽面划水、窄面移臂、腿臂切换、轮臂融合的仿海龟鳍式复合运动机构设计方案,机器人具有水中四肢划游、陆上四肢爬行、陆上轮式行进三种运动模式,从而能够运行于复杂、多变的两栖环境。


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    Titel :

    Amphibious bionic robot


    Weitere Titelangaben:

    一种水陆两栖仿生机器人


    Beteiligte:
    CHIA WEN-CHUAN (Autor:in) / LUO YUXUAN (Autor:in) / SUN YI (Autor:in) / PU HUAYAN (Autor:in) / XIE YANGMIN (Autor:in)

    Erscheinungsdatum :

    2023-11-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B62D MOTOR VEHICLES , Motorfahrzeuge



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