The invention discloses a controllable passive reconfiguration wheel/web composite propelling device which comprises chain links, steel sheets, pressing plates, sliding blocks, steel cables and springs, the chain links and the pressing plates are fixed to the steel sheets, and the sliding blocks, the steel cables and the springs are connected in series and can slide in sliding grooves in the chain links. Under the limitation of the steel sheets, the device can be adaptively switched into a wheel or a straight web according to the contact state with the ground, under the underwater working condition, the relative position of the sliding block in the sliding groove can be adjusted through the traction steel cable, so that the relative rotation between the chain links is limited, and the device is in the straight web state and realizes water-stirring propulsion through up-down swinging.
本发明公开了一种可控被动式重构的轮/蹼复合推进装置,包括链节、钢片、压板、滑块、钢索、弹簧,所述链节和压板固定在钢片上,所述滑块、钢索和弹簧串联,且可在链节内部的滑槽内滑动,该两栖复合推进装置可用于两栖机器人,陆地工况下,在钢片限制下,该装置将根据与地面接触状态自适应性切换为轮或直蹼,水下工况下,通过牵引钢索可调整滑块位于滑槽中的相对位置,从而限制链节间的相对转动,该装置为直蹼状态,通过上下摆动实现拨水推进。
Controllable passive reconfiguration wheel/web composite propelling device
一种可控被动式重构的轮/蹼复合推进装置
2023-08-08
Patent
Electronic Resource
Chinese
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