CN115284804B - Land-air amphibious robot combining tilting four rotors and double-wheel feet - Google Patents
Land-air amphibious robot combining tilting four rotors and double-wheel feet Download PDFInfo
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- CN115284804B CN115284804B CN202211025894.0A CN202211025894A CN115284804B CN 115284804 B CN115284804 B CN 115284804B CN 202211025894 A CN202211025894 A CN 202211025894A CN 115284804 B CN115284804 B CN 115284804B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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Abstract
An air-ground amphibious robot combining four tilting rotors and double-wheel feet relates to the technical field of air-ground amphibious robots. The invention solves the problems that the existing air-ground amphibious robot is combined with a flight platform in a single moving mode, the function of a crawling mechanism is single, walking is realized by virtue of the flight platform, and the cruising ability of the robot is further reduced. The rocker arm of the tilting steering engine is connected with a steering engine driving rotating shaft, a propeller is installed on a motor shaft of a rotor wing driving motor, the steering engine driving rotating shaft is driven by two tilting steering engines connected with the steering engine driving rotating shaft to rotate, the propeller and the rotor wing driving motor at two ends of the steering engine driving rotating shaft are driven to tilt, and two leg assemblies are symmetrically installed on the outer side walls of two longitudinal installation side plates respectively. According to the invention, the wheel-leg type composite moving crawling mechanism is combined with the flying platform, so that the functions of the robot are increased, the assistance of the flying platform is eliminated, the independent walking is realized, and the cruising ability of the robot is improved.
Description
Technical Field
The invention relates to the technical field of air-ground amphibious robots, in particular to an air-ground amphibious robot combining tilting four rotors and double-wheel feet.
Background
The existing air-ground amphibious robot mainly adopts a mode that rotors are combined with wheels to move, so that the independent flying and independent walking functions are realized, the mode switching mainly adopts a mode of manual control or instruction control, and certainly, a plurality of scholars fuse a multi-rotor platform with various crawling mechanisms such as foot type and crawler type to realize new functions, mainly comprising the lifting and stable landing of the flying and walking functions. Based on the current situation, the future development direction of the amphibious platform mainly comprises the following points:
first, in terms of the form of a crawling mechanism, relevant researches on combination with a rotor platform are conducted on wheel type, foot type and crawler type as traditional ground moving modes, the composite moving mode combines the advantages of a single moving mode, the ground moving capability of the platform is greatly improved, and the researches on combination with the rotor platform are few. The wheel-leg type composite moving crawling mechanism is combined with the flying platform, so that the crawling mechanism has foot type ground adaptability and wheel type quick moving capability, assistance of the flying platform is eliminated, independent walking is realized, and the cruising ability of the robot is improved.
Secondly, from the perspective of a flight platform, the crawling mechanism of the existing air-ground amphibious robot does not have the folding and unfolding function, and in the flight mode, the crawling mechanism can damage the integrity of the whole robot and the whole pneumatic characteristic of the robot.
Finally, from the synergistic effect among the platforms, how to realize the synergistic effect between the flight power and the ground mobile power improves the performance or endurance of the robot, avoids the situation that the platforms are mutually loaded as much as possible, and improves the energy utilization rate of the driving unit, which is also an important direction for the development of the amphibious platform.
In conclusion, the existing air-ground amphibious robot is combined with the flight platform in a single moving mode, the function of the crawling mechanism is single, walking is achieved by means of the flight platform, and the cruising ability of the robot is reduced.
Disclosure of Invention
The invention aims to solve the problems that the existing air-ground amphibious robot is combined with a flight platform in a single moving mode, a crawling mechanism has a single function, walking is required to be realized by virtue of the flight platform, and the cruising ability of the robot is further reduced, and further the air-ground amphibious robot combining a tilting quad-rotor and double-wheel-feet is provided.
