The invention relates to an amphibious robot in the field of underwater operation, in particular to a variable-vector propulsion walking dual-mode amphibious robot which is provided with a variable-vector propulsion device, so that the underwater operation of the robot is more flexible. The amphibious robot comprises a robot carrier, four mechanical legs, a seven-function manipulator and seven propellers, the four leg propellers are fixed to the four mechanical legs respectively, the mechanical legs imitate the shape of a dog and are installed on the two sides of the robot carrier, each mechanical leg has three degrees of freedom, and the robot carrier is provided with a robot body. Leg propellers mounted on the thighs have two degrees of freedom along with the movement of the thighs; a seven-function manipulator is mounted on the upper side of the robot carrier; the three vertical propellers are arranged on the robot carrier, and the robot carrier is further provided with a radar, an inspection camera and a binocular camera. The two movement modes of land walking and underwater propelling are effectively combined, the structure is simple, and the robot has the high maneuverability of land, underwater and the transition environment of the land and the underwater at the same time.
本发明涉及水下作业领域中的水陆两栖机器人,具体地说是一种变矢量推进的游走双模两栖机器人,同时具备变矢量推进装置,使得机器人水下作业更灵活;两栖机器人包括机器人载体,四条机械腿,一个七功能机械手以及七台推进器,四台腿部推进器分别固定在四条机械腿上,机械腿模仿狗的形态,安装在机器人载体两侧,每条机械腿拥有三个自由度,安装在大腿上的腿部推进器随大腿运动拥有两个自由度;机器人载体上侧安装七功能机械手;三个垂直推进器布置在机器人载体上,机器人载体还装有雷达、巡检摄像机、双目相机。本发明将陆地行走、水下推进两种运动方式有效复合,结构简单,使机器人同时具备陆地、水下以及两者过渡环境的高机动能力。
Variable-vector propulsion walking dual-mode amphibious robot
一种变矢量推进的游走双模两栖机器人
2023-11-21
Patent
Elektronische Ressource
Chinesisch
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