The invention belongs to the field of amphibious robots, and discloses an amphibious robot with tilting shafts and a control method.The amphibious robot comprises a shell, paddle wheels, tilting shaft modules and a control system.The two tilting shaft modules are symmetrically distributed on the left side and the right side of the shell, and the two ends of each tilting shaft module extend out of the shell from the interior of the shell to the exterior of the shell; the paddle wheels are installed at the two ends of the tilting shaft module, the wheel shaft direction of the paddle wheels is perpendicular to the axis direction of the tilting shaft, the control system is installed in the shell, the tilting shaft module is electrically connected with the control system, and the control system controls the tilting shaft module to rotate so as to change the direction of the paddle wheels. The single tilting mechanism is used for meeting the driving modes needed by the land environment, the water surface environment and the underwater environment at the same time, the weight of the whole machine is reduced, all the driving modes are achieved through deformation of the single mechanism, the structure is simple and compact, and light weight and miniaturization of the robot are achieved.

    本发明属于水陆两栖机器人领域,公开了一种带倾转轴的水陆两栖机器人及控制方法,包括外壳、浆轮、倾转轴模块、和控制系统,两个所述倾转轴模块对称分布在外壳左右两侧,所述倾转轴模块两端从外壳内向外壳外延伸出外壳,所述浆轮安装在倾转轴模块两端,所述浆轮轮轴方向与倾转轴轴线方向垂直,所述控制系统安装在外壳内,所述倾转轴模块与控制系统电连接,所述控制系统控制倾转轴模块转动,从而改变浆轮的方向。本发明利用单一的倾转机构同时满足了陆地、水面和水下三种环境所需的驱动方式,减少了整机重量,所有驱动模式均由单一机构的变形实现,结构简单紧凑,实现了机器人的轻量化和小型化。


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    Title :

    Amphibious robot with tilting shaft and control method


    Additional title:

    一种带倾转轴的水陆两栖机器人及控制方法


    Contributors:
    SU TING (author) / XU JIAMING (author) / ZHANG HANYING (author) / LIU LILI (author) / LIU HAO (author) / YANG YUWEI (author) / HUANG ZHONG (author)

    Publication date :

    2023-04-18


    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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