CN107839419A - A kind of coaxial eight rotor three is dwelt robot - Google Patents
A kind of coaxial eight rotor three is dwelt robot Download PDFInfo
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- CN107839419A CN107839419A CN201711239491.5A CN201711239491A CN107839419A CN 107839419 A CN107839419 A CN 107839419A CN 201711239491 A CN201711239491 A CN 201711239491A CN 107839419 A CN107839419 A CN 107839419A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
Dwelt robot the invention discloses a kind of coaxial eight rotor three, be related to robotic technology field, including rotor mechanism for driving and the flexible ball cylindricality mechanism that is rolled for self-protection and land, and the sealing mechanism dust-proof for underwater waterproof, land；Power supply and winged control module are installed on pedestal, are respectively fed to power, are controlled the work of rotor mechanism with the motion of control machine people.The present invention is using coaxial eight rotor as sole power, flexible ball cylindricality protection mechanism and water proof and dust proof sealing mechanism are merged, realize that airflight, land roll and three kinds of motion modes of underwater submariner by the rotating speed and steering that regulate and control eight rotors, be truly realized the three of robot and dwell function；Each mechanism is based on same dynamical system, while meeting robot motion's flexibility with stability requirement, reduces the control complexity of robot using four rotor control methods of maturation, effectively improves survival ability of the robot in complex environment.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of robot suitable for complex environment operation.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Robot is led in production industry, construction industry etc.
Domain is used widely, and is especially commonly used for assisting or is substituted mankind's progress dangerous operation or enter in the region that the mankind can not reach
Row operation.
In recent years, robot technology develops rapidly, and robot can apply to various environment substantially, but at present, mostly
Number robot mobile type is single, such as walks or flies, task can not be preferably performed in changeable environment.Therefore, amphibious machine
Device people and three robots of dwelling arise at the historic moment.
By patent retrieval, following known technical scheme be present：
Patent 1：
Application number：201610205149.2 the applying date：2016.04.05 authorized announcement date：2016.07.06, spherical water
Land sky three is dwelt intelligent scout robot, is popped one's head in by hawkeye, be flake probe, information emitting head, appearance inductor cartilage flower stand, interior
Outer insertion mesh, cartilage landing body, the first motor, air damping spring, the first motor main shaft, machinery is fixed from all directions in ball
Ring, the first rotor, the first connecting shaft, intelligent robot controller, balancer rudder connecting rod, the second connecting shaft, the second rotor, second
Motor main shaft, the second motor, battery, the first umbrella shape of balancer rudder, the second umbrella shape of balancer rudder, machinery in ball
All directions fixed support, multiple purpose circuit, the second countershaft, the second propeller, the first countershaft, the first propeller, connection ring, first live
Button, the second knot that can be undone by a pull combine；It collects aircraft, and submariner device and robot complete the land and water that its volume allows access into one
Latent and reconnaissance mission, the beneficial effect of this technology in empty any space be：Small volume, rational in infrastructure, exercise performance is prominent, control
System is efficient.
The invention do not elaborate it is underwater how the measure of waterproof, also can both realize that fall arrest was protected without illustrating
Effect again can bear underwater pressure spherical housing material type selecting, while spherical housing do not allow in land rolling path it is easily-controllable
System, institute's band camera can follow spherical housing to roll and can not realize effective investigation, and structure and control method are complicated, it is not easy to
Realize.
Patent 2：
Application number：201510010515.4 the applying date：2015.01.09 authorized announcement date：2015.06.10 Yi Zhongsan
The three of impeller oar are dwelt robot, by propeller, signal receiver, chassis, electric expansion bar, power transmission shaft, sensing gyroscope instrument, electronic
Machine, remote control, trilobed wheel slurry, ball-type shell composition, it is characterised in that：The shape of shell is ball-type, it is spherical can be modified to it is ellipse
Circle egg type, volume-diminished, propeller is in ball-type shell, motor portion carries battery, chargeable electric discharge, bottom wheel by
Three impeller blade compositions, in land walking, three impeller blade composition circles are wheeled；When being paraded in water, impeller is converted into
Paddle, so as to realize that three dwell function, the first-class equipment of shooting can be carried, investigation is completed in complicated landform, scene of fire and search and rescue etc.
