The invention relates to the technical field of robots, in particular to a spherical air-ground amphibious robot which comprises an air flying module, a ground rolling module and a supporting module. The air flight module comprises a motor arm and paddles; the ground rolling module comprises a spherical shell, a central rotating shaft for driving the robot to roll and steer on the ground and a swinging block; and supporting the module center plate. The robot can realize autonomous switching of ground rolling, air flying and two motion modes; when the robot moves on the ground, linear rolling and steering can be achieved through the rolling steering engine and the steering steering engine, and a certain obstacle crossing ability is achieved; when the aircraft moves in the air, the blades can be automatically retracted when a flight mode is switched to a ground mode through the blade retracting mechanism, so that the problems that the blades are difficult to retract and an executing mechanism is tedious are solved; and when the folding arm mechanism enters the flight mode, the motor arm is assisted to be smoothly opened.
本发明涉及机器人技术领域,具体提供一种球形陆空两栖机器人,包括空中飞行模块、地面滚动模块和支撑模块;空中飞行模块包括电机臂和桨叶;地面滚动模块包括球形壳体、驱动机器人地面滚动和转向的中心转轴和摆块;支撑模块中心板。该机器人可实现地面滚动、空中飞行及两种运动模式的自主切换;当进行地面运动时,可通过滚动舵机和转向舵机实现直线滚动与转向,具备一定的越障能力;当进行空中运动时,可通过收桨机构保证从飞行模式切换至地面模式时桨叶自动回收,解决了收桨困难和执行机构繁琐的问题;还可通过折臂机构在进入飞行模式时,辅助电机臂顺利张开。
Spherical land-air amphibious robot
一种球形陆空两栖机器人
2022-12-02
Patent
Electronic Resource
Chinese
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