Spherical amphibious robot

Abstract

The invention discloses a spherical amphibious robot. An upper spherical shell has a buoyancy compensating function, and the autonomous suspension of the robot can be achieved; the bearing capacity ofa horizontal steering gear is reduced by a sliding rail structure. The spherical amphibious robot comprises the upper spherical shell, an intermediate partition plate, a leg structure and a sliding rail mechanism, the upper spherical shell has the buoyancy compensating function, which can achieve the independent suspension of the robot, and water inlet holes designed and evenly distributed at different heights of a water inlet compartment adjust the buoyancy of the robot. The leg structure is connected to a horizontal steering gear rotating shaft for powering the movement of the leg structurethrough the sliding rail mechanism, one end of a horizontal rotation rod in the sliding rail mechanism is fixed to a robot leg mechanism, the other end is connected with the bearing and placed on a sliding rail, thereby reducing the load of the horizontal steering gear and a horizontal bracket, and a detachable independent battery compartment is arranged on the lower end surface of the intermediate partition plate.

Description

technical field [0001] The invention relates to a robot, in particular to a spherical robot. Background technique [0002] With the scarcity of land resources, human beings have entered into the development of marine resources. Different from the terrestrial environment, there are more unknowns and complexities in the marine environment. Since human beings can personally explore the ocean environment is limited, underwater robots, as a device with environmental perception, autonomous control, and autonomous operation capabilities, must become an important tool for developing the ocean. [0003] In recent years, underwater robots have become a research hotspot at home and abroad; however, most of the existing underwater robots adopt torpedo-like streamlined structure and propeller propulsion. The torpedo-like streamlined design leads to a large turning radius, which makes it impossible to operate in narrow spaces. The propeller propulsion ensures a high speed of one-way mov...

AI Technical Summary

Problems solved by technology

[0007] (1) The existing torpedo-like streamlined underwater robot cannot achieve flexible and high-precision operations in a narrow space due to its large turning radius

At the same time, its large size and power system will cause greater interference to the surrounding environment, making it impossible to achieve high-concealment operations

[0008] (2) Existing spherical robots generally adopt a rolling movement mode on land, which has high requirements on the terrain and is not suitable for unstructured environments such as seabeds, shoals, islands and reefs; propellers are often used underwater, because the propellers are mostly exposed on the robot. Outside the body, it is easy to be damaged, and it will cause great damage to the marine environment

Moreover, the propeller is very noisy, making it difficult to covertly operate

[0009] (3) The current amphibious robots generally adopt the principle of bionics design, such as bionic crabs, cockroaches and snakes, etc., bionic crab robots can only crawl on land and underwater, and the movement distance is relatively short

The bionic snake robot adopts articulated design, its posture is not easy to control, and its land and underwater movements are slow, only reaching 0.4m / s

[0010] (4) For the previously designed spherical amphibious robot, due to the large size of the robot and insufficient gravity, the robot needs to add additional counterweights to hover in the water after entering the water; and the battery module is sealed in the upper hemisphere, and the replacement of the battery needs to be disassembled again. The spherical shell is not easy to replace the battery; the leg mechanism of the robot is completely loaded on the horizontal steering gear, resulting in a large load on the horizontal steering gear and easy damage

In addition, there are problems such as the robot's inability to perceive the surrounding environment and its own movement speed.

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