Amphibious spherical robot based on gravity center and propeller control

The invention belongs to the field of robots, and particularly relates to an amphibious spherical robot based on gravity center and propeller control. On the land, the gravity center is adjusted to control the attitude so as to realize movement; under the water, propellers are arranged on the two si...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	WANG SAICHAO, HUANG TAO, ZOU HAOYUE, HAO ZEYUAN, CUI JUNTAO, WU ZHENYU
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	AMPHIBIOUS OR LIKE VEHICLES BLASTING CONVERTIBLE VEHICLES ENGINEERING ELEMENTS AND UNITS EQUIPMENT FOR SHIPPING FRAMES, CASINGS, OR BEDS OF ENGINES OR OTHER MACHINES ORAPPARATUS NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUSPROVIDED FOR ELSEWHERE GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS HEATING LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS LIGHTING MARINE PROPULSION OR STEERING MECHANICAL ENGINEERING MOTOR VEHICLES PERFORMING OPERATIONS RELATED EQUIPMENT SHIPS OR OTHER WATERBORNE VESSELS STANDS OR SUPPORTS THERMAL INSULATION IN GENERAL TRAILERS TRANSPORTING VEHICLES FOR USE BOTH ON RAIL AND ON ROAD VEHICLES IN GENERAL WEAPONS
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Beschreibung
Zusammenfassung:	The invention belongs to the field of robots, and particularly relates to an amphibious spherical robot based on gravity center and propeller control. On the land, the gravity center is adjusted to control the attitude so as to realize movement; under the water, propellers are arranged on the two sides of the center of the sphere for advancing in the X-axis direction, switchable outer plectrum paddles are arranged on the two peripheries of the sphere, advancing in the Y-axis direction can be achieved by adjusting the gravity center, and view observation in different directions can be controlled and adjusted by an internal camera through a steering engine. Water tanks are arranged on the two sides, a piston of the water storage tank is controlled through a lead screw motor to control the weight of a ball, Z-axis movement is achieved, and underwater flexible movement is achieved. The problem of flexible underwater movement of the amphibious spherical robot is effectively solved, the X-axis direction, the Y-axis