The invention relates to the technical field of robot equipment, in particular to a wave-driven spherical ocean robot which comprises a spherical shell, guide plates are circumferentially distributed on the surface of the middle of the spherical shell, and a double-shaft steering pendulum system is arranged in the spherical shell. The double-shaft steering pendulum system comprises a main shaft, an auxiliary shaft, an L-shaped shaft sleeve, a pendulum bob and a steering engine driving module, the L-shaped shaft sleeve is provided with a shaft hole in the horizontal direction, and the two ends of the main shaft are connected through a one-way bearing after the main shaft penetrates through the shaft hole; a bearing hole is formed in the vertical direction of the L-shaped shaft sleeve, a first two-way bearing is installed in the bearing hole, the auxiliary shaft and the main shaft are horizontally arranged in a crossed mode in space, one end of the auxiliary shaft is connected with the first two-way bearing, and the other end of the auxiliary shaft is in driving connection with the steering engine driving module. And the pendulum bob is mounted and connected to the tail part. The robot is driven based on waves, and has lower energy consumption and higher energy continuity.
本发明涉及机器人设备技术领域,尤其涉及一种基于波浪驱动的球形海洋机器人,包括球形壳体,所述球形壳体的中间表面圆周分布设置有导流板,在球形壳体内部设置有双轴转向摆系统,所述双轴转向摆系统包括主轴、副轴、L型轴套、摆锤和舵机驱动模块,所述L型轴套在水平方向开设有轴孔,主轴穿过该轴孔后两端通过单向轴承设置连接;所述L型轴套的竖直方向开设有轴承孔,轴承孔内安装有第一双向轴承,所述副轴与主轴空间水平交叉设置,副轴的一端与第一双向轴承设置连接、另一端由舵机驱动模块驱动连接,副轴的中间段轴体侧延伸设置有尾部,所述摆锤安装连接在所述尾部。本发明机器人基于波浪驱动,具有更低的能耗和更高的能源持续性。
Spherical ocean robot based on wave driving
一种基于波浪驱动的球形海洋机器人
2025-05-13
Patent
Electronic Resource
Chinese
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