Wheel-leg hybrid amphibious robot with ground movement and flight motion modes

Abstract

The invention discloses a wheel-leg hybrid amphibious robot with ground movement and flight motion modes. The amphibious robot comprises a body support, four wheel devices, six three-joint bionic limb devices and a six-wing flight device; the six three-joint bionic limb devices are distributed at the two sides of the body support, the four wheel devices are installed on two front three-joint bionic limb devices and two rear three-joint bionic limb devices respectively, and the six-wing flight device is fixedly arranged at the top end of the body support. The amphibious robot has two ground movement modes including crawling and wheel moving and the flight motion mode and can adapt to different work environments, the three movement modes can be switched freely according to the road conditions and use requirements of users, and maneuverability and working efficiency of the robot are greatly improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a wheel-leg compound amphibious robot with ground movement and flight movement modes. Background technique [0002] At present, mobile robots mainly adopt three kinds of motion modes: wheel type, crawler type and leg type. Wheeled robots have the characteristics of high speed and high efficiency, and the technology is mature, but their ability to overcome obstacles is poor, and they cannot adapt to complex terrain environments. Tracked robots have strong adaptability, compact design, and good environmental adaptability, but they have the disadvantages of heavy weight, large frictional resistance, and high energy consumption. Legged robots have good maneuverability and strong ability to overcome obstacles, but they move slowly. [0003] The emergence of search and rescue robots is relatively late. Although the application fields of robots are constantly expanding and ...

AI Technical Summary

Problems solved by technology

Wheeled robots have the characteristics of high speed and high efficiency, and the technology is mature, but their ability to overcome obstacles is poor, and they cannot adapt to complex terrain environments.

Tracked robots have strong adaptability, compact design, and good environmental adaptability, but they have the disadvantages of heavy weight, high frictional resistance, and high energy consumption.

Legged robots have good maneuverability and strong ability to overcome obstacles, but move slowly

[0003] The emergence of search and rescue robots is relatively late. Although the application fields of robots are constantly expanding and the technology is constantly improving, many robots in the field of search and rescue are still in the stage of simulation and conception in the laboratory. At the same time, there are still many problems that are difficult to overcome. For the expected problems, there are very few search and rescue robots that can be actually applied, and wheel-legged composite mobile robots are even rarer;

[0004] Existing robots and operators generally have three methods of wireless communication, wired communication and voice interaction. For search and rescue robots, the first two communication methods are generally available. The wired communication method can be used to power the robot very well. The requirement of continuous battery life can control the work of the search and rescue robot more conveniently. However, there are also some problems, such as extreme environments, complex terrain, wired communication cannot be too far away from the robot, the distance is too large, and the transmission line is easy Winding or jamming will affect the walking of the robot, and it is inconvenient to carry the too long transmission line; wireless communication can avoid the above-mentioned shortage of wired communication. However, the wireless transmission of general post-disaster scene conditions can still meet the requirements; voice broadcast is a way for the collection robot to communicate with the outside world, which can improve the efficiency of search and rescue; In the process, it must have a good ability to overcome obstacles and climb, and it should have a fast moving speed on flat ground; at the same time, in some extreme environments, in order to increase the safety of disaster relief personnel, the autonomous search and rescue of search and rescue robots Systems and positioning systems place new demands on

Images