Task, its motion is commanded by remote control control sensing gyroscope instrument.The present invention can realize machine by the transformation that trilobed wheel is starched
The three of people are dwelt function, ensure the practicality and multifunctionality of robot, increase service life and security.
Although the robot can move in the air, on ground and the water surface, it can only move on the water surface, be connect with water
The waterproof measure of contact portion point also fails to illustrate, can not realize underwater submariner, while wheeled motion mode is limited very by orographic condition
Greatly, whole robot is driven to fly up into the sky additionally by a motor, this makes motor, propeller, battery and other mechanisms
Weight demands and performance requirement are not easy to match.
Patent 3：
Application number：201510133102.5 the applying date：2015.03.25 authorized announcement date：2015.06.24 the present invention
Disclose a kind of more rotors diving unmanned vehicle and its control method, aircraft includes body and multiple on body and is in
Symmetrical rotor arm, each rotor arm are provided with rotor assemblies in one end away from body, and the organism bottom is symmetrically pacified
Covered equipped with a pair of undercarriages, on the undercarriage and air bag is installed, processor, power module, nothing are installed in the body
Line communication module, compressed air accumulator and control valve, the gas output end of the compressed air accumulator by control valve with
Air bag connects；Method includes aerial mode and marine mode.The present invention is by control with compressed air accumulator to airbag aeration
The situation that snorkels that can be effectively controlled in water, so as to realize sail clear in water in the air, effectively solve unmanned plane and flying
The problem of being damaged in way because of unexpected overboard.It the composite can be widely applied in unmanned plane field.
The invention can realize that water sky both of which is navigated by water, but airbag aeration control method is complicated, does not illustrate motor
How waterproof sealing, without the protection structure of fall arrest, can not also realize land walking.
Through the above search, it has been found that above technical scheme does not influence the novelty of the present invention；And above patent text
Part is mutually combined the creativeness for not destroying the present invention.
The content of the invention
The present invention is precisely in order to avoid the weak point present in above-mentioned prior art, there is provided a kind of coaxial eight rotor three
Dwell robot.
The present invention adopts the following technical scheme that to solve technical problem：A kind of coaxial eight rotor three is dwelt robot, including with
Rotor mechanism and the flexible ball cylindricality mechanism that is rolled for self-protection and land in driving, and for underwater waterproof, land
The dust-proof sealing mechanism in ground；Power supply and winged control module are installed on the pedestal, are respectively fed to power, the control rotor
The work of mechanism is to control the motion of the robot；
A pair of major axis and a pair of short axles are fixed on pedestal in crosswise, and eight rotors and eight motors are divided into four groups
Respectively symmetrically it is installed on the major axis and the short axle, forms the rotor mechanism；Flexible ball cylindricality mechanism is located at the rotation
Outside wing mechanism, the major axis outer end is connected connecting shaft, and passes through the connecting shaft and rotated with the flexible ball cylindricality mechanism and connected
Connect, the rotor mechanism is relatively rotated with the flexible ball cylindricality mechanism；
Set outside the power supply, the winged control module and the radio transceiver chip and outside the motor and use
In the sealing mechanism of waterproof.
Further, two inner ring and two outer shrouds be arranged in parallel, and the inner ring is located on the outside of the outer shroud, two outer shrouds
Between be connected by being evenly distributed each outer shroud connecting rod of setting, pass through between the inner ring and close outer shroud
Each inner and outer ring connecting rod for being evenly distributed setting is connected, and forms the flexible ball cylindricality mechanism；
Fixed pedestal is located at the inner ring center, by be evenly distributed each fixed pedestal connecting rod of setting with it is described interior
Ring is connected, and the connecting shaft is connected with the bearing fit being arranged inside the fixed pedestal, make the rotor mechanism with
The flexible ball cylindricality mechanism can relatively rotate.
Further, the sealing mechanism includes a central seal shell and four motor seal shells, on central seal shell
Portion and central seal shell lower buckle rubber alloy are connect and are connected by bolt, form the central seal shell, and the central seal shell is set
Outside the power supply, the winged control module and the radio transceiver chip；
Lid and motor seal shell lower cover fasten splicing blending bolt by seal washer respectively and are fixed on motor seal shell
At the top and bottom of motor seal shell, the motor seal shell is formed, the motor seal shell interior sealing there are a pair of motors.
