A leg structure of a wheel-propeller multiplexing type amphibious robot is characterized in that the leg structure comprises a driving module and a controller, the driving module comprises a joint composed of two steering engines installed orthogonally and a power device composed of driving wheels and propellers; the power device is mounted at the tail end of the joint; the controller sends out driving and control signals to control the driving module to act. In the running process of the amphibious robot, the controller controls the rotating direction and the rotating speed of the motor and sends instructions to the steering engines to control the steering engines, and posture conversion of the amphibious robot is achieved through angle matching of the two steering engines. The leg structure not only can be used as a leg for the robot to walk on the land, but also can be converted into a propeller underwater to realize efficient underwater movement, and is a wireless driving robot which is simple in structure and easy to realize in method.
一种轮桨复用式两栖机器人的腿部结构,其特征在于它包括驱动模块和控制器,所述驱动模块包括由正交安装的两个舵机构成的关节,以及由驱动轮和螺旋桨构成的动力装置;所述动力装置安装在关节末端;所述控制器发出驱动和控制信号控制驱动模块动作。在两栖机器人的运行过程中,控制器控制电机的转向与转速,向舵机发送指令操纵舵机,通过两台舵机的角度配合实现两栖机器人的姿态转换。该腿部结构不仅可以作为机器人在陆地上行走的腿部,同时在水下也能转换为推进器,实现高效的水下运动,是一种结构简单且方法容易实现的无线驱动机器人。
Leg structure of wheel-paddle reuse type amphibious robot and working method of leg structure
一种轮桨复用式两栖机器人的腿部结构及其工作方法
2024-07-05
Patent
Electronic Resource
Chinese
IPC: | B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B62D MOTOR VEHICLES , Motorfahrzeuge / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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