CN113799560A

CN113799560A - Air-ground dual-purpose robot

Info

Publication number: CN113799560A
Application number: CN202111104287.9A
Authority: CN
Inventors: 薛永江; 宋帅; 肖轩; 张葆家; 张桂龙; 刘程朴
Original assignee: Tianjin Polytechnic University
Current assignee: Tianjin Polytechnic University
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2021-12-17

Abstract

The invention relates to an air-ground robot, belonging to the technical field of robots and characterized in that: an air-ground robot consists of an actuating mechanism, a turnover mechanism, a driving motor and a robot body, and can be switched among foot type, wheel type and air flight; the actuating mechanism comprises four quarter circular arcs and two propeller blades, wherein the four circular arcs are sequentially hinged together, and the two propeller blades are hinged with two opposite hinged points; the turnover mechanism consists of four hinges and can be used as a connector of the actuating mechanism and the machine body to realize the turnover of the actuating mechanism; the driving motors are totally twelve and are divided into four groups, each group is provided with two driving motors connected with the propeller blades, the rotation and deformation of the actuating mechanism are realized by controlling the rotation directions of the two motors, and the third driving motor is connected with the turnover mechanism to drive the turnover of the actuating mechanism. The robot can be switched among four-foot, four-wheel and air flight by controlling the driving motor.

Description

Air-ground dual-purpose robot

Technical Field

The invention relates to an air-ground dual-purpose robot, in particular to a four-foot four-wheel robot which can be changed into an air flying mode to realize air-ground dual-purpose, belonging to the technical field of robots.

Background

With the rapid development of the robot technology in China, the functionality, flexibility and intelligence of the robot technology become increasingly complete. The appearance of different types of robots not only brings great convenience to daily life of people, but also plays a great role in industrial production, and some robots are used in the military field, so that the robot technology has great development potential. Therefore, more and more researchers hope to widen the moving range of the robot by improving the motion form of the robot, so that the robot has greater utilization value.

At present, wheel type, foot type and wheel foot type robots mainly exist at home and abroad, and some research institutions innovatively research and develop air-ground dual-purpose robots. The air-ground dual-purpose robot can not only complete some ground tasks, but also perform some aerial operations. The air-ground amphibious robot disclosed in the patent [ CN112339516A ] can climb four limbs and has a flying and high-speed gliding mode; the air-ground amphibious emergency rescue reconnaissance robot disclosed by the patent [ CN205149428U ] can complete ground crawling and air flying to perform rescue reconnaissance tasks; the patent [ CN104442248A ] discloses an air-ground amphibious robot, the main actuating mechanism of which is composed of a land device and a flying device which are fixedly connected together, and the air-ground amphibious robot has strong obstacle crossing capability and also gives consideration to flying capability. However, most land-air dual-purpose robots are either wheel-type or foot-type in land mode, which has some limitation on the land movement capability of the robot. Therefore, the invention provides the air-ground robot which has a simple structure and flexible change, can change wheel type and foot type motion modes on the land and can fly in the air, and the combination of the three motion modes enables the application occasions of the robot to be wider.

Disclosure of Invention

The invention aims to provide an air-ground dual-purpose robot which integrates three motion modes of wheel type, foot type and air flight and can be flexibly switched among the three motion modes.

The invention solves the technical problem by adopting the technical scheme that the air-ground robot consists of an actuating mechanism, a turnover mechanism, a driving motor and a robot body, and can automatically switch among three motion modes of foot type, wheel type and air flight; the four actuating mechanisms comprise four quarter circular arcs and two propeller blades, wherein the four circular arcs are sequentially hinged together, one ends of the two propeller blades are hinged with two opposite hinged points, and the other ends of the two propeller blades are hinged together; the turnover mechanism consists of four hinge mechanisms, and can be used as a connector of the actuating mechanism and the machine body to realize the turnover of the actuating mechanism; the driving motors are totally twelve and divided into four groups, each group is provided with two driving motors connected with the propeller blades, the integral rotation, the front-back swing and the deformation of the actuating mechanism are realized by controlling the rotation directions of the two driving motors, and the third driving motor is connected with the turnover mechanism and used for driving the turnover of the actuating mechanism. The robot can be switched among four-foot, four-wheel and air flight by controlling the driving motor. The combination of the three motion modes enables the moving range of the robot to be wider, so that more and more complex tasks can be completed.

The invention has the advantages of novel and simple structure, convenient control and complete functions, and can complete the switching of three motion modes of foot type, wheel type and air flight through a simple actuating mechanism.

