The invention discloses a paddle leg composite driving mechanism, and relates to a driving mechanism. The invention solves the problems that an existing amphibious hexapod robot driving device is lowin operation efficiency and low in speed, and the requirements for land obstacle crossing and underwater propelling are difficult to meet at the same time. A spiral groove (A-5-1) is formed in a spiral shaft (A-5); the spiral shaft (A-5) is inserted into a propeller leg base body (A-4) and screwed into a screw hole of the spiral shaft (A-5) through a fixing screw (A-3); an embedded beam (A-2) is embedded into the propeller leg base body (A-4); one end of the embedded beam (A-2) extends into a spiral tenon (A-5-1), and a conical cap (A-1) is mounted on a truncated cone protrusion outside the hub of the propeller leg base body (A-4) ; the propeller leg base body (A-4) is a C-shaped propeller blade, the conical cap (A-1) and the propeller leg base body (A-4) are both made of flexible wear-resistant materials, and a propeller leg driving module is connected with the spiral shaft (A-5). The mechanism is used for amphibious hexapod robots.

    一种桨腿复合驱动机构,涉及一种驱动机构。本发明解决了现有水陆两栖六足机器人驱动装置运行效率低、速度慢、难以同时满足陆地越障和水下推进要求的问题。本发明的螺旋轴(A‑5)上开设螺旋槽(A‑5‑1),螺旋轴(A‑5)插装在桨腿基体(A‑4)内并通过固定螺钉(A‑3)旋入螺旋轴(A‑5)的螺孔内,内嵌梁(A‑2)嵌入到桨腿基体(A‑4)内,且内嵌梁(A‑2)的一端伸入到螺旋榫(A‑5‑1)处,锥帽(A‑1)安装在桨腿基体(A‑4)的桨毂外部的圆台凸起上;桨腿基体(A‑4)为C形螺旋桨叶,锥帽(A‑1)和桨腿基体(A‑4)均由柔性耐磨材料制成,桨腿驱动模块与螺旋轴(A‑5)连接。本发明用于水陆两栖六足机器人上。


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    Title :

    Paddle leg composite driving mechanism


    Additional title:

    一种桨腿复合驱动机构


    Contributors:
    ZHANG HE (author) / LU GUANGZHENG (author) / ZHAO JIE (author)

    Publication date :

    2020-11-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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