Amphibious robot

Abstract

The invention discloses an amphibious robot, which comprises a body frame, a walking leg unit, a swimming leg unit, a buoyancy cabin and an electronic cabin. The walking leg unit comprises three pairsof six walking legs which are connected to the body frame in a radial mode; the swimming leg unit comprises swimming legs arranged at the tail end of the body frame in pairs; the buoyancy cabin is arranged on the lower part of the body frame, and floating or sinking of the amphibious robot is achieved through water pumping and draining; and a control module in the electronic cabin controls the movement postures of the walking leg unit and the swimming leg unit and the water pumping and draining actions of the buoyancy cabin according to a received instruction, the amphibious robot operation posture provided by a sensor module and land and water environment information to which the amphibious robot belongs. In water, two driving modes are provided for providing advancing power for the amphibious robot, and one driving mode is achieved through swinging of the swimming leg unit; and the other mode is that the gravity center of the amphibious robot is changed through buoyancy adjustment of the buoyancy cabin in cooperation with front-back swinging of the walking legs to achieve low-energy consumption and long-distance gliding migration of the amphibious robot.

Description

technical field [0001] The invention relates to the technical field of amphibious robots, in particular to an amphibious robot. Background technique [0002] The research group of Professor Wang Liquan of Harbin Engineering University has successfully developed several generations of amphibious bionic mechanical crab prototypes, conducted in-depth research on the gait control mechanism of multi-legged robots, and explored the possibility of cooperative operations between robots. This type of mechanical crab takes Eriocheir sinensis as the bionic object, and its eight walking legs coordinate and cooperate to ensure its flexibility on land; the special "waterproof coat" ensures its watertight characteristics and can realize underwater operations. In addition, the research group has also successfully developed a bionic sea crab robot with foot-paddle coupling and driving based on the Portunus crab, and realized the dual functions of underwater walking and floating in water. ...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention provides an amphibious robot that organically combines different motion modes of underwater glider, multi-legged sea crabs and fish, and through structural optimization and reorganization and algorithm optimization, it focuses on solving the problem of low efficiency and difficult operation in current amphibious robot multi-motion modes. Issues with a limited scope, enrich the means of exploration and development of offshore marine resources, and provide technical support for the development of my country's marine economy

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