Wheeled-like movable robot with capacities of flying and water passing

Abstract

The invention discloses a wheeled-like movable robot with the capacities of flying and water passing. The wheeled-like movable robot with the capacities of flying and water passing comprises a robot body, wherein symmetrically arranged rotor wings are arranged on the robot body, each rotor wing is driven by a motor, and the motors are installed on the robot body. The rotation directions of two rotor wings adjacently arranged at the same side are opposite, and the rotation directions of two rotor wings adjacently arranged at different sides are the same. The front portion and the rear portion of the robot body are respectively provided with a wheel frame, each wheel frame is connected with the robot body through a rotation pair whose axis is perpendicular to the corresponding wheel frame, and wheel-like structures are symmetrically installed at the two ends of each wheel frame. Each wheel-like structure is provided with a rotation wheel shaft seat, 3-5 wheel spokes circumferentially and evenly distributed and fixed to the rotation wheel shaft seat and wheel rim sections correspondingly fixed to the outer end of each wheel spoke, wherein a span is set between every two adjacent wheel rim sections, and all the wheel spokes adopt a propeller blade structure. The wheeled-like movable robot with the capacities of flying and water passing is simple and compact in structure, good in maneuverability, capable of rapidly running on a rugged road surface, capable of crossing barriers difficult to cross at low attitude, and capable of swimming in rivers, lakes and other water environments.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a wheel-like obstacle-crossing robot with the ability to fly and cross water. Background technique [0002] Due to their strong environmental adaptation and perception, dynamic decision-making and planning, behavior control and execution capabilities, mobile robots have broad application prospects in military reconnaissance, mine clearance, anti-nuclear pollution and other dangerous and harsh environments, as well as civil material handling. . At present, there are six main types of mobile robots: wheeled, crawler, legged, peristaltic, jumping and compound. [0003] Wheeled mobile robots have fast speed, high efficiency, and low motion noise, but their terrain adaptability is poor, and they are powerless to rough and complex terrain, and basically have no ability to overcome obstacles. For example, the patent application No. 201110177875.5 titled "An Omnidirectional Wheeled Mobile ...

AI Technical Summary

Problems solved by technology

Although the composite mobile robot combines the advantages of various types of robots, it also inherits the defects of various types of robots, and its structure and control are complex.

For example, the application number 201310205386.5 is titled "a jumpable mobile robot", which combines wheeled and jumping devices, controls the translational movement of the wheeled mobile device through the self-balancing system, and controls the jumping motion of the jumping mechanism by the lock release device. The impact of the impact when the robot body jumps to the ground is also equipped with a landing buffer and an attitude adjustment mechanism. The composition of the robot is more complicated, and the coordination and control among the various mechanisms is more difficult.

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