The invention discloses a multi-joint wheel web propelling mechanism based on magnetic pole coupling, the multi-joint wheel web propelling mechanism comprises chain links, pressing plates, flexible cloth and magnetic blocks, the multiple chain links are connected through the magnetic blocks in a coupling mode, the magnetic blocks are fixed to the connecting positions of the adjacent chain links, the flexible cloth is fixed to the chain links through the pressing plates, and the amphibious composite propelling device can be used for an amphibious robot. Under the land working condition, under the action of the flexible cloth and the magnetic blocks, the device can be adaptively switched into an arc-shaped leg or a flexible web according to the contact state with the ground, under the underwater working condition, under the action of the magnetic blocks, the passive relative rotation amplitude generated by the device is small or the device is in a straight web shape, and water stirring propelling is achieved.
本发明公开了一种基于磁极耦合的多关节轮蹼推进机构,包括链节、压板、柔性布、磁块,所述多个链节之间由磁块耦合连接,所述磁块固定在相临链节的连接处,所述柔性布通过压板固定在链节上,该两栖复合推进装置可用于两栖机器人,陆地工况下,在柔性布和磁块的作用下,该装置将根据与地面接触状态自适应性切换为弧形腿或柔性蹼,水下工况下,在磁块作用下,该装置产生的被动相对转动幅度小或为直蹼状,实现拨水推进。
Multi-joint wheel web propelling mechanism based on magnetic pole coupling
一种基于磁极耦合的多关节轮蹼推进机构
2025-02-28
Patent
Electronic Resource
Chinese
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