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Amphibious micro-robot with deformable wheels

A micro-robot, amphibious technology, applied to amphibious vehicles, wheels, motor vehicles, etc., can solve the problems of unfavorable lightweight development of robots, complex design structure, etc., achieve rich motion modes, simple and compact structure, and reduce the weight of the whole machine Effect

Pending Publication Date: 2022-01-11
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The amphibious robot provided by the above application has a compact structure, has three modes: omnidirectional mode, obstacle surmounting mode, and underwater motion mode, and has good obstacle surmounting performance, which can meet the requirements of various complex environments. However, the design structure is complex, which is not conducive to the robot lightweight development

Method used

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  • Amphibious micro-robot with deformable wheels
  • Amphibious micro-robot with deformable wheels
  • Amphibious micro-robot with deformable wheels

Examples

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Effect test

Embodiment 1

[0067] The present invention provides an amphibious micro-robot with deformable wheels, comprising a frame 1, a deformable wheel 2, a transmission system 3, a drive system 4 and a control system 5, the frame 1 is used for bearing; the deformable wheel 2 is installed on The state on the frame 1 and itself can be switched to match the movement in the amphibious environment; the drive system 4 can drive the deformable wheel 2 to act through the transmission system 3, wherein the action includes the switching of the state of the deformable wheel 2 and / or Drive the deformable wheel 2 to rotate; the control system 5 controls and connects the drive system 4 .

[0068] Further, the deformable wheel 2 includes an integral spoke 21 and a hollow hub 22, the integral spoke 21 includes a first connecting column 26, a central column 24 and a second connecting column 27, the hollow hub 22 includes a first arc-shaped hole 29, a central The through hole 28 and the second arc-shaped hole 30, th...

Embodiment 2

[0077] In this example, if Figure 1 to Figure 9 As shown, four independent deformable wheels 2 are arranged symmetrically on both sides of the frame 1, the drive system 4 is connected to the deformable wheels 2 through the transmission system 3, and the control system 5 is connected to the drive system 4 to realize the deformation and rotation speed of the deformable wheels 2 control.

[0078] Such as figure 2 As shown, the base 11 and the partition 12 are connected to form a sealed space, the riser 13 and the support unit 15 are fixed on the base 11 , the motor base 14 is fixed on the riser 13 , and the buoyancy unit 16 is fixed on the bottom of the base 11 . The control system 5 of the present invention includes a main control board 51 and a battery 52, and is controlled by PID. Both the deforming motor 41 and the rotating motor 42 have their own angular displacement sensors, which can form a closed-loop control with the control system 5 .

[0079] Such as image 3 , ...

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Abstract

The invention provides an amphibious micro-robot with deformable wheels, wherein the amphibious micro-robot comprises a rack, the deformable wheels, a transmission system, a driving system and a control system, and the rack is used for bearing; the deformable wheels are mounted on the rack, and the state of the deformable wheels can be switched so as to be matched with movement in the amphibious environment; the driving system can drive the deformable wheels to act through the transmission system, and the actions comprise state switching of the deformable wheels and / or driving of the deformable wheels to rotate; and the control system controls the connection to the driving system. The single variable-configuration mechanism is used for carrying out deformation switching among the wheels, spokes and wheel paddles, meanwhile, the driving modes needed by different land and water environments are met, the weight of the whole machine is reduced, all the driving modes are achieved through deformation of the single mechanism, the structure is simple and compact, and light weight and miniaturization of the robot are realized.

Description

technical field [0001] The invention relates to the technical field of amphibious robots, in particular to an amphibious microrobot with deformable wheels. Background technique [0002] Amphibious robots have the ability to move in different environments on land and water, and can undertake various tasks in land and water environments. Research on amphibious robots that can adapt to various terrain environments is of great significance to economic development, environmental monitoring, resource exploration, and military tasks. Existing amphibious robots are mainly divided into the following categories: wheeled amphibious robots, legged amphibious robots, snake-shaped amphibious robots, etc. [0003] Wheeled amphibious robots have high walking efficiency and high energy utilization, but they lack the ability to overcome obstacles in the terrestrial environment. Secondly, the application and research of paddle wheels with paddles in wheeled amphibious robots are relatively l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60F3/00B60B19/02
CPCB60F3/0007B60B19/02
Inventor 陈卫星葛一凯
Owner SHANGHAI JIAO TONG UNIV
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