Further, the inner ring, the inner and outer ring connecting rod and the outer shroud is by density, Young's modulus of elasticity is more than
Alkyd resin or nylon 3D printing be made, the outer shroud connecting rod and the fixed pedestal connecting rod carbon fiber pipe block
Arrive.
Further, the circle core shaft of the inner ring and the outer shroud overlaps with the long axis ray, the radius of the inner ring
Less than the outer shroud.
Further, the output shaft of the motor is vertically arranged, every group of two coaxial settings of motor, and in
Each symmetrically one rotor of connection, the direction of rotation of two rotors are opposite up and down.
Dwell robot, have the advantages that the invention provides a kind of coaxial eight rotor three：
1st, using coaxial eight rotor as sole power, flexible ball cylindricality protection mechanism and water proof and dust proof sealing mechanism have been merged,
Three kinds of airflight, land rolling and underwater submariner motion modes are realized by the rotating speed and steering of eight rotors of regulation and control, really
Realize the three of robot to dwell function, significantly improve the adaptability of robot complex environment, enable robot well in
Task is performed in changeable environment；
2nd, the flexible ball cylindricality mechanism that can be rotated corresponding thereto, in the air during flight, goalpost shape are provided with outside rotor mechanism
Mechanism is as fall arrest protection mechanism, and in Land Movement, goalpost shape mechanism is used as rolling mechanism again as protection mechanism, can
To reduce influence of the collision impact to robot, the stability of robot work is improved；
3rd, provided with sealing mechanism, when moving under water, sealing mechanism is motor, the winged control equipment such as module and power supply provides
Waterproof sealing is protected, and at land and aerial sports, sealing mechanism can also carry for motor, the winged control equipment such as module and power supply
For dust-proof, waterproof and anti-protection of colliding with；
4th, each mechanism is based on same dynamical system, while meeting robot motion's flexibility with stability requirement, uses
Four ripe rotor control methods reduce the control complexity of robot, effectively improve existence energy of the robot in complex environment
Power；
5th, compared with conventional four rotors, under same volume, coaxial eight rotor than four rotors only increase four rotors with
The weight of motor, and caused lift is four rotor lifts nearly twice, therefore the lift of the robot and weight ratio increase, band
Loading capability strengthens, and has bigger driving force.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of rotor mechanism of the present invention；
Fig. 3 is the structural representation of flexible ball cylindricality mechanism of the present invention；
Fig. 4 is the structural representation of sealing mechanism of the present invention.
In figure：
11st, pedestal, 121, major axis, 122, short axle, 13, motor, 14, rotor；21st, inner ring, 22, fixed pedestal connection
Bar, 23, fixed pedestal, 24, outer shroud, 25, outer shroud connecting rod, 26, inner and outer ring connecting rod；31st, connecting shaft, 32, bearing；4th, control is flown
Module；5th, power supply；61st, central seal shell top, 62, central seal shell bottom, 63, motor seal shell, 64, on motor seal shell
Lid, 65, motor seal shell lower cover.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
As shown in Figure 1 to 4, its structural relation is：Including the rotor mechanism for driving and for self-protection and land
The flexible ball cylindricality mechanism that ground rolls, and the sealing mechanism dust-proof for underwater waterproof, land；Power supply 5 and winged control module 4 are pacified
Loaded on pedestal 11, be respectively fed to power, control rotor mechanism work with the motion of control machine people；
A pair of major axis 121 and a pair of short axles 122 are fixed on pedestal 11 in crosswise, eight rotors 14 and eight driving electricity
Machine 13 is divided into four groups and is symmetrically arranged on respectively on major axis 121 and short axle 122, forms rotor mechanism；Flexible ball cylindricality mechanism is located at
Outside rotor mechanism, the outer end of major axis 121 is connected connecting shaft 31, and is rotatablely connected by connecting shaft 31 and flexible ball cylindricality mechanism,
Rotor mechanism is set to be relatively rotated with flexible ball cylindricality mechanism；
Power supply 5, fly to be provided for the sealing of waterproof outside control module 4 and radio transceiver chip and outside motor 13
Mechanism.
