The amphibious omni-directional propulsion snake-shaped robot comprises a plurality of propulsion units arranged between the head and the tail of the amphibious omni-directional propulsion snake-shaped robot, and the propulsion units are sequentially connected through omni-directional joints; the propelling unit comprises two impeller propelling mechanisms used for providing propelling force, each impeller propelling mechanism comprises a base joint, an outer rotor is movably arranged on each base joint and is in transmission connection with a cycloid disc, each cycloid disc is in transmission connection with a waterproof motor through an eccentric shaft, and a plurality of driving paddles are obliquely arranged in the circumferential direction of the outer edge of each outer rotor. Compared with a traditional transmission shaft indirect transmission mode, the transmission mode of the scheme is simpler and more direct, so that the production cost is controlled; and meanwhile, the cycloid disc is limited and supported by the multiple supporting columns, the structural strength of the cycloid disc and the stability and reliability in the transmission process are greatly improved, and therefore the hard contact capacity of the impeller propelling mechanism and the external environment is improved, and meanwhile the bending moment caused by hard contact on a rotating shaft of the waterproof motor is avoided.
本发明公开了一种水陆两栖全向推进蛇形机器人,其包括设置在其头部和尾部之间的若干推进单元,若干推进单元通过全向关节依次连接;推进单元包括两个用于提供推动力的叶轮推进机构,叶轮推进机构包括基节,基节上活动设置有外转子,外转子与摆线盘传动连接,摆线盘通过偏心轴与防水电机传动连接,外转子外沿的周向上倾斜设置有若干驱动桨叶;本方案相较于传统的传动轴间接传动方式,本方案的传动方式更加简单直接,以控制生产成本;同时通过若干支撑柱对摆线盘的限位支撑,极大地增强了摆线盘的结构强度以及传动时的稳定可靠性,从而增强了叶轮推进机构与外部环境的硬接触能力,同时避免了防水电机的转轴受到硬接触带来的弯曲力矩。
Amphibious omnidirectional propulsion snake-shaped robot
一种水陆两栖全向推进蛇形机器人
23.08.2024
Patent
Elektronische Ressource
Chinesisch
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