Paddle fusion sub-module for amphibious snake-like child-mother robot

Abstract

The invention discloses a paddle fusion sub-module for an amphibious snake-like child-mother robot. The sub-module mainly comprises a head cover, a paddle fusion portion and a tail cover. The head cover is of a hemispherical shell structure, a plurality of camera mounting holes are distributed on the head cover, and a connecting hole is formed at the top of the head cover. The paddle fusion portion is of a double sleeve structure, embedding holes for blades are formed in the surface of an outer cylinder, three auxiliary wing wheels are mounted on the surface of an outer cylinder, an inner cylinder is provided with a blade connecting rod containing groove and a transmission rod limit bayonet, a steering engine, a blade power transmission device and a limit device are arranged inside the paddle fusion portion, the blade power transmission device comprises a connecting rod piston transmission device and a telescopic rod transmission device, and the limit device comprises a piston guide rail cylinder and a transmission limit disc. The tail cover is of a hemispherical shell structure, and a connecting hole is formed at the bottom of the tail cover. The gravity center of the whole sub-module is designed on the lower half portion of the sub-module, and blades are in innovative notch design and hinged type openable design, conform to fluid mechanics characteristics of movement in water to achieve the paddling capacity of a child robot and are applicable to operations such as detection in the water.

Description

technical field [0001] The invention relates to a paddle body fusion sub-module of an amphibious snake-like mother-and-child robot, in particular to a paddle body fusion mechanism that relies on hinge-type openable paddles to move in water. Background technique [0002] Amphibious robots have the ability to adapt to both land and water environments, and have a wide range of operations. They can perform tasks such as military reconnaissance, disaster rescue, and environmental detection in both water and land environments. It has a wide application prospect and a variety of tasks in the ocean and ocean. [0003] At present, amphibious robots are mainly based on bionic amphibious robots. Bionic amphibious robots have strong environmental adaptability, but they have many degrees of freedom, complex control, and slow movement. In the world, amphibious robots are mainly concentrated in wheel-legged, paddle-blade and snake-style. Land movements mainly include wheel-type, crawler-t...

AI Technical Summary

Problems solved by technology

[0004] In China, amphibious robots are mainly represented by bionic fish, which can be similarly regarded as snake-like robots after their length increases, but they must be equipped with auxiliary wheels, tracks or paddles to travel on land

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