Preferably, two inner ring 21 and two outer shrouds 24 be arranged in parallel, and inner ring 21 is located at the outside of outer shroud 24, two outer shrouds 24
Between be connected by being evenly distributed each outer shroud connecting rod 25 of setting, between inner ring 21 and close outer shroud 24 lead to
Cross and be evenly distributed each inner and outer ring connecting rod 26 of setting and be connected, form flexible ball cylindricality mechanism；
Fixed pedestal 23 is located at the center of inner ring 21, by each the fixed pedestal connecting rod 22 and inner ring that are evenly distributed setting
21 are connected, and connecting shaft 31 is connected with the bearing 32 being arranged inside fixed pedestal 23, makes rotor mechanism and flexible ball
Cylindricality mechanism can relatively rotate.
Preferably, sealing mechanism includes a central seal shell and four motor seal shells, the He of central seal shell top 61
Central seal shell bottom 62, which fastens, to be glued and is connected by bolt, forms central seal shell, and central seal shell is located at power supply 5, flown
Control outside module 4 and radio transceiver chip；
Lid 64 and motor seal shell lower cover 65 fasten splicing blending bolt by seal washer respectively and consolidated on motor seal shell
It is connected in the top and bottom of motor seal shell 63, forms motor seal shell, motor seal shell interior sealing there are a pair of motors 13.
Preferably, inner ring 21, inner and outer ring connecting rod 26 and outer shroud 24 is by density, Young's modulus of elasticity is more than polyester tree
Fat or nylon 3D printing are made, and outer shroud connecting rod 25 and the carbon fiber pipe of fixed pedestal connecting rod 22 block to obtain.
Preferably, the circle core shaft of inner ring 21 and outer shroud 24 overlaps with the axis of major axis 121, and the radius of inner ring 21 is less than outer shroud
24。
Preferably, the output shaft of motor 13 is vertically arranged, every group of two motors, 13 coaxial setting, and in upper
Under each symmetrically one rotor 14 of connection, the direction of rotation of two rotors 14 is opposite.
In use, robot provides power by eight coaxial rotors, concrete mode is by the supply of electrical energy of power supply 5, flies control mould
The control method that block 4 flies control using four rotors controls each motor 13 to drive each rotor 14 to rotate, to drive robot to move.
In Land Movement, flexible ball cylindricality mechanism is used as rolling mechanism again as protection mechanism, can reduce collision
Impact the adverse effect to robot；Sealing mechanism is motor 13, flies the control equipment such as module 4 and power supply 5 provide it is dust-proof,
Waterproof and anti-protection of colliding with.
In the air during flight, flexible ball cylindricality mechanism is as fall arrest protection mechanism；Sealing mechanism is motor 13, flown
Control module 4 and power supply 5 etc. equipment provide dust-proof, waterproof and anti-protection of colliding with.
When moving under water, sealing mechanism is motor 5, the winged control equipment such as module 7 and power supply 8 provides waterproof sealing
Protection.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these modification or
Replace, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (6)
- The robot 1. a kind of coaxial eight rotor three is dwelt, it is characterised in that：Protected including the rotor mechanism for driving and for self The flexible ball cylindricality mechanism that shield and land roll, and the sealing mechanism dust-proof for underwater waterproof, land；Power supply (5) and fly Control module (4) is installed on the pedestal (11), is respectively fed to the work of power, the control rotor mechanism to control State the motion of robot；A pair of major axis (121) and a pair of short axles (122) are fixed on pedestal (11) in crosswise, eight rotors (14) and eight drives Dynamic motor (13) is divided into four groups and is symmetrically arranged on respectively on the major axis (121) and the short axle (122), forms the gyroplane Structure；Outside the rotor mechanism, major axis (121) outer end is connected connecting shaft (31), and passes through for flexible ball cylindricality mechanism The connecting shaft (31) is rotatablely connected with the flexible ball cylindricality mechanism, makes the rotor mechanism and the flexible ball cylindricality mechanism It can relatively rotate；Outside the power supply (5), the winged control module (4) and the radio transceiver chip and the motor (13) is outside It is provided for the sealing mechanism of waterproof.
- The robot 2. coaxial eight rotor three of one kind according to claim 1 is dwelt, it is characterised in that：Two inner ring (21) and two Individual outer shroud (24) be arranged in parallel, and the inner ring (21) is located on the outside of the outer shroud (24), by along week between two outer shrouds (24) It is connected to each outer shroud connecting rod (25) being uniformly arranged, passes through between the inner ring (21) and close outer shroud (24) Each inner and outer ring connecting rod (26) for being evenly distributed setting is connected, and forms the flexible ball cylindricality mechanism；Fixed pedestal (23) is located at the inner ring (21) center, by each fixed pedestal connecting rod (22) for being evenly distributed setting It is connected with the inner ring (21), the connecting shaft (31) bearing (32) internal with being arranged at the fixed pedestal (23) is matched somebody with somebody Connection is closed, the rotor mechanism is relatively rotated with the flexible ball cylindricality mechanism.
