Bidirectional-spaced flexible fin-leg promoting device

A bi-directional limit and propulsion device technology, applied in the field of mobile robots, can solve problems such as low propulsion efficiency and high noise, and achieve the effect of increasing load capacity

Active Publication Date: 2017-03-08
UNIV OF SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the propeller-type propulsion method produces a large propulsion force, the propulsion efficiency is low and the noise is relatively large; the bionic wave/swing propulsion method can not only generate

Method used

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  • Bidirectional-spaced flexible fin-leg promoting device
  • Bidirectional-spaced flexible fin-leg promoting device
  • Bidirectional-spaced flexible fin-leg promoting device

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Embodiment Construction

[0018] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0019] figure 1 It is a structural schematic diagram of the two-way limiting flexible fin-leg propulsion device of the present invention, such as figure 1 As shown, the two-way limiting flexible fin-leg propulsion device includes: a drive coupling module 1, a limiting block 2, and an elastic plate 3, wherein:

[0020] The driving coupling module 1 of the propulsion device can perform rotation coupling and swing coupling according to the propulsion requirements. When propelling on land and in transitional areas, the robot adopts the corresponding gait to propel, and at this time, the module is required to achieve rotational connection. When propelling underwater, the robot adopts fin-type swing propulsion, and the module...

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Abstract

The invention discloses a bidirectional-spaced flexible fin-leg promoting device. A leg promoting device comprises a driving coupling module, spacing blocks and an elastic plate. Rigidity of a flexible leg can be adjusted via changes of rigidity of the elastic plate; and experiments prove that the rigidity of the flexible leg has great effect on promoting performance of a robot. The flexible fin-leg device can be applied to amphibious robots; when a robot walks on the land, legs can be passively switched between a primary straight plate state and a final arc-shaped state to adapt to various complicated land forms due to actions of the elastic plate and the spacing blocks; and when the robot promotes in waters, the flexible leg acts like a fish fin and produce promoting force via swinging of the flexible leg. Advantaged promoting methods can be achieved under two environments via passive flexible deformation; and the structure is simple and reliable; and besides, a final bending state of the flexible leg can be determined via actions of the spacing blocks, so loading capacity of the flexible leg is enhanced.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and specifically relates to a two-way limited flexible fin-leg propulsion device. An amphibious robot equipped with the flexible fin-leg propulsion device swings and propels in the water in the shape of a flexible fin. Propelling motion with flexible legs. Background technique [0002] The working environment of amphibious robots is very complex, as shown in: (1) complex three-dimensional underwater environment, such as corals, shipwrecks, aquatic plants, water holes, etc.; (2) diverse ground environments such as rubble, mountains, woods, snow (3) The complex environment of soft media such as sediment in the underwater land transition zone. These complex and diverse environments require amphibious robots to complete effective and stable propulsion in these environments. [0003] To meet the above requirements, in addition to optimizing the drive and energy of the robot, it is more importa...

Claims

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Application Information

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IPC IPC(8): B62D57/02B63H1/36
Inventor 张世武钟斌周佑丞方涛许旻
Owner UNIV OF SCI & TECH OF CHINA
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