The paddle wheel structure comprises paddles and a rotating wheel, the rotating wheel comprises a plurality of rotating units arranged in the axial direction of the paddles, each rotating unit comprises a framework and a plurality of Mecanum wheels rotationally connected to the circumferential side of the framework, the Mecanum wheels are arranged in the circumferential direction of the framework, the interior of the framework is hollow, and the Mecanum wheels are arranged in the framework; the paddles are contained in the frameworks, and the frameworks in the adjacent rotating units are connected in the axial direction. When the axis of the rotating wheel is parallel to the walking plane, the Mecanum wheel in the rotating unit with the largest outer diameter makes contact with the walking plane, and when the robot has the motion requirement that the rotating axis is inclined, the axis of the rotating wheel is inclined relative to the walking plane, and the Mecanum wheel in the rotating unit with the smaller outer diameter makes contact with the walking plane. The paddle wheel structure can be suitable for the situation that the rotating axis is inclined relative to the walking plane.
本发明公开了一种桨轮结构及三栖机器人,桨轮结构包括桨叶与转轮,转轮包括沿桨叶的轴向设置的多个转动单元,每一转动单元均包括骨架及转动连接于骨架周侧的多个麦克纳姆轮,麦克纳姆轮沿骨架的周向排布,骨架的内部中空,桨叶容纳于骨架的内部,相邻的转动单元内的骨架沿轴向相接。转轮的轴线与行走平面平行时,外径最大的转动单元中的麦克纳姆轮与行走平面接触,当机器人具有转动轴线倾斜的运动需求时,转轮的轴线相对行走平面倾斜,外径较小的转动单元中的麦克纳姆轮与行走平面接触,使桨轮结构能够适用于转动轴线相较于行走平面倾斜的情形。
Paddle wheel structure and triphibian robot
桨轮结构及三栖机器人
2024-11-08
Patent
Electronic Resource
Chinese