The technical scheme of the invention is as follows:
an air-ground amphibious robot combining four tilting rotors and double-wheel feet comprises a flying platform and a ground moving platform, wherein the flying platform is a four tilting rotor mechanism, the tiltable four-rotor mechanism comprises a machine body 4 and four rotor wing assemblies, each rotor wing assembly comprises a propeller 1, a rotor wing driving motor 2 and a tilting steering engine 3, the machine body 4 comprises a middle upper connecting column 17, two longitudinal installation side plates 18, two middle lower connecting columns 19 and two steering engine driving rotating shafts 20, the two longitudinal installation side plates 18 are vertically and oppositely arranged at the left side and the right side of a flight platform, the middle lower parts of the inner side walls of the two longitudinal installation side plates 18 are fixedly connected through the two middle lower connecting columns 19 which are horizontally arranged side by side, the middle upper parts of the inner side walls of the two longitudinal installation side plates 18 are fixedly connected through the horizontally arranged middle upper connecting column 17, the two steering engine driving rotating shafts 20 are respectively horizontally arranged at the front side and the back side of the flight platform and are rotatably connected with the two longitudinal installation side plates 18, two tilting steering engines 3 are respectively arranged at the two ends of each steering engine driving rotating shaft 20, the tilting steering engine 3 is arranged on the inner side walls of the longitudinal installation side plates 18, the rocker arms of the tilting steering engine 3 are connected with the tilting steering engine driving rotating shafts 20, the two parts of the two ends of each steering engine driving rotating shafts 20 are respectively provided with the two rotor wing driving motors 2, one propeller 1, and the two tilting steering engine driving rotating shafts are connected with the two steering engine driving motor 3, and then drive screw 1 and rotor driving motor 2 at steering wheel drive pivot 20 both ends and realize verting, and ground moving platform is two-wheeled leg formula self-balancing mechanism of crawling, and two shank components of two-wheeled leg formula self-balancing mechanism of crawling are installed on the lateral wall of two vertical installation curb plates 18 respectively the symmetry.
Furthermore, the longitudinal installation side plate 18 is of an inverted equilateral triangle plate-shaped structure, and a downward-concave V-shaped groove is formed in the middle of the upper end of the longitudinal installation side plate 18.
Further, two rotating shaft assembling holes are processed on the upper portions of the front end and the rear end of each longitudinal installation side plate 18 respectively, four rotating shaft assembling holes in the two longitudinal installation side plates 18 are arranged in a pairwise opposite mode, the two ends of the front side steering engine driving rotating shaft 20 are connected with the two rotating shaft assembling holes in the front ends of the two longitudinal installation side plates 18 in a rotating mode through two bearings respectively, and the two ends of the rear side steering engine driving rotating shaft 20 are connected with the two rotating shaft assembling holes in the rear ends of the two longitudinal installation side plates 18 in a rotating mode through two bearings respectively.
Furthermore, each leg component comprises a shank connecting rod A5, a shank connecting rod B6, a shank connecting rod C7, a shank connecting rod D8, a shank driving motor 9, a thigh driving motor 10, a thigh rod 11, a shank rod 12 and wheel components, a shank driving motor 9 and a thigh driving motor 10 are respectively installed on the inner side end face of each longitudinal installation side plate 18, motor shafts of the shank driving motor 9 and the thigh driving motor 10 are arranged in parallel, the shank driving motor 9 is located obliquely above the thigh driving motor 10, two motor shaft assembling holes are formed in the longitudinal installation side plate 18, the motor shafts of the shank driving motor 9 and the thigh driving motor 10 respectively penetrate through the two motor shaft assembling holes of the longitudinal installation side plate 18 and extend to the outer side of the longitudinal installation side plate 18, one end of the shank connecting rod A5 is fixedly connected with the motor shaft of the shank driving motor 9, one end of the shank connecting rod C7 is coaxially and rotatably connected with the motor shaft of the thigh driving motor 10 through a bearing, two ends of the shank connecting rod B6 are respectively rotatably connected with the other ends of the shank connecting rod A5 and the shank connecting rod C7 through pin shafts, the top end of the shank connecting rod 11 is fixedly connected with the thigh driving motor 10 through a shank connecting rod 12, the bottom end of the shank connecting rod assembly 12, and the shank connecting rod assembly is connected with the shank connecting rod D8 through a shank connecting rod assembly, and the other end of the shank connecting rod assembly, and the shank connecting rod assembly D8.
