Amphibious robot with multiple movement modes

Abstract

The invention provides an amphibious robot with multiple movement modes. The amphibious robot with the multiple movement modes comprises a main robot body structure, two elliptical rotating wheels and four sets of walking legs. Each set of walking leg comprises a thigh and a calf. Active revolute pairs parallel to each other are arranged between each thigh and the corresponding calf and each thigh and the corresponding elliptical rotating wheel. The outer edges of all the legs are designed to be of circular-arc-shaped structures. When all the legs are deflected from one another at a certain angle, the robot can overall roll up, form an integral circular-wheel-shaped structure and achieve rolling or pulse thrust in the longitudinal direction of a robot body. When the legs of the robot are deflected from one another to be in the state that four feet stand on the ground, the robot can walk in the longitudinal direction of the robot body. When foreleg bodies and hind leg bodies of the robot shrink, the robot can move through crawler mechanisms of a main robot body. The amphibious robot can further achieve inchworm wriggling through alternate reciprocating swing of a chainlike mechanism formed by the foreleg bodies, the hind leg bodies and the robot body. If the amphibious robot is in the water, when the foreleg bodies and the hind leg bodies are in an extended state, the robot can further move forwards by paddling through unidirectional rotation of the calves.

Description

technical field [0001] The present invention relates to the technical field of robots, specifically an amphibious multi-movement robot, which adopts the configuration and combined movement of multiple rotating mechanisms with circular arc and ellipse shapes, and can complete rolling, wriggling, moving and walking on land, and Complete sports modes such as paddling in water. Background technique [0002] Footed robots can adapt to various complex terrains such as unevenness and slopes, and have strong terrain adaptability. In the invention patent with the publication number CN105365913A, a quadruped crawling robot driven by a steering gear is disclosed. The steering gear of the robot not only controls the movement of the legs, but also controls the movement of the body, which improves the flexibility of the robot. The basic gait of the quadruped robot is realized by controlling the movement of the legs and body, which reduces the driving parts of the robot, reduces the compl...

AI Technical Summary

Problems solved by technology

But the disadvantage is that the quadruped walking speed is slow, the rolling state is discontinuous, and the efficiency is low

Its disadvantage is that the movement efficiency is low

[0008] The main problem of the above-mentioned prior art is that the movement mode of each robot is single, which cannot meet the needs of various application occasions

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