The invention discloses an amphibious multi-posture robot based on a frog structure. The amphibious multi-posture robot comprises a robot body, a posture control module, a grabbing and sampling module and deformation feet. Based on the motion mode of the frog, a deformable foot structure is designed through a mechanical structure, and through the design of the water ballast space and the gravity center adjusting mechanism, the robot can adapt to different motion modes of the robot in a matched mode, and the robot can face complex environment working conditions; meanwhile, from the angles of stress and adaptability, flexible structures including the flexible mechanical claw, the flexible corrugated pipe and the like are adopted, the device can adapt to more different shapes of seabed collected objects, and the adaptability is higher; a flexible corrugated pipe is combined, so that the control mode is more flexible, and the mutual interference force is smaller under the cooperative working condition of the two robots; through the suction principle, a grabbing and suction combined collecting structure is designed, integrated collecting is achieved, the complex grabbing, transferring and placing processes are avoided, and the sampling and collecting efficiency can be greatly improved.

    本发明公开了一种一种基于蛙结构的两栖多姿态机器人,所述两栖多姿态机器人包括机器人主体、姿态控制模块、抓取取样模块和变形足;本发明基于蛙的运动模式,通过机械结构设计了一种可变形的足结构,并通过压载水舱和重心调节机构的设计,配合适应机器人不同的运动模式,可以面对复杂的环境工况;同时,从受力和适应性的角度,采用包含柔性机械爪、柔性波纹管等柔性结构,可以适应更多不同的海底采集物形状,适应性更强;结合柔性的波纹管,控制方式更为灵活,两机器人协作工况下相互干扰力更小;通过吸力原理,设计了一种抓吸结合的采集结构,实现一体化采集,避免了复杂的抓取、转移、放置过程,能够大大提高采样、收集效率。


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    Title :

    Amphibious multi-posture robot based on frog structure


    Additional title:

    一种基于蛙结构的两栖多姿态机器人


    Contributors:
    XU LIXIN (author) / LI XIU (author) / DOU PEILIN (author) / HONG ZHICHAO (author) / LIU YAJIAO (author) / HAN CHAOSHUAI (author) / ZHANG SHUGUANG (author) / YU XUEYING (author) / SHEN RENJIE (author) / SHENG XING (author)

    Publication date :

    2024-01-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B62D MOTOR VEHICLES , Motorfahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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