The invention discloses a paddle-leg hybrid driven underwater adhesion robot, and relates to the technical field of underwater robots, propeller thruster driving, six-foot crawling movement and hydrogel bionic suckers of foot bottom equipment respectively have the advantages of long-distance cruise driving, stable crawling in unstructured terrain and reliable adhesion detection on near wall surfaces. Therefore, the adaptability problem of a single-mode underwater robot in a complex operation scene is solved. According to the invention, the six groups of multi-degree-of-freedom mechanical feet cooperate with the control system through the modular driving units, so that the robot can realize multi-modal motion functions such as seabed crawling, obstacle crossing and climbing, posture adjustment and the like; the robot can stably crawl on a vertical surface or an inverted surface through cooperation between the hydrogel bionic suction cups arranged at the foot ends and the six-foot crawling gaits. Through vector combination of the three vertical propellers and the two horizontal propellers, the robot can meet the multi-degree-of-freedom motion control requirements of advancing, retreating, ascending, sinking, yawing, pitching, pitching and hovering. According to the paddle leg hybrid drive underwater adhesion robot, the underwater hybrid drive potential is developed to the maximum extent, the underwater maneuverability is improved in various challenging underwater environments, and the underwater robot is promoted to develop towards multiple modes and high efficiency.

    本发明公开了一种桨腿混合驱动的水下粘附机器人,涉及水下机器人技术领域,螺旋桨推进器驱动、六足爬行运动以及足底装备的水凝胶仿生吸盘分别具有长距离巡航驱动、非结构化地形稳定爬行和近壁面可靠粘附检测的有点,从而解决单一模态水下机器人在复杂作业场景中的适应性问题。本发明通过六组多自由度机械足通过模块化驱动单元与控制系统的协同配合,使机器人能够实现海底爬行、越障攀附、姿态调整等多模态运动功能;通过足端装备的水凝胶仿生吸盘与六足爬行步态间的协同配合,使机器人能够实现垂直或倒置表面的稳定爬行;通过三个垂直推进器与两个水平推进器的矢量组合,使机器人能够满足前进、后退、上升、下沉、艏摇、纵摇、俯仰、悬停多自由度运动控制要求。本发明提出的桨腿混合驱动水下粘附机器人最大化地开发了水下混合驱动潜力,在各种具有挑战性的水下环境中提高水下机动性,推动水下机器人向多模态、高效化发展。


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    Title :

    Paddle-leg hybrid-driven underwater adhesion robot


    Additional title:

    一种桨腿混合驱动的水下粘附机器人


    Contributors:
    WANG CHAO (author) / LI ZONGGANG (author) / CHEN YINJUAN (author) / KANG HUIFENG (author) / YANG XINHAO (author) / HUANG SIZHAO (author)

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B62D MOTOR VEHICLES , Motorfahrzeuge



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