The invention belongs to the technical field of amphibious robots, and discloses an amphibious wheel-paddle robot based on a turnover structure, which comprises a bottom plate, a sealed cabin and a turnover wheel-paddle module, the turnover wheel paddle modules are arranged on the two sides of the bottom plate, a polygonal through hole is formed in the bottom plate, the sealed cabin is arranged in the polygonal through hole and fixedly connected with the bottom plate through a cabin body fixing piece, each turnover wheel paddle module comprises a transmission module, a driving module and an FOC sleeve, and the transmission module is connected with the driving module through the FOC sleeve. A worm and a worm gear in the transmission module are meshed with each other, the driving module can be turned over by 0-90 degrees, the direction of a wheel paddle is controlled through the rotating angle of a steering FOC motor, and therefore actions such as advancing, retreating, transverse moving, turning and in-situ steering on the land are achieved, and movement in any direction on the land can be achieved. According to mutual coordination and cooperation of the steering FOC motor and the overturning FOC motor, an underwater multi-mode propelling mode can be achieved; the driving motor can meet the requirement for large land torque and can also meet the requirement for underwater high rotating speed, and land and water power integration is achieved.
本发明属于水陆两栖机器人技术领域,公开了一种基于可翻转结构的水陆两栖轮桨机器人,包括底板、密封舱、可翻转轮桨模块;可翻转轮桨模块设置在底板两侧,底板内设置有多边形通孔,密封舱设置在多边形通孔内通过舱体固定件与底板固定连接,可翻转轮桨模块包括传动模块、驱动模块和FOC套筒,传动模块通过FOC套筒与驱动模块连接,传动模块内的蜗杆与蜗轮相互啮合,可将驱动模块实现0°到90°翻转,通过转向FOC电机的旋转角度来控制轮桨的方向,从而实现在陆地上前进、后退、横移、转弯、原地转向等动作,在陆地上可实现任意方向的移动;根据转向FOC电机和翻转FOC电机的相互协调配合,可实现在水下多模态推进方式;驱动电机既能满足陆地大扭矩要求,也能满足水下高转速的要求,实现水陆动力一体化。
Amphibious wheel paddle robot based on turnover structure
一种基于可翻转结构的水陆两栖轮桨机器人
16.07.2024
Patent
Elektronische Ressource
Chinesisch
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