A multi-joint motion mechanism of an amphibious frogboard robot

Abstract

The invention discloses a multi-joint motion mechanism for an amphibious frog board robot. The multi-joint motion mechanism for the amphibious frog board robot comprises a motor, a fixed base plate, acrank slide block mechanism, two leg arms, leg arm steering engines, tail fin connecting rods, tail fins and tail wheels; the crank slide block mechanism is mounted on the fixed base plate; the two leg arms are horizontally hinged on the two sides of the fixed base plate; and meanwhile, the two leg arms are hinged with a slide block of the crank slide block mechanism through connecting rods; themotor drives the crank slide block mechanism to move so that the slide block moves in the horizontal direction to drive the two leg arms to horizontally swing around hinging points, and therefore, themotions of leg arm first joints are realized; the leg arm steering engines drive the leg arms to rotate around the axis directions so as to realize motions of leg arm second joints; the tail fin connecting rods are coaxially embedded in the leg arms; and tail fin steering engines drive the tail fin connecting rods to rotate around the axis directions to drive the tail fins and the tail wheels toswing in the horizontal plane so as to realize motions of leg arm third joints. The multi-joint motion mechanism for the amphibious frog board robot has the advantages that the motion mechanism is simplified, greater effective thrust is generated through coordination between the multiple joints, and the propulsive efficiency is high.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-joint motion mechanism of an amphibious frogboard robot. Background technique [0002] With the development of robot technology and the convenience it brings, powerful robots have emerged in many fields. Due to the actual needs of adapting to amphibious and complex environments, the research on amphibious robots has gradually become a hot topic. However, due to the diversity and complexity of the amphibious sports environment, many key technologies need to be broken through. First of all, it is necessary to solve the problem of driving mode and mechanism. If two or more driving mechanisms are used to complete the movement in the amphibious environment, the switching of the driving mechanism needs to be realized when the water and land environment is switched, which is not conducive to the integration of the mechanical structure of the robot. The lack of speed and stabilit...

AI Technical Summary

Problems solved by technology

However, due to the diversity and complexity of the amphibious sports environment, many key technologies need to be broken through

First of all, it is necessary to solve the problem of driving mode and mechanism. If two or more driving mechanisms are used to complete the movement in the amphibious environment, the switching of the driving mechanism needs to be realized when the water and land environment is switched, which is not conducive to the integration of the mechanical structure of the robot. It brings many problems to the design, and the control is difficult and the feasibility is low; if the driving mechanism is unified, it is difficult to ensure the movement ability of the robot in the amphibious environment due to the different characteristics of the amphibious environment.

Secondly, efficiency has always been an important index to measure robot technology. Due to the influence of factors such as waterproof mechanism, special drive mechanism, and water and land environmental resistance, the efficiency of amphibious robots is difficult to meet actual needs.

[0003] The existing amphibious frog board robot has high requirements on the output torque of the steering gear, and when the output torque is within the safe range, the thrust generated is small, and the reliability is not high, and the propulsion speed is limited

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