Spring wheel-leg creeping device of bionic amphibious robot

An amphibious and crawling device technology, used in motor vehicles, transportation and packaging, etc., can solve the problems that it is difficult to fully meet the robot's speed, obstacle crossing, mobility, stability, etc., achieve compact structure, increase contact time, and can Good control performance

Active Publication Date: 2015-05-27
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Amphibious robots with a single drive mode, whether they are multi-legged, undulating, wheeled, or tracked, are difficult to fully meet the requirements of the robot in terms of speed, obstacle surmounting, mobility, and stability in water or on land.

Method used

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  • Spring wheel-leg creeping device of bionic amphibious robot
  • Spring wheel-leg creeping device of bionic amphibious robot
  • Spring wheel-leg creeping device of bionic amphibious robot

Examples

Experimental program
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Embodiment Construction

[0018] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0019] Such as Figure 2~4 As shown, the present invention includes wheel foot 6, lock nut, sleeve 8, compression spring 10, connection key 11, lock screw 12 and rotating shaft 13, wherein lock nut comprises outer lock nut 7 and inner lock nut The nut 9 and the wheel foot 6 include a foot plate 14 and a sliding rod 15 .

[0020] One end of the rotating shaft 13 is connected with the drive unit installed in the bionic amphibious robot, and the spring-type wheel-foot crawling device 1 is driven by the driving unit to rotate around the rotating shaft 13. One end of the sleeve 8 has a fixing hole, and the rotating shaft The other end of 13 has threaded hole, and the other end of rotating shaft 13 passes through described fixing hole, and is fixedly connected with sleeve 8 by connecting key 11 and locking screw 12, and sleeve 8 is driven to rotate by rotating sha...

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PUM

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Abstract

The invention relates to a creeping device of a robot, in particular to a spring wheel-leg creeping device of a bionic amphibious robot. The spring wheel-leg creeping device comprises a wheel leg, a lock nut, a sleeve, a compression spring and a rotation shaft, wherein one end of the rotation shaft is connected with a drive unit installed in the bionic amphibious robot, and the rotation shaft is driven by the drive unit to rotate; one end of the sleeve is connected with the other end of the rotation shaft, and the sleeve is driven to rotate by the rotation shaft; the other end of the sleeve is connected with the wheel leg through the lock nut, and the wheel leg slides relative to the sleeve in a reciprocating manner; the compression spring for achieving the cushioning effect is accommodated in the sleeve; and two ends of the compression spring are abutted against the wall of the sleeve and the wheel leg is arranged in one end of the sleeve in an insertion manner. The spring wheel-leg creeping device of the bionic amphibious robot has the characteristics of good stability in movement, high crawling capability, compact structure, flexibility and controllability, high environment adaptability and the like.

Description

technical field [0001] The invention relates to a crawling device for a robot, in particular to a crawling device for a bionic amphibious robot with spring-type wheel feet. Background technique [0002] With the deepening of human understanding of the ocean, the extremely shallow water, breaking wave zone, surf area and tidal flat zone where the ocean and land connect have become one of the key areas of application and attention in scientific research, environmental monitoring, survey sampling, and military fields in recent years. one. An amphibious robot is a special mobile robot that can achieve specific movements or operations on land and water. It can achieve amphibious tasks that cannot be achieved by existing underwater robots and land robots. According to the different driving mechanisms and motion forms, the existing amphibious robots can be roughly divided into two categories: single drive type and compound drive type. Amphibious robots with a single drive mode, w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/032
Inventor 唐元贵张艾群
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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