The amphibious composite propelling device comprises chain links, side plates and the flexible joints, the side plates are embedded in the side faces of the chain links, the multiple chain links are connected through the flexible joints, and each flexible joint comprises elastic cloth, a pressing plate, a side hole pressing plate, a limiting steel wire and a punching screw. The two ends of the elastic cloth are fixed to the two chain links through the pressing plates and the side hole pressing plates respectively, and the punching screws are provided with through holes used for fixing the steel wires. The amphibious composite propelling device can be used for an amphibious robot, under the land working condition, under the action of elastic cloth and limiting steel wires, the device can be adaptively switched into an arc-shaped leg or a flexible web according to the contact state with the ground, under the underwater working condition, under the action of the elastic cloth, all chain links of the device rotate relatively in a self-adaptive mode according to the swing frequency, and therefore the amphibious robot can be propelled. Fin-like propulsion is realized.
本发明公开了一种基于柔性关节的两栖复合推进装置,包括链节、侧板、柔性关节,所述侧板嵌在链节侧面,所述多个链节之间由柔性关节连接,所述柔性关节包括弹性布、压板、侧孔压板、限位钢丝、打孔螺丝,弹性布两端通过压板和侧孔压板分别固定在两个链节上,打孔螺丝设有通孔,用以固定钢丝。该两栖复合推进装置可用于两栖机器人,陆地工况下,在弹性布和限位钢丝的作用下,该装置将根据与地面接触状态自适应性切换为弧形腿或柔性蹼,水下工况下,在弹性布作用下,该装置根据摆动频率各个链节间自适应性相对转动,实现仿鱼鳍推进。
Amphibious composite propelling device based on flexible joints
一种基于柔性关节的两栖复合推进装置
2023-08-11
Patent
Electronic Resource
Chinese
IPC: | B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen |
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