Furthermore, the leg assembly adopts a double four-bar linkage structure, the lower leg connecting bar A5, the lower leg connecting bar B6, the lower leg connecting bar C7 and the longitudinal installation side plate 18 form a first four-bar linkage mechanism, the first four-bar linkage mechanism is a parallel four-bar linkage mechanism, and the lower leg connecting bar C7, the lower leg connecting bar D8, the lower leg rod 12 and the thigh rod 11 form a second four-bar linkage mechanism.
Further, the wheel part assembly comprises a wheel part driving motor 14, a wheel hub 15 and a tire 16, the wheel part driving motor 14 is mounted at the bottom end of the shank 12, the wheel hub 15 is mounted on a motor shaft of the wheel part driving motor 14, and the tire 16 is mounted on the wheel hub 15.
Furthermore, each leg assembly further comprises a driven wheel 13, a driven wheel mounting frame is arranged on the end face of one side, away from the thigh rod 11, of the upper portion of the shank rod 12, and the driven wheel 13 is mounted on the driven wheel mounting frame.
Further, the fuselage 4 still includes controller 21, and controller 21 passes through connecting piece fixed mounting on two lower-middle part spliced poles 19, and controller 21 is connected with two shank driving motor 9, two thigh driving motor 10, two wheel portion driving motor 14, four rotor driving motor 2 and four steering engine 3 that vert respectively through a plurality of wires.
Further, the fuselage 4 still includes battery 22, and battery 22 sets up in controller 21 below, and battery 22 top is connected with controller 21 can dismantle through the connecting piece, and battery 22 is connected through a plurality of wires controller 21, two shank driving motor 9, two thigh driving motor 10, two wheel portion driving motor 14, four rotor driving motor 2 and four steering engine 3 that vert respectively.
Further, the fuselage 4 still includes horizontal mounting plate 23 and two slides 24, and horizontal mounting plate 23 horizontal installation is in controller 21 bottom, and two slides 24 are installed side by side along flight platform length direction level to the terminal surface under the horizontal mounting plate 23, and the spout has been seted up along the horizontal direction to the terminal surface of slide 24 medial extremity, and battery 22 top both sides outwards extend respectively along the horizontal direction has a platelike outer edge, and battery 22 both sides platelike outer edge respectively with two slides 24 sliding connection in horizontal mounting plate 23 bottom.
Compared with the prior art, the invention has the following effects:
1. the wheel-leg type composite moving crawling mechanism is combined with the flying platform, so that the crawling mechanism has foot type ground adaptability and wheel type quick moving capability, assistance of the flying platform is eliminated, independent walking is realized, and the cruising ability of the robot is improved. In the aspect of flight, the air-ground amphibious robot has a four-rotor flight mode, and the functions of vertical take-off and landing, vertical rotation and flat flight and the like of the robot are realized by adopting a flight control technology of a tiltable rotor; the leg structure has two degrees of freedom, can be in the holistic barycenter position of the in-process adjustment robot of retrieving the shank, guarantees that the robot has better flight performance.
2. The ground moving platform adopts a two-wheel-leg composite moving mode, has lighter weight and more flexible movement, and is more suitable for being combined with a rotor platform with limited load capacity. The robot can pass through, cross over and even jump over obstacles through the control algorithm of the leg parts, the level and the stability of the robot body can be ensured on uneven road surfaces, and the robot can adapt to most terrains. The driven wheels are arranged at the knee joints, so that the robot has a four-wheel ground movement mode, and the great load capacity and stability are obtained under the condition of sacrificing the height adjustment capacity.
