A biomimetic amphibious robot with wheel-foot-tail fin hybrid drive

Abstract

The invention relates to an amphibious robot, in particular to a wheel leg and tail fin combined driving bionic amphibious robot. The wheel leg and tail fin combined driving bionic amphibious robot comprises a bow, a body, a stern, wheel legs and a tail fin; the bow is mainly provided with a driving controller, a wheel leg driving unit and the wheel legs which are driven by the wheel leg driving unit; the body is mainly provided with a front swing joint, a steering engine, a main control unit, a battery pack, a management module for the battery pack and a rear swing joint; the stern is mainly provided with the tail fin, wheel leg driving controllers, the wheel leg driving unit and the wheel legs which are driven by the wheel leg driving unit; mechanical connection and fixation of the bow and the body is through the front swing joint; electrical connection of the bow and the body is through watertight cables; mechanical connection and fixation of the bow and the body is through the rear swing joint; electrical connection of the bow and the body is through the watertight cables. The wheel leg and tail fin combined driving bionic amphibious robot has the advantages of being compact in structure, flexible in movement, good in stability, allowing automatic switching between land and water movement modes, being strong in adaptive capacity to the environment and the like.

Description

technical field [0001] The invention relates to an amphibious robot, in particular to a bionic amphibious robot driven by a combination of wheel feet and tail fins. Background technique [0002] In recent years, with the deepening and development of marine scientific research and marine development strategies in the world's ocean powers, the extremely shallow water, broken wave zone, surf area and tidal flat zone where the ocean and land connect have become important areas for scientific research, environmental monitoring, and investigation in recent years. One of the key areas of application and attention in sampling and military fields. An amphibious robot is a special mobile robot that can achieve specific movements or operations on land and water, and can achieve tasks that existing underwater robots and land robots cannot complete. Inspired by the movement mechanism and movement patterns of amphibians, the study of special bionic robots with comprehensive amphibian mov...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing amphibious robots in the amphibious environment, such as single movement mode, weak movement ability, rapidity, maneuverability and stability, etc., the purpose of the present invention is to provide a robot that can crawl on land and realize A biomimetic amphibious robot with wheel-foot-tail fin hybrid drive floating in water

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