The invention provides a composite vector propulsion amphibious spherical robot and a control method thereof. The composite vector propulsion amphibious spherical robot comprises a left semispherical shell, a right semispherical shell and semispherical cabin covers arranged on the two sides of the two semispherical shells, and a disc is arranged on the inner surface of the side, close to the semispherical cabin covers, of each semispherical shell; a cross-shaped bearing base plate is arranged in a space formed by the two hemispherical shells, and two groups of long-shaft motors and short-shaft motors are arranged on the lower surface of the cross-shaped bearing base plate; rotor shafts of the two long-shaft motors are connected with the disc through a long-shaft coupler. Rotor shafts of the two short-shaft motors are connected with the two swing rods through short-shaft couplings. The lower end of the swing rod is connected with a storage bin; and crossed channels are arranged in the two hemispherical hatch covers, are isolated from each other and do not coincide with each other. According to the amphibious cross-domain maneuvering spherical robot, the channel propellers are installed in the hemispherical hatch covers on the left side and the right side of the spherical robot, the spherical robot can move in the underwater environment through thrust output cooperation of the multiple channel propellers, and amphibious cross-domain maneuvering of the spherical robot is achieved.

    本发明提供一种复合矢量推进的水陆两栖球形机器人及其控制方法,其包含左、右两个半球状壳体,设置在两个半球状壳体两侧的半球舱盖,半球状壳体靠近半球舱盖的一侧的内表面设有圆盘;两个半球状壳组成的空间内设有十字型承托底盘,十字型承托底盘下表面设有两组长轴电机和短轴电机;两个长轴电机的转子轴通过长轴联轴器与圆盘连接;两个短轴电机的转子轴通过短轴联轴器连接两个摆杆;摆杆下端连接置物仓;两个半球舱盖内都设置有十字交叉的槽道,槽道间互相隔离,没有重合。本发明通过在球形机器人左右两侧半球舱盖内安装槽道推进器,利用多个槽道推进器的推力输出配合实现球形机器人在水下环境的运动,实现球形机器人的水陆两栖跨域机动。


    Access

    Download


    Export, share and cite



    Title :

    Composite vector propulsion amphibious spherical robot and control method thereof


    Additional title:

    一种复合矢量推进的水陆两栖球形机器人及其控制方法


    Contributors:
    CHEN ZHIHUA (author) / GE HAO (author) / YING ZHANFENG (author) / HUANG ZHENGUI (author)

    Publication date :

    2023-09-29


    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 / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



    Omnidirectional vector propulsion amphibious spherical robot

    CHEN ZHIHUA / LIU CHUNZHENG / YING ZHANFENG et al. | European Patent Office | 2023

    Free access

    Variable-vector propulsion walking dual-mode amphibious robot

    ZHANG QIFENG / YANG XUEJIAO / WANG CONG et al. | European Patent Office | 2023

    Free access

    Amphibious spherical robot

    WEN QI / ZHANG MINGWEN / TANG JUNWU et al. | European Patent Office | 2020

    Free access

    Novel spherical amphibious robot and working method thereof

    GUO SHUXIANG / LI LIGUO / GUO JIAN et al. | European Patent Office | 2015

    Free access

    Amphibious omnidirectional propulsion snake-shaped robot

    WANG XIAOYU / WANG XINJUN / LIU KEKE | European Patent Office | 2024

    Free access