The invention provides a wheel-paddle integrated amphibious robot with a variable paddle angle and a working method of the wheel-paddle integrated amphibious robot, and belongs to the field of cross-domain robots. Wherein the wheel paddle unit and the lifting and diving unit are arranged on the fuselage unit, the wheel paddle unit comprises a plurality of wheel paddle assemblies with variable blade angles, and the blade angles of the wheel paddle assemblies with the variable blade angles are changed through variable axle distances. All-directional maneuvering of the amphibious robot in hard flat land movement, hard land cross-country movement and soft land or water area movement can be achieved. According to the amphibious robot, the X-shaped structure and the O-shaped structure are formed by designing the distribution positions of the motors, on the basis of the two structures, multiple motion modes easy to control can be achieved by controlling the positive and negative rotation of the motors, the amphibious robot can move more flexibly and be controlled more conveniently, the propelling efficiency can be improved, and the cruising ability can be improved. The buoyancy of the amphibious robot can be adjusted through the lifting and diving unit, so that the amphibious robot is in positive and negative buoyancy states.

    本发明提供了一种具有可变桨叶角的轮桨一体两栖机器人及其工作方法,属于跨域机器人领域,其包括轮桨单元、升潜单元和机身单元。其中,轮桨单元和升潜单元设置在机身单元上,其包括多个可变桨叶角的轮桨组件,多个可变桨叶角的轮桨组件利用变轴距实现桨叶角的变动,分别能实现两栖机器人在硬质平坦陆地运动、在硬质陆地越野运动以及实现两栖机器人处于软质陆地或水域运动的全方位机动。通过设计其分布位置形成了X型与O型两种构型,在两种构型的基础上能够通过控制各个电机的正反转实现多种易于控制的运动方式,使得两栖机器人的运动更加灵活、操控更加方便,还能提高推进效率,增加续航能力。能通过升潜单元调整两栖机器人自身的浮力,使其处于正、负浮力状态。


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    Title :

    Wheel-paddle integrated amphibious robot with variable paddle angle and working method thereof


    Additional title:

    具有可变桨叶角的轮桨一体两栖机器人及其工作方法


    Contributors:
    HAN BIN (author) / LU LIANG (author) / GAO XIANGQUAN (author) / LONG ZHENNAN (author) / XIANG MING (author)

    Publication date :

    2023-10-10


    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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