Drawings

Fig. 1 is a schematic diagram of an actuating mechanism of an air-ground robot in a wheel type state according to the invention.

Fig. 2 is a schematic diagram of an actuating mechanism of an air-ground robot in a foot type state according to the invention.

Fig. 3 is a schematic diagram of a turnover mechanism of an air-ground robot.

Fig. 4 is a schematic diagram of the air-ground robot in a wheel type state.

Fig. 5 is a schematic diagram of a foot type ground-air robot according to the present invention.

Fig. 6 is a schematic view of an air-ground robot in an air flight state according to the invention.

Detailed Description

The invention will be further described with reference to the following examples and figures:

the invention relates to an air-ground dual-purpose robot (see figures 1-6), which comprises an actuating mechanism, a turnover mechanism, a driving motor and a robot body 7. The actuating mechanism 12-15 comprises four

quarter arcs

1, 3, 4 and 7 and two propeller blades 2 and 6; the turnover mechanism comprises 8-11 hinge mechanisms; the total number of the driving motors 16-27 is 12, wherein 17, 18, 22, 23, 19, 20, 26 and 27 are respectively connected with the propeller blades 2 and 6, the

motors

16, 21, 24 and 25 are respectively connected with the turnover mechanisms 8-11, and the 12 motors jointly act to control four actuating mechanisms and the turnover mechanisms.

Specific examples of the present invention are given below. The specific examples are intended to be illustrative of the invention and are not to be construed as limiting the claims.

The first embodiment is as follows:

the air-ground robot of the invention is converted into a wheel type state, as shown in figure 4, two propeller blades 2 and 6 are driven to form 180 degrees by controlling

driving motors

17, 18, 22, 23, 19, 20, 26 and 27 connected with actuators 12-15, so that the actuators 12-15 are changed into a whole circle, and then the driving motors are controlled to drive the actuators to integrally rotate, so that the robot is changed into a wheel type motion state.

Example two:

the invention relates to an air-ground robot which is converted into a foot type state, as shown in figure 5, two propeller blades 2 and 6 are driven to rotate relatively by controlling

driving motors

17, 18, 22, 23, 19, 20, 26 and 27 connected with actuators 12-15, so that the actuators 12-15 are converted into foot type structures, and then the actuators are driven to swing back and forth by controlling the driving motors, so that the robot is converted into a foot type motion state.

Example three:

the invention relates to an air-ground dual-purpose robot which is converted into an air flight mode, as shown in figure 6, four turnover mechanisms 8-11 are driven to turn over by controlling

driving motors

16, 21, 24 and 25 connected with a turnover mechanism, and then the

execution motors

17, 18, 22, 23, 19, 20, 26 and 27 are controlled to drive an execution mechanism to integrally rotate, so that the robot is converted into the air flight mode.

Claims

1. An air-ground robot is characterized by comprising an actuating mechanism, a turnover mechanism, a driving motor and a robot body, and can be switched among four feet, four wheels and air flight; the actuating mechanism consists of four quarter circular arcs and two propeller blades, wherein the four quarter circular arcs are sequentially hinged together, one ends of the two propeller blades are respectively hinged with two opposite hinged points in the four hinged points, and the other ends of the two propeller blades are hinged together; the turnover mechanism consists of four hinge mechanisms, and can be used as a connecting body of the actuating mechanism and the machine body to realize the turnover movement of the actuating mechanism under the driving of a motor; the three driving motors are connected with the turnover mechanism and used for realizing the turnover motion of the actuating mechanism, and the four-foot, four-wheel and aerial flight can be switched through the combined action of the mechanisms.

2. An air-ground robot as claimed in claim 1, wherein: through two motors that control and screw blade link to each other, make the contained angle between two screw blades be 180, articulated four circular arcs together this moment just constitute one whole circle, can drive through controlling these two driving motor syntropy rotations this moment actuating mechanism takes place continuous rotation, becomes four rounds of robots.

3. An air-ground robot as claimed in claim 1, wherein: the two propeller blades are not on the same straight line by controlling the two motors connected with the propeller blades, so that the actuating mechanism is deformed, and the actuating mechanism swings back and forth by controlling the two driving motors to form the quadruped robot.

4. An air-ground robot as claimed in claim 1, wherein: the actuating mechanism is driven to perform overturning motion by controlling the driving motor connected with the overturning mechanism, and the actuating mechanism is driven to continuously rotate by controlling the driving motor connected with the two propeller blades at the moment, so that the aerial flight mode is converted.