Wheel-leg composite driving mechanism for amphibious spherical robot

Abstract

The invention discloses a wheel-leg composite driving mechanism for an amphibious spherical robot, and belongs to the technical field of underwater robots. The wheel-leg composite driving mechanism comprises two or more mechanical legs distributed along the bottom of the spherical robot and a liftable sliding joint located at the bottom center of the spherical robot; when the liftable sliding joint rises, universal wheels at the bottom do not make contact with the ground, when the liftable sliding joint falls, the universal wheels at the bottom make contact with the ground, and the spherical robot is lifted to the preset height; and the four mechanical legs can move in the circumferential direction of the spherical robot and matched with the liftable sliding joint in a falling state to achieve sliding of the spherical robot, in addition, the four mechanical legs are matched with the liftable sliding joint in a rising state to achieve crawling of the spherical robot. The wheel-leg composite driving mechanism adopts different movement modes aiming at different terrain, and movement in the underwater environment, crawling of rugged road surfaces and sliding on flat road surfaces are achieved.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and in particular relates to a wheel-leg compound driving mechanism for an amphibious spherical robot. Background technique [0002] Along with the process of human understanding of the ocean, development of the ocean, utilization of marine resources and protection of marine resources, underwater robots, as a kind of underwater mobile, with vision and perception systems, through remote control or autonomous remote control, use machinery or other tools to replace or Devices that assist people to complete underwater tasks play an important role in the development and utilization of the ocean. [0003] In recent years, underwater robots have become a hot topic in foreign research. The third-generation Hovering Unmanned Underwater Autonomous Vehicle (HAUV 3) jointly developed by the Massachusetts Institute of Technology, the US Office of Naval Research (ONR) and Bluefin Robotics (Bluefin R...

AI Technical Summary

Problems solved by technology

[0007] 1 The current amphibious robots generally adopt the principle of bionics design, such as bionic cockroaches and snakes, etc. The bionic cockroach robots use different driving structures underwater and on land. When switching between underwater and land movements, the driving structure needs to be replaced manually

The bionic snake robot adopts an articulated design, and its land and underwater movements are relatively slow, only reaching 0.4m / s

[0008] 2 The previously designed amphibious spherical robot is light in weight and puts less pressure on the legs. It can crawl with only four mechanical legs, but the ability to carry sensors is small

With the increase of the weight of the robot, it is difficult to satisfy the long-term movement with only four legs, and due to the increase in the number of sensors, the weight of the robot is larger, and the load-bearing of the robot's leg servo servo increases, which increases the loss of the robot servo servo.

The existing spherical robot uses gait to move forward, the number of servo steering gears in the driving structure is large, the energy consumption is high, and the same motion mode is used in different terrains, which cannot achieve the purpose of energy saving

Images