Wheel-leg composite driving mechanism for amphibious spherical robot
A spherical robot and drive mechanism technology, applied in motor vehicles, amphibious vehicles, transportation and packaging, etc., can solve the problems of energy saving, heavy robot weight, and high energy consumption, so as to reduce energy consumption, extend service life, and move fast effect
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[0049] The present invention will be described in detail below with reference to the accompanying drawings and examples.
[0050] This embodiment provides a wheel-leg compound driving mechanism for an amphibious spherical robot, see the attached figure 1 , comprising: four mechanical legs 1-2 distributed circumferentially along the bottom of the spherical robot and a liftable sliding joint 1-1 located at the center of the bottom of the spherical robot;
[0051] When the spherical robot is moving on a flat road, the liftable sliding joint 1-1 can fall, so that more than two universal rollers provided at the bottom of the robot contact the flat road, and the spherical robot is raised to a set height. The universal roller can assist the spherical robot to slide by contacting with the flat road surface; when the spherical robot crawls on the rough road, the liftable sliding joint 1-1 can rise so that the universal roller at the bottom does not contact the road surface, that is, D...
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