An amphibious multi-legged robot driven by foot-paddle coupling

A multi-legged robot and coupling drive technology, which is applied in amphibious vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of rubber coat corrosion, limit the movement range of robot joints, and is not suitable for underwater platforms, so as to improve environmental adaptability The effects of ability, rich movement patterns, and good exploration ability

Inactive Publication Date: 2017-04-12
HEILONGJIANG INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

When the robot is in deep water, the sealing coat of this sealing method will be severely deformed by the water pressure, thereby limiting the movement of the robot joints, and the rubber coat is easily corroded by seawater, easily damaged and leaking; it is still used underwater. The crawling two-dimensional space movement method is inefficient and is greatly affected by medium factors, so it is not suitable as an underwater carrying platform

Method used

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  • An amphibious multi-legged robot driven by foot-paddle coupling
  • An amphibious multi-legged robot driven by foot-paddle coupling
  • An amphibious multi-legged robot driven by foot-paddle coupling

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specific Embodiment

[0041] The amphibious multi-legged robot of the present invention can realize land crawling, water floating, underwater crawling or water pedaling-swimming in an amphibious environment.

[0042] During work, the driving motor of the first joint of the swimming paddle can 211 make the swimming paddle roll left and right, the driving motor of the second joint of the swimming paddle can 212 make the swimming paddle shake back and forth, the third joint driving motor 213 of the swimming paddle can make the swimming paddle flap up and down, and the swimming paddle The fourth joint drives the motor 214 to shake the empennage 207 back and forth, and the joints connected in series transmit the motion in sequence, finally producing a compound motion similar to the flapping of the swimming paddles of biological sea crabs. By controlling the phase difference of each joint movement, different underwater dynamic effects can be produced.

[0043] like Figure 7 , 8 As shown, floating in t...

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Abstract

The invention discloses an amphibious multi-foot robot achieving coupling drive of foot paddles. The robot comprises a body, swimming paddle units and walking foot units, wherein the body comprises an upper structural plate and a lower structural plate, the walking foot units are fixed between the upper structural plate and the lower structural plate and symmetrically arranged on the two sides of the body in three groups in the shape of stars, and the swimming paddle units are symmetrically installed at the tail end of the lower structural plate. According to the robot of the structure, the robot can directly go into water without the need of sealing measures, the land state and the underwater state can be directly switched, and the environmental adaptive capacity can be greatly improved.

Description

technical field [0001] The invention belongs to the field of amphibious robots, in particular to an amphibious multi-legged robot driven by foot paddle coupling. Background technique [0002] According to the different propulsion methods, robots can be classified into three categories: wheeled, crawler and footed. Wheeled robots and tracked robots can move at high speed and stably on flat and continuous roads, but to put the robot into practical application, the environment it has to face is obviously much more complicated. The real natural environment is complex and changeable. In order to adapt to this unstructured environment, human beings have developed legged robots based on bionics under continuous exploration. The discrete footholds of the legged robot greatly improve the environmental adaptability. Bionic legged robots have developed rapidly in recent years. People have developed four-legged, six-legged, eight-legged and even five-legged robots. The driving methods...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60F3/00B62D57/02
Inventor 陈曦王刚魏巍张印松
Owner HEILONGJIANG INST OF TECH
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