Multi-degree-of-freedom amphibious spherical robot

Abstract

The invention relates to a robot, in particular to a multi-degree-of-freedom amphibious spherical robot. The multi-degree-of-freedom amphibious spherical robot comprises a spherical shell, four mechanical legs and a control driving system. According to the technical scheme, the spherical shell comprises a semispherical upper cover, two quarter spherical shell bodies and a round partition plate; the four mechanical legs are symmetrically installed on the bottom face of the round partition plate at 90-degree intervals; the control driving system is installed in the semispherical upper cover and is sealed through a waterproof inner shell. According to the multi-degree-of-freedom amphibious spherical robot, land propelling, underwater propelling and the spherical appearance structure are effectively combined, and the underwater robot is made to have the high maneuvering capability in the land, water and transition environments.

Description

technical field [0001] The invention relates to a robot, in particular to an amphibious spherical robot. Background technique [0002] As ocean development activities become more frequent and in-depth, the demand for ocean exploration technology and equipment is also increasing. Underwater autonomous vehicles / robots equipped with a variety of sensors and instruments to achieve long-term automatic underwater operations have many advantages such as low operating costs, wide range of activities, and rich functions. One of the important equipment, it has broad prospects and important application value in the fields of surveying seabed mineral resources and discovering new species. [0003] Existing autonomous underwater vehicles / robots and spherical robots have the following problems: [0004] (1) Existing underwater autonomous vehicles / robots mostly adopt a streamlined structure and propeller propulsion, and their one-way movement speed is relatively high, but due to their la...

AI Technical Summary

Problems solved by technology

[0004] (1) Existing underwater autonomous vehicles / robots mostly adopt a streamlined structure and propeller propulsion, and their one-way movement speed is relatively high, but due to their large size and large turning radius, it is impossible to realize underwater narrow and complex environments (such as coral reefs, Flexible movement and precision work in pipelines, rock cracks, etc.)

At the same time, its huge shape and power system cause great disturbance to the environment during operation, and are not suitable for applications with high concealment and bio-affinity, such as detection, biological sample collection, environmental monitoring, etc.

[0005] (2) Most of the existing spherical robots on land use the rolling type, which utilizes the advantages of the spherical structure to a certain extent, and has high anti-dumping and operating efficiency. Due to the increase of the rotor, its shape is generally larger , has high requirements on the environmental terrain, and is not suitable for unstructured environments and structured environments with certain characteristics

[0006] (3) Existing spherical robots mostly use propellers to propel them underwater. The disadvantage of this propulsion method is that the propellers are exposed outside the robot body, are easily damaged, and are prone to turbulence, low efficiency, and great damage to the aquatic environment.

And it can only realize underwater propeller propulsion, and cannot work in shallow water, swamps, tidal flats and other near-water environments, and its range of activities and survivability are limited

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