Sea, land and air triphibian spherical robot based on center of gravity control

Abstract

The invention discloses a sea, land and air triphibian spherical robot based on center of gravity control. The sea, land and air triphibian spherical robot based on the center of gravity control aimsto realize the functions of sea, land and air and integrated the functions of unmanned equipment in land, water and air. The sea, land and air triphibian spherical robot is composed of a spherical shell, ducted fans, an internal ring gear, a fork-shaped rotating frame, rolling drive motors, rolling gears, a control power distribution assembly, a horizontal moving drive motor, strip-shaped gears and horizontal moving drive gears. When it is necessary to move on the land, the spherical shell moves in one-dimensional and steering is realized by the left-right displacement of the center of gravity, that is, the motion control in the two-dimensional direction of the spherical shell is realized. When it is necessary to move in the water, the spherical robot at this time controls a ship similar to a twin-propeller, and the forward, backward and steering functions of the spherical robot are realized through the cooperation of the two ducted fans. When flying is required, the spherical robot atthis time takes off similarly to a four-axis aircraft, and the flight of the spherical robot is realized by controlling the movement of the four ducted fans.

Description

technical field [0001] The invention belongs to a spherical robot that realizes motion control by controlling the center of gravity, and in particular belongs to a spherical robot that uses the control center of gravity to change the relative position of a spherical shell to realize amphibious conditions on land, sea and air. Background technique [0002] At present, unmanned reconnaissance equipment is widely used. There are unmanned patrol cars on land, unmanned ships in water, and various drones in the air. Convenient conditions, especially in the military field, are widely used. Many countries have equipped individual soldiers with reconnaissance equipment to complete more difficult tasks. In use, it is found that a mission often needs to carry a variety of equipment to cope with different uses. At the same time, these devices also have their own advantages and disadvantages. The wheeled patrol car has strict requirements on the road conditions, and the crawler patrol ca...

AI Technical Summary

Problems solved by technology

[0002] At present, unmanned reconnaissance equipment is widely used. There are unmanned patrol cars on land, unmanned ships in water, and various drones in the air. Convenient conditions, especially in the military field, are widely used. Many countries have equipped individual soldiers with reconnaissance equipment to complete more difficult tasks. In use, it is found that a mission often needs to carry a variety of equipment to cope with different uses. At the same time, these devices also have their own advantages and disadvantages. The wheeled patrol car has strict requirements on the road conditions, and the crawler patrol car has a strong adaptability to the road conditions, but it is still not as flexible as the UAV, and the power consumption of the UAV It is too large, the time in the air is limited, and the target features are obvious during use, and it is not easy to hide. Unmanned ships used in water can only be used in scenes with good hydrological environments, while unmanned equipment combined with waterway functions can be used at waterway junctions. Therefore, a device is needed that combines the advantages of the above three unmanned devices and complements each other so that only one device can be carried for a single task to complete the functional requirements of the above three devices

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