- The robot 3. coaxial eight rotor three of one kind according to claim 1 or 2 is dwelt, it is characterised in that：The sealing mechanism Including a central seal shell and four motor seal shells, central seal shell top (61) and central seal shell bottom (62) fasten It is glued and is connected by bolt, forms the central seal shell, the central seal shell is located at the power supply (5), the winged control Outside module (4) and the radio transceiver chip；(64) and motor seal shell lower cover (65) is covered on motor seal shell respectively by seal washer fastening splicing blending bolt to consolidate It is connected at the top and bottom of motor seal shell (63), forms the motor seal shell, the motor seal shell interior sealing there are a pair of drives Dynamic motor (13).
- The robot 4. coaxial eight rotor three of one kind according to claim 2 is dwelt, it is characterised in that：The inner ring (21), institute It is 1.2g/cm that inner and outer ring connecting rod (26) and the outer shroud (24), which are stated, by density3, Young's modulus of elasticity be more than 5GPa polyester tree Fat or nylon 3D printing are made, and the outer shroud connecting rod (25) and the fixed pedestal connecting rod (22) carbon fiber pipe block Arrive.
- The robot 5. coaxial eight rotor three of one kind according to claim 2 is dwelt, it is characterised in that：The inner ring (21) and institute The circle core shaft for stating outer shroud (24) overlaps with the major axis (121) axis, and the radius of the inner ring (21) is less than the outer shroud (24).
- The robot 6. coaxial eight rotor three of one kind according to claim 1 is dwelt, it is characterised in that：The motor (13) Output shaft be vertically arranged, every group of two coaxial settings of motor (13), and in up and down it is each symmetrically connection one rotor (14), the direction of rotation of two rotors (14) is opposite.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711239491.5A CN107839419A (en) | 2017-11-30 | 2017-11-30 | A kind of coaxial eight rotor three is dwelt robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711239491.5A CN107839419A (en) | 2017-11-30 | 2017-11-30 | A kind of coaxial eight rotor three is dwelt robot |
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| CN201711239491.5A Pending CN107839419A (en) | 2017-11-30 | 2017-11-30 | A kind of coaxial eight rotor three is dwelt robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583182A (en) * | 2018-05-23 | 2018-09-28 | 北京航空航天大学 | A kind of amphibious ball shape robot in sky land |
| US20190263206A1 (en) * | 2018-02-28 | 2019-08-29 | Stmicroelectronics S.R.L. | Multi-environment flexible vehicle |
| CN110203386A (en) * | 2019-05-31 | 2019-09-06 | 上海大学 | A kind of new coaxial unmanned machine of configuration omnidirectional |
| JP2019194069A (en) * | 2018-04-25 | 2019-11-07 | 株式会社プロドローン | Unmanned aircraft |
| CN110843439A (en) * | 2019-11-28 | 2020-02-28 | 北京邮电大学 | Amphibious double-ball robot |
| CN112498035A (en) * | 2020-12-15 | 2021-03-16 | 江苏集萃智能制造技术研究所有限公司 | Portable triphibian mobile robot of land, water and air |
| JP2021107198A (en) * | 2019-12-27 | 2021-07-29 | 日本板硝子株式会社 | Flying body |
| CN114475114A (en) * | 2021-12-10 | 2022-05-13 | 江苏集萃智能制造技术研究所有限公司 | Light-duty heavy load triphibian unmanned aerial vehicle |
| CN114475116A (en) * | 2022-01-29 | 2022-05-13 | 复旦大学 | Triphibian robot |
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| CN104786768A (en) * | 2015-04-21 | 2015-07-22 | 中国科学院合肥物质科学研究院 | Spherical mechanism for quad-rotor amphibious robot |
| CN105539037A (en) * | 2015-12-31 | 2016-05-04 | 骆研 | Land-air four-rotor-wing unmanned aerial vehicle capable of rolling on ground |
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Application publication date: 20180327 |