A head joint module and a tail duct propelling propeller module are arranged on the head portion and the tail portion of the hybrid propelling water-land-air cross-medium modular snakelike robot respectively, and the body portion of the snakelike robot is formed by connecting a plurality of joints in series. Each joint comprises a control system module, a rotor wing propelling module, an omnidirectional rotating module, a joint connecting module and a transverse dynamic control module which are sequentially connected in series from front to back, and rotor wing propelling modules which are mounted on the left side and the right side of the control system module in a central symmetry manner; wherein the head joint module is installed at the front end of the control system module of the first joint and used for obtaining information of the environment where the robot is located; the tail duct propelling propeller module is mounted at the rear end of the control system module of the last joint and used for providing power to propel the robot; the control system module controls and connects all the modules to ascend, descend, rotate and turn through electric signals. The method has the advantages of flexibility and high environment adaptability.

    本发明公开一种混合推进的水陆空跨介质模块化蛇形机器人,头部和尾部分别设有头部关节模块和尾部涵道推进螺旋桨模块,该蛇形机器人的机身部位由多个关节串联构成,每个关节包括:前后依次串联安装连接的控制系统模块、旋翼推进模块、全向旋转模块、关节连接模块和横向动态控制模块,以及以中心对称形式安装在控制系统模块的左右两侧的旋翼推进模块;其中,所述头部关节模块安装在第一个关节的控制系统模块的前端,用以获取机器人所处环境信息;所述尾部涵道推进螺旋桨模块安装在最后一个关节的控制系统模块的后端,用以提供动力推进机器人;所述控制系统模块电信号控制连接各个模块进行升降、旋转和拐弯。本发明具有灵活和环境强适应能力的优点。


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    Title :

    Hybrid propulsion water-land-air cross-medium modular snakelike robot


    Additional title:

    一种混合推进的水陆空跨介质模块化蛇形机器人


    Contributors:
    HUANG ZHONG (author) / WANG ZELIN (author) / LIU HUIZHOU (author) / HUANG MENGXING (author) / LIN LI (author) / WANG YANG (author)

    Publication date :

    2024-06-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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