The invention discloses an amphibious mobile robot with multiple motion modes. The amphibious mobile robot comprises a body frame, six functional feet and six stepping motors. A cavity is formed in the body frame, the six stepping motors are arranged on the lower portion of the cavity and symmetrically arranged at intervals in the length direction of the body frame, driving shafts of the stepping motors are horizontally arranged, and the shaft ends of the driving shafts extend out of the body frame; the six functional feet are arranged on the adjacent sides of the stepping motors in a one-to-one correspondence mode, and each function foot is composed of a connecting piece, an arc-shaped piece, a weight stack and an anti-skid piece; each arc-shaped piece is a semi-circular arc piece, one end of each arc-shaped piece is fixed at the shaft end of the corresponding driving shaft through the corresponding connecting piece, and the outer arc surface of the other end of the arc-shaped piece can be grounded; each weight stack and each anti-skid piece are respectively fixed on the inner arc surface and the outer arc surface of the other end of the arc-shaped piece; each functional foot is arranged in a manner that the inner arc surface of the arc-shaped piece faces forwards and the outer arc surface faces backwards; the robot is simple in structure and compact in arrangement, integrates the functions of crawling, bouncing, swimming and balance keeping, and is high in stability.

    本发明公开了一种具有多种运动模式的水陆两栖移动机器人,包括躯体框架、六条功能足和六个步进电机;躯体框架内设有空腔,使六个步进电机设置在空腔下部并沿躯体框架长度方向对称且间隔布置,其驱动轴水平设置且轴端伸出至躯体框架外侧;六条功能足一一对应布置在各步进电机邻侧,每条功能足由连接片、弧形片、配重片和防滑片构成;弧形片为半圆弧片,其一端通过连接片固定在驱动轴轴端,并使其另一端的外弧面能够着地;配重片和防滑片分别固定在弧形片另一端的内、外弧面上;各功能足均以其弧形片的内弧面朝前、外弧面朝后的方式设置;该机器人结构简单、布置紧凑且集爬行、弹跳、游动、保持平衡功能于一体且稳定性强。


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    Title :

    Amphibious mobile robot with multiple motion modes


    Additional title:

    一种具有多种运动模式的水陆两栖移动机器人


    Contributors:
    LIU ZHENZHONG (author) / SHI YANAN (author) / YANG YUWEI (author)

    Publication date :

    2021-08-27


    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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