The invention belongs to the technical field of load-carrying robots, and particularly relates to an amphibious turtle-shaped load-carrying robot and a control system thereof. The turtle body mechanism is used for loading a control module, the turtle back device is installed above the turtle body mechanism and has a contraction and expansion function, and the four turtle leg mechanisms are rotatably installed below the turtle body mechanism and used for supporting and walking. The unfolded turtle back device looks like a turned turtle shell, the area of the unfolded turtle back device is four times that of the original turtle shell, the buoyancy of the robot and the loading capacity of the water surface are increased, the containing space is large, the weight of the robot can reach five times that of the self weight when the robot is carried on the water surface, and the cleaning time is saved during cleaning work. The self-locking function after the turtle back device is unfolded is achieved through buoyancy of the water surface, the upper arm, the lower arm and the second push rod, and the situation that when the load is too heavy, the unfolded turtle back device is pushed back through thrust of the water surface, and consequently a loaded object falls off is avoided.

    本发明属于载重机器人技术领域,具体涉及一种水陆两栖龟型载重机器人及其控制系统。本发明包括用于装载控制模块的龟体机构、安装在龟体机构上方具有收缩展开功能的龟背装置以及转动安装在龟体机构下方用于支撑和行走的四组龟腿机构,本发明中设置有可展开、收缩自由转换的龟背装置,展开后的龟背装置像翻过来的龟壳,展开后的面积为原来的四倍,增大机器人的浮力和水面的负载能力,容载空间较大,在水面上运载时可达到自身重量的五倍负载,清理工作时节省清理时长。利用水面的浮力、上臂、下臂以及第二推杆实现龟背装置展开后的自锁功能,避免负重过重时,水面的推力将展开的龟背装置推回去,造成载重的物体的掉落。


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    Title :

    Amphibious turtle-shaped load-carrying robot and control system thereof


    Additional title:

    一种水陆两栖龟型载重机器人及其控制系统


    Contributors:
    CHEN ZE (author) / HUANG MING (author) / XIA TIAN (author) / LIANG DONG (author)

    Publication date :

    2022-12-06


    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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