The invention provides an underwater paddle wheel type propulsion chassis and a multi-mode underwater robot, two sides of the chassis are both provided with crawler mechanisms, the crawler mechanism on each side comprises two parallel conveying crawlers, a plurality of paddle boards are rotatably connected between the two parallel conveying crawlers, and the paddle boards are connected with the crawler mechanisms. One end of each web plate is provided with a rotating shaft which is rotationally connected with the conveying crawler belt, a reset mechanism is arranged at the rotating shaft, and a guide plate is arranged at the web plate close to the rotating shaft; a web plate guide mechanism is arranged between the two parallel conveying tracks, the web plate guide mechanism comprises a guide frame, a guide rod and a guide rod driving mechanism, and the guide rod driving mechanism is used for changing the form of the guide rod; the guide plates and the guide rods are matched to enable the web plates to extend out of the conveying crawler belt, and after the guide plates and the guide rods are not matched, the web plates are driven by the reset mechanism to retract to be flush with the conveying crawler belt. According to the invention, the posture of the paddle board is changed, so that the posture of the robot in crawling and swimming modes is changed.
本发明提供了一种水下明轮式推进底盘及多模态水下机器人,底盘两侧均设有履带机构,每侧的履带机构均包含有两条平行的传送履带,在两条平行的传送履带之间转动连接有若干蹼板,蹼板的一端设有转轴与传送履带转动连接且在转轴处设有复位机构,且蹼板靠近转轴处设有导向板;在两条平行的传送履带之间设有蹼板引导机构,蹼板引导机构包含有引导架、引导杆以及引导杆驱动机构,引导杆驱动机构用于改变引导杆的形态;导向板与引导杆相配合使得蹼板向外伸出至传送履带外,导向板与引导杆解除配合后由复位机构带动蹼板缩回至与传送履带齐平。本发明通过对蹼板的姿态改变,从而实现机器人爬行、游行模式的姿态改变。
Underwater paddle wheel type propelling chassis and multi-mode underwater robot
水下明轮式推进底盘及多模态水下机器人
2023-08-15
Patent
Electronic Resource
Chinese
IPC: | B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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