3. Because the two-wheel leg type self-balancing crawling mechanism is controlled by adopting a cascade control algorithm which is similar to the control algorithm of a rotor craft, the power of the rotor and the driving unit of the crawling mechanism can be cooperatively controlled, the control targets of the power of the rotor and the driving unit of the crawling mechanism are the same, the stability and the load capacity of the robot can be improved under the cooperative action, meanwhile, the robot can realize the effects of single-leg movement, stable arbitrary posture and the like, and the two-wheel leg type self-balancing crawling mechanism can adapt to more complex application scenes.
4. The leg of the crawling mechanism adopts a double four-connecting-rod type structure and has two degrees of freedom. The thigh rod 11 is directly driven by a thigh driving motor 10, the shank rod 12 is indirectly driven by a shank driving motor 9, and the output torque of the knee joint can be reduced by half compared with a two-link leg structure through the transmission of two four-link mechanisms; meanwhile, the driving unit can be integrated at the machine body, so that the rotational inertia of the leg structure is reduced, and the control performance of the robot is improved.
Drawings
Fig. 1 is a front view of an air-ground amphibious robot combining a tilting quad-rotor with two-wheel-feet according to the invention;
fig. 2 is a side view of an air-ground amphibious robot of the invention incorporating a tilt quad-rotor with dual-wheel-feet;
fig. 3 is a top view of the air-ground amphibious robot combining tilting quadrotors and double-wheel feet;
fig. 4 is an isometric view of an air-ground amphibious robot of the invention incorporating a tilt quad-rotor with dual-wheel-pods;
fig. 5 is a front view of the air-ground amphibious robot combining a tilting quad-rotor and two-wheel-feet in a flying state;
fig. 6 is a side view of the air-ground amphibious robot combining a tilting quad-rotor and two-wheel-feet in a flying state;
fig. 7 is a top view of the air-ground amphibious robot combining a tilting quad-rotor and two-wheel-feet in a flying state;
fig. 8 is an axonometric view of an air-ground amphibious robot combining a tilting quad-rotor and double-wheel-feet in a flying state;
fig. 9 is a schematic structural diagram of an air-ground amphibious robot combining a tilting quad-rotor and double-wheel-feet in a jumping obstacle state;
fig. 10 is a schematic structural diagram of the air-ground amphibious robot combining a tilting quadrotor and two-wheel feet in the state of drilling obstacles;
fig. 11 is a schematic structural diagram of an air-ground amphibious robot combining a tilting quad-rotor and two-wheel-feet in a ground adaptive state;
fig. 12 is a schematic structural diagram of an air-ground amphibious robot combining a tilting quad-rotor and double-wheel-feet in a single-wheel driving state according to the invention;
fig. 13 is a schematic structural diagram of an air-ground amphibious robot combining a tilting quad-rotor and two-wheel-feet in a falling-prevention state.
In the figure: 1, a propeller; 2-rotor drive motor; 3-a tilt steering engine; 4-a fuselage; 5-shank link 1; 6-shank link 2; 7-a shank link 3; 8-shank link 4; 9-a calf drive motor; 10-thigh drive motor; 11-a thigh bar; 12-a shank rod; 13-a driven wheel; 14-wheel section drive motor; 15-a hub; 16-a tyre; 17-middle upper connecting column, 18-longitudinal mounting side plate and 19-middle connecting column; 20-a steering engine drives a rotating shaft; 21-a controller; 22-a storage battery; a transverse mounting base plate 23; a chute 24.
