The invention relates to a wheel and paddle coaxial amphibious robot and a using method thereof, and belongs to the technical field of robot aircrafts. Comprising a fuselage, four deformation modules, connecting rods and an air-ground execution mechanism, the four deformation modules are evenly arranged on the fuselage, the deformation modules are connected with the air-ground execution mechanism through the connecting rods, and the deformation modules are used for controlling position change of the air-ground execution mechanism, so that conversion between a land mode and an unmanned aerial vehicle mode is achieved. The coaxial design that the wheel motor directly drives the wheel is adopted, compared with other gear transmission and synchronous belt transmission for driving the wheel, errors and friction loss caused by transmission are avoided, and meanwhile the situation that the mass is reduced due to the use of a bearing is avoided; the design of the channel in the center of the sleeve further provides convenience for line arrangement of the blade motor, and the problem of line winding is effectively solved through the fixing mode of the blade motor base.
本发明涉及一种车轮桨叶同轴式两栖机器人及其使用方法,属于机器人飞行器技术领域。包括机身、变形模块、连杆和陆空执行机构,机身上均匀布置有四个变形模块,变形模块通过连杆与陆空执行机构连接,变形模块用于控制陆空执行机构的位置变换,从而实现陆地模式、无人机模式的转换。本发明采用车轮电机直接驱动车轮的同轴式设计,与其他齿轮传动、同步带传动带动车轮相比避免了传动带来的误差、摩擦损耗,同时避免了轴承的使用从而降低质量;本发明的套筒中心的通道设计还为所述桨叶电机的线路布置提供了便利,而所述桨叶电机底座的固定方式有效解决了线路缠绕问题。
Amphibious robot with coaxial wheel blades and use method of amphibious robot
一种车轮桨叶同轴式两栖机器人及其使用方法
2025-02-11
Patent
Electronic Resource
Chinese