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Paddle leg type deformable amphibious hexapod robot

A hexapod robot, amphibious technology, applied to amphibious vehicles, motor vehicles, transportation and packaging, etc., can solve problems such as difficult to meet land obstacle surmounting and underwater propulsion requirements, redundant and complex structures, low operating efficiency, etc. Achieve strong anti-wave disturbance ability, strong environmental adaptability, and enhance the effect of stable attitude

Active Publication Date: 2020-12-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of existing amphibious hexapod robots with redundant and complex structures, difficulty in switching between land and water modes, low operating efficiency, slow speed, and difficulty in meeting the requirements of land obstacle surmounting and underwater propulsion at the same time

Method used

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  • Paddle leg type deformable amphibious hexapod robot
  • Paddle leg type deformable amphibious hexapod robot
  • Paddle leg type deformable amphibious hexapod robot

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0022] Specific implementation mode one: combine Figure 1 to Figure 13 To illustrate this embodiment, a paddle leg-type deformable amphibious hexapod robot includes an upper casing cover 1, a lower casing cover 2, a soft seal 3, three paddle leg drive modules 4, a deformation drive module 5, a battery 6, and a drive control module. System 7 and chassis 8, three paddle leg drive modules 4 are fixed on the front, middle and rear of chassis 8 by bolts, batteries 6 are installed on chassis 8 by bolts, and the paddle legs driven by batteries 6 are located in the front and middle Between the modules 4, the deformation drive module 5 is installed on the chassis 8 by bolts, and the deformation drive module 5 is located between the paddle leg drive modules 4 in the middle and the rear, and the drive control system 7 is fixed and installed on the rear of the chassis 8 by bolts The shell upper cover 1 and the shell lower cover 2 are respectively mounted on the chassis 8, and the shell u...

specific Embodiment approach 2

[0026] Specific implementation mode two: combination figure 1 This embodiment will be described. The soft seal 3 of this embodiment is a rubber waterproof gasket. Such arrangement makes it suitable for underwater work. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0027] Specific implementation mode three: combination image 3Describe this embodiment, the paddle leg driving module 4 of this embodiment includes a drive motor module 9, a double joint universal coupling 10, a support 11, a swing rod 12 and a paddle leg 13, and the double joint universal joint 10 The first and last joints are respectively connected to the drive motor module 9 and the paddle leg 13 through pin circlips, the support 11 and the swing rod 12 are installed at the tail end of the double joint universal coupling 10, and the support 11 and the swing rod 12 form a revolving joint. In this way, each pair of drive motor modules is arranged staggeredly, and the first and last joints of the double-joint universal coupling are respectively connected to the drive motor module and the paddle leg, so that the drive motor module can transmit the torque to the paddle leg; land mode Below, from the horizontal plane, the axes of the first and last joints of the double-joint un...

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Abstract

The invention discloses a paddle leg type deformable amphibious hexapod robot, and relates to an amphibious hexapod robot. The amphibious hexapod robot solves the problems that an existing amphibioushexapod robot is redundant and complex in structure, difficult in amphibious mode switching, low in operation efficiency, low in speed and difficult to meet the requirements for land obstacle crossingand underwater propulsion at the same time. Three paddle leg driving modules are fixed to the front portion, the middle portion and the rear portion of a chassis, a battery is installed on the chassis and located between the paddle leg driving modules in the front portion and the middle portion, a deformation driving module is installed on the chassis through bolts, and the deformation driving module is arranged between the paddle leg driving modules in the middle portion and the rear portion. A drive control system is fixedly installed on the rear portion of the chassis through bolts, an upper shell cover and a lower shell cover are installed on the chassis in a covering mode, and the upper shell cover, the lower shell cover and the chassis are sealed in a soft sealing and waterproof mode. The robot is used in the fields of land walking and water surface or underwater propulsion.

Description

technical field [0001] The present invention relates to an amphibious hexapod robot, in particular to a paddle leg type deformable amphibious hexapod robot, which is an amphibious hexapod driven by paddle legs and realizes the switch between water and land working modes by changing the form robot. Background technique [0002] With the increasing demand for scientific investigation, resource exploration and development, disaster rescue and treatment, and military operations in complex environments, the development and application of robots that can operate in complex environments has become one of the key research areas. Amphibious robots can operate in water, land, and the transition zone between water and land, and they have great development potential as a carrier for performing the above tasks. At present, the amphibious robots studied at home and abroad have limitations. These robots can be roughly divided into two types: one is based on separate water and land drive m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60F3/00B62D57/032
CPCB60F3/00B60F3/0007B60F3/003B62D57/032
Inventor 张赫卢光正赵杰
Owner HARBIN INST OF TECH
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