Detailed Description
The first specific implementation way is as follows: the embodiment is described by combining figures 1 to 13, the land air amphibious robot combining a tilting quadrotor and a double-wheel foot comprises a flight platform and a ground moving platform, the flight platform is a tilting quadrotor mechanism, the tilting quadrotor mechanism comprises a body 4 and four rotor assemblies, each rotor assembly comprises a propeller 1, a rotor driving motor 2 and a tilting steering engine 3, the body 4 comprises a middle upper connecting column 17, two longitudinal installation side plates 18, two middle lower connecting columns 19 and two steering engine driving rotating shafts 20, the two longitudinal installation side plates 18 are vertically and oppositely arranged at the left side and the right side of the flight platform, the middle lower parts of the inner side walls of the two longitudinal installation side plates 18 are fixedly connected through the two middle lower connecting columns 19 which are horizontally arranged side by side, the middle upper parts of the inner side walls of the two longitudinal installation side plates 18 are fixedly connected through the middle upper connecting column 17 which is horizontally arranged, the two steering engine driving rotating shafts 20 are respectively horizontally arranged at the front side and the back side of the flight platform and are rotatably connected with the two longitudinal installation side plates 18, two tilting steering engine driving rotating shafts 20 are respectively arranged at the front side and back side and the two ends of the two longitudinal installation side plates 2, two tilting steering engine driving rotating shafts 20 are respectively arranged on the front side and the two tilting steering engines, the two tilting steering engines are respectively arranged on the two tilting side plates 3, the two tilting steering engine driving rotating shafts 20, the two tilting side plates 2, the two tilting steering engines are respectively, the two tilting steering engines are connected with the two tilting steering engines and the steering engine driving rotating shafts 20, the two tilting steering engines, the two tilting steering engine driving rotating shafts of the two tilting rotary shafts 20, the two tilting rotary shafts of the steering engine driving motor 2, the two tilting rotary shafts of the two steering engine driving motor 2, the two tilting side plates 2, the two tilting steering engine driving motor 2, two leg assemblies of the two-wheel leg type self-balancing crawling mechanism are symmetrically arranged on the outer side walls of the two longitudinal installation side plates 18 respectively.
In the embodiment, the flight platform adopts a four-rotor flight mode with two tilting degrees of freedom, so that the functions of vertical take-off and landing, vertical rotation and horizontal flight and the like can be realized; the ground moving platform adopts a two-wheel-leg moving mode, and firstly, the mode can realize the functions of basic ground walking, jumping and adapting to complex road surfaces; secondly compare in many wheel legs mode of removal, two wheel legs have the quality lighter and more nimble characteristics, more are fit for combining with rotor flight platform. Meanwhile, the crawling mechanism is also provided with a four-wheel moving mode, so that the stability and the ultimate load capacity are improved, and the crawling mechanism can be freely switched with a two-wheel self-balancing mode; and finally, the legs have two degrees of freedom and can move freely in a sagittal plane, so that the integral mass center of the robot is in the central position by adjusting the postures of the legs in the flying process, and the integral flying performance of the robot is improved. In addition, the control principle of the two-wheel leg type self-balancing crawling mechanism is similar to that of a rotor platform, so that the power of the rotor can be utilized to assist the ground moving platform in the ground moving process so as to improve the limit load capacity and the stability capacity of the platform.
In this embodiment, the flight platform adopts the flight mode of four rotors that can vert, and every rotor all possesses independent driving motor and the steering wheel that verts, and the angle of verting can reach 60, utilizes the vertical take off and land, the rotation of droing of current four rotor control techniques can realize the robot, the function such as plane flies.
In the embodiment, the leg part adopts a control mode of position control and feedforward moment compensation, so that functions such as height adjustment and ground adaptation can be realized, the height adjustment enables the robot to span, pass or jump over obstacles, the ground adaptation enables the robot to ensure the level of the robot body as far as possible under the condition that the landing heights of the two legs are different, and the stability of the robot is improved. In addition, the flying platform can provide additional supporting force and stability guarantee for the robot in the ground moving process, and the stability of the robot body can be kept through flying power when the robot is unstable; when the road surface is narrow, the vehicle can pass by adopting a single-wheel traveling mode.
