Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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

Pending Publication Date: 2018-06-12
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF0 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] 1 The current amphibious robots generally adopt the principle of bionics design, such as bionic cockroaches and snakes, etc. The bionic cockroach robots use different driving structures underwater and on land. When switching between underwater and land movements, the driving structure needs to be replaced manually
The bionic snake robot adopts an articulated design, and its land and underwater movements are relatively slow, only reaching 0.4m / s
[0008] 2 The previously designed amphibious spherical robot is light in weight and puts less pressure on the legs. It can crawl with only four mechanical legs, but the ability to carry sensors is small
With the increase of the weight of the robot, it is difficult to satisfy the long-term movement with only four legs, and due to the increase in the number of sensors, the weight of the robot is larger, and the load-bearing of the robot's leg servo servo increases, which increases the loss of the robot servo servo.
The existing spherical robot uses gait to move forward, the number of servo steering gears in the driving structure is large, the energy consumption is high, and the same motion mode is used in different terrains, which cannot achieve the purpose of energy saving

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Wheel-leg composite driving mechanism for amphibious spherical robot
  • Wheel-leg composite driving mechanism for amphibious spherical robot
  • Wheel-leg composite driving mechanism for amphibious spherical robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a wheel-leg composite driving mechanism for an amphibious spherical robot, and belongs to the technical field of underwater robots. The wheel-leg composite driving mechanism comprises two or more mechanical legs distributed along the bottom of the spherical robot and a liftable sliding joint located at the bottom center of the spherical robot; when the liftable sliding joint rises, universal wheels at the bottom do not make contact with the ground, when the liftable sliding joint falls, the universal wheels at the bottom make contact with the ground, and the spherical robot is lifted to the preset height; and the four mechanical legs can move in the circumferential direction of the spherical robot and matched with the liftable sliding joint in a falling state to achieve sliding of the spherical robot, in addition, the four mechanical legs are matched with the liftable sliding joint in a rising state to achieve crawling of the spherical robot. The wheel-leg composite driving mechanism adopts different movement modes aiming at different terrain, and movement in the underwater environment, crawling of rugged road surfaces and sliding on flat road surfaces are achieved.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and in particular relates to a wheel-leg compound driving mechanism for an amphibious spherical robot. Background technique [0002] Along with the process of human understanding of the ocean, development of the ocean, utilization of marine resources and protection of marine resources, underwater robots, as a kind of underwater mobile, with vision and perception systems, through remote control or autonomous remote control, use machinery or other tools to replace or Devices that assist people to complete underwater tasks play an important role in the development and utilization of the ocean. [0003] In recent years, underwater robots have become a hot topic in foreign research. The third-generation Hovering Unmanned Underwater Autonomous Vehicle (HAUV 3) jointly developed by the Massachusetts Institute of Technology, the US Office of Naval Research (ONR) and Bluefin Robotics (Bluefin R...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B60F3/00B62D57/028
CPCB62D57/028B60F3/0007B60F3/0061
Inventor 石立伟郭书祥邢会明何彦霖苏树祥陈占侯夕欢刘钰刘惠康
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products