Amphibious platform and its motion method based on wheel-wing compound propulsion mechanism

Abstract

The invention discloses an amphibious platform based on a wheel-wing compound propulsion mechanism and a movement method thereof, which comprises a platform body and at least four wheel-wing compound propulsion mechanisms, and a left-handed wheel-wing compound propulsion mechanism is arranged on the left side of the platform, and a left-handed wheel-wing compound propulsion mechanism is arranged on the right side of the platform. A right-handed wheel-wing compound propulsion mechanism is provided; the wheel-wing compound propulsion mechanism includes a driving wheel, a first power assembly, an inner disk that is in contact with the end surface of the driving wheel and can move around the central axis of the driving wheel on the end surface, and is used to drive the inner disk. The moving second power assembly, a number of wings that are evenly distributed on the drive wheel and can expand and contract along the axis of the drive wheel and can rotate around the axis of rotation, and a wing expansion and contraction assembly for driving the wings back and forth, each wing passes through The connecting rod assembly is slidably connected with the inner disc. The invention has good maneuverability and fast response under water, and can generate thrust in all directions. In addition, the separation of revolution and rotation of the propulsion module can satisfy land and underwater movements at the same time.

Description

technical field [0001] The invention relates to an amphibious platform, in particular to an amphibious platform based on a wheel-wing compound propulsion mechanism and a movement method thereof. Background technique [0002] With the excessive use of land non-renewable resources in today's world, the ocean provides a new option for human beings to solve the energy crisis, which poses new challenges to our ocean development and research capabilities. [0003] On land, the appearance of the Mecanum wheel has been well reflected on the all-round mobile platform, but this mobile platform is limited to the movement on the ground, and it is difficult to perform high-mobility work underwater. Under water, the existing underwater robots can realize underwater forward / backward, ascending / dive and turning movements, but they are helpless when encountering narrow spaces that require the robot to turn in situ or rotate laterally around the longitudinal axis of the body , the underwater...

AI Technical Summary

Problems solved by technology

[0003] On land, the appearance of the Mecanum wheel has been well reflected on the all-round mobile platform, but this mobile platform is limited to the movement on the ground, and it is difficult to carry out high-mobility work underwater

Under water, the existing underwater robots can realize underwater forward / backward, ascending / dive and turning movements, but they are helpless when encountering narrow spaces that require the robot to turn in situ or rotate laterally around the longitudinal axis of the body , the underwater maneuverability is still insufficient, and the propulsion efficiency is low, and it also lacks the ability to move over short distances on land

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