In the embodiment, the tilting steering engine 3 adopts an X20-8.4-50 steering engine, and the working parameters are as follows:
working voltage of DC6.0V-8.4V
Size 40.50 x 21 x 42mm
Torsion of 45Kg.cm @8.4V 42Kg.cm @7.4V 38Kg.cm @6.0V
Speed 0.15sec/60 degree @8.4V 0.17sec/60 degree @7.4V
0.20sec/60°@6.0V
Weight: 78g
The working frequency is as follows: 1520us/333Hz,900us-2100us
Motor phi 20mm Coreless
Ball Bearing:2BB
The hollow cup motor and the full-metal CNC shell are adopted.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 4, in which the longitudinal installation side plate 18 of the present embodiment has an inverted equilateral triangle plate-shaped structure, and a concave V-shaped groove is formed in the middle of the upper end of the longitudinal installation side plate 18. So set up, two base angles departments of the equilateral triangle platelike structure of inverting are in installing the rotor subassembly, and through processing V type groove in vertical installation curb plate 18 upper end and alleviate the quality of robot. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 to 4, two rotating shaft assembly holes are respectively processed on the upper portions of the front and rear ends of each longitudinal installation side plate 18 of the embodiment, two pairs of four rotating shaft assembly holes on the two longitudinal installation side plates 18 are arranged oppositely, two ends of the front side steering engine driving rotating shaft 20 are respectively connected with the two rotating shaft assembly holes at the front ends of the two longitudinal installation side plates 18 through two bearings in a rotating manner, and two ends of the rear side steering engine driving rotating shaft 20 are respectively connected with the two rotating shaft assembly holes at the rear ends of the two longitudinal installation side plates 18 through two bearings in a rotating manner. So set up, through bearing rotatable coupling between steering wheel drive pivot 20 and the vertical installation curb plate 18, every steering wheel drive pivot 20 realizes rotating under the drive of two tilting steering wheel 3 rather than being connected, and then drives screw 1 and rotor driving motor 2 realization tilting at steering wheel drive pivot 20 both ends. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode is as follows: the present embodiment is described with reference to fig. 1 and 4, each leg assembly of the present embodiment includes a shank link A5, a shank link B6, a shank link C7, a shank link D8, a shank driving motor 9, a thigh driving motor 10, a thigh lever 11, a shank lever 12 and a wheel assembly, a shank driving motor 9 and a thigh driving motor 10 with motor shafts arranged in parallel are respectively mounted on the inner side end surface of each longitudinal mounting side plate 18, the shank driving motor 9 is located obliquely above the thigh driving motor 10, two motor shaft assembly holes are processed on the longitudinal mounting side plate 18, the motor shafts of the shank driving motor 9 and the thigh driving motor 10 respectively pass through the two motor shaft assembly holes of the longitudinal mounting side plate 18 and extend to the outer side of the longitudinal mounting side plate 18, one end of a shank connecting rod A5 is fixedly connected with a motor shaft of a shank driving motor 9, one end of a shank connecting rod C7 is coaxially and rotatably connected with a motor shaft of a thigh driving motor 10 through a bearing, two ends of a shank connecting rod B6 are respectively rotatably connected with the other ends of the shank connecting rod A5 and the shank connecting rod C7 through hinge pins, the top end of a thigh rod 11 is fixedly connected with the motor shaft of the thigh driving motor 10, the bottom end of the thigh rod 11 is rotatably connected with the top end of a shank rod 12 through a hinge pin, a wheel assembly is installed at the bottom end of the shank rod 12, one end of a shank connecting rod D8 is rotatably connected with the middle upper part of the shank rod 12 through a hinge pin, and the other end of the shank connecting rod D8 is rotatably connected with the other end of the shank connecting rod C7 through a hinge pin. So set up, because the shank structure has two degrees of freedom, consequently can change the whole barycenter position of robot through the gesture of adjustment shank, promote robot's control performance. The ground moving mechanism adopts a double-wheel-foot composite moving mode, and has both the ground adaptability of foot type movement and the high-speed high-efficiency performance of wheel type movement. