The invention relates to an amphibious robot propelled by adopting decoupling type cycloid blade wheels. The robot comprises a robot body connected with at least four groups of cycloid blade wheels; each cycloid blade wheel structurally comprises a blade frame, a control shaft, a disc and a plurality of blade assemblies, and a rotation shaft and a swing shaft are arranged at one end of each blade assembly at intervals; the blade frame is of a central symmetry structure, mounting holes distributed in the blade frame along the circumference are connected with rotation shafts of all the blade assemblies, and the blade frame is fixedly connected with a driven gear and driven by a first rotation driving mechanism; a control shaft is arranged in the center of the blade frame in a penetrating mode, one end of the control shaft is eccentrically connected with the disc, the disc is connected with the swing shafts through a plurality of connecting rods, one of the connecting rods is fixedly connected with the disc, the other connecting rods are hinged to the disc, the other end of the control shaft is connected with a second rotation driving mechanism, and the blade assemblies swing around respective rotation shafts while rotating. The robot has good moving and obstacle crossing capabilities on land and has excellent maneuvering characteristics underwater.
本发明涉及一种采用解耦式摆线叶片轮推进的水陆两栖机器人,包括机器人本体,其连接至少四组摆线叶片轮;每组摆线叶片轮的结构包括:叶片架、控制轴、圆盘和若干叶片组件,叶片组件一端间隔设有自转轴和摆动轴;叶片架为中心对称结构,叶片架上沿圆周分布的安装孔与各叶片组件的自转轴连接,叶片架与从动齿轮固连,并由第一旋转驱动机构驱动;叶片架的中心位置内穿设有控制轴,其一端与圆盘偏心连接,圆盘通过若干连杆分别与各摆动轴连接,若干连杆中的一个与圆盘固连,其余的与圆盘铰接,另一端与第二旋转驱动机构连接,使叶片组件在公转的同时绕各自的自转轴摆动。本发明在陆地上具有良好的移动及越障能力,在水下具有优越的机动性能。
Amphibious robot propelled by adopting decoupling type cycloid blade wheels
一种采用解耦式摆线叶片轮推进的水陆两栖机器人
2022-02-25
Patent
Electronic Resource
Chinese
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