The invention belongs to the technical field of robots, and discloses an amphibious robot propelling device and method based on a wheel-paddle composite structure. According to the device, a gear motor driving system adopting a wheel type mechanism and a composite propeller system adopting a paddle type mechanism are compounded into a whole, and propelling power is output in the coaxial direction; the gear motor driving system takes a waterproof gear motor as a driver and provides power for the amphibious robot when the amphibious robot walks on the ground; the composite thruster system takes a propeller as a driving part and provides power for floating movement of the amphibious robot in water. The robot can interact with other structures to form vector propulsion, and the controllability and stability of robot advancing are improved. The land and water mode switching is fast, and the switching structure is simple. Most amphibious robots are too complex in land and water switching structure, large pressure is caused to the space of a robot body, and the product practicability is reduced.

    本发明属于机器人技术领域,公开了一种基于轮桨复合结构的两栖机器人推进装置及方法。该装置采用轮式机构的减速电机驱动系统与采用桨式机构的复合推进器系统复合为一体,且同轴心方向输出推进动力;减速电机驱动系统以防水减速电机为驱动器,为两栖机器人在地面行走时提供动力;复合推进器系统以螺旋桨为驱动部件,为两栖机器人水中浮游运动提供动力。发明的可与其他结构相互作用,形成矢量推进,增加机器人行进的可控性,稳定性。水陆模式切换迅速、切换结构简单。多数两栖机器人水陆切换结构过于复杂,对机体空间造成很大的压力,而且降低了产品实用性。


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    Title :

    Amphibious robot propelling device and method based on wheel-paddle composite structure


    Additional title:

    一种基于轮桨复合结构的两栖机器人推进装置及方法


    Contributors:
    ZHANG LEI (author) / GUAN MINGJING (author) / LI HUAJUN (author) / JIAO TENGFEI (author) / XIAO LONGTAO (author)

    Publication date :

    2023-11-17


    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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