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: referring to fig. 1 and 4, the present embodiment will be described, in which the leg assembly of the present embodiment is of a double four-link structure, and the lower leg link A5, the lower leg link B6, the lower leg link C7, and the longitudinally-mounted side plate 18 constitute a first four-link mechanism, which is a parallel four-link mechanism, and the lower leg link C7, the lower leg link D8, the lower leg link 12, and the thigh link 11 constitute a second four-link mechanism. With this arrangement, the drive of the lower leg rod 12 can be realized by driving the lower leg link C7 by the lower leg drive motor 9, and the drive torque of the knee joint can be reduced by half compared to the two-link structure. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
In the embodiment, the double-foot structure improves the ground movement flexibility of the robot and simultaneously reduces the mass of the body of the robot as much as possible. On one hand, compared with a two-connecting-rod type leg structure, the leg structure can reduce the output torque of the knee joint by half; on the other hand, the driving unit can be centralized at the machine body, so that the moment of inertia of the leg is reduced, and the control performance of the leg is improved.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 1 and 4, and the wheel unit of the present embodiment includes a wheel driving motor 14, a hub 15, and a tire 16, the wheel driving motor 14 is mounted to the bottom end of the shank 12, the hub 15 is mounted to the motor shaft of the wheel driving motor 14, and the tire 16 is mounted to the hub 15. In this arrangement, the wheel-driving motor 14 is fixed to the shank 12, and is connected to the tire 16 via the hub 15 to form the wheel of the crawler mechanism. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: referring to fig. 1, 2 and 4, the present embodiment is described, each leg assembly of the present embodiment further includes a driven wheel 13, a driven wheel mounting bracket is provided on an end surface of the upper portion of the lower leg rod 12 away from the upper leg rod 11, and the driven wheel 13 is mounted on the driven wheel mounting bracket. So set up, set up the follower and make the robot possess four-wheel ground movement mode in knee joint department, obtained very big load capacity and stability under the condition of sacrificing height adjustment ability. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: the present embodiment is described with reference to fig. 2 to 4, the fuselage 4 of the present embodiment further includes a controller 21, the controller 21 is fixedly mounted on the two middle-lower connecting columns 19 through a connecting piece, and the controller 21 is connected with the two shank driving motors 9, the two thigh driving motors 10, the two wheel driving motors 14, the four rotor driving motors 2, and the four tilt steering engines 3 through a plurality of wires. Other compositions and connection relations are the same as those of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment, the sixth embodiment or the seventh embodiment.
In this embodiment, the controller 21 controls the two tilting steering engines 3 to synchronously drive the steering engine driving rotating shaft 20 to rotate, so that each steering engine driving rotating shaft 20 is driven by the two tilting steering engines 3 connected with the steering engine driving rotating shaft to rotate, and the propellers 1 and the rotor driving motors 2 at the two ends of the steering engine driving rotating shaft 20 are driven to tilt.
The specific implementation method nine: the present embodiment is described with reference to fig. 2 to 4, the body 4 of the present embodiment further includes a storage battery 22, the storage battery 22 is disposed below the controller 21, a top end of the storage battery 22 is detachably connected to the controller 21 through a connecting member, and the storage battery 22 is connected to the controller 21, the two shank driving motors 9, the two thigh driving motors 10, the two wheel driving motors 14, the four rotor driving motors 2, and the four tilt steering engines 3 through a plurality of wires. So configured, the battery 22 provides power to the robot. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: the embodiment is described with reference to fig. 2 and 4, the fuselage 4 of the embodiment further includes a transverse installation bottom plate 23 and two slideways 24, the transverse installation bottom plate 23 is horizontally installed at the bottom end of the controller 21, the two slideways 24 are horizontally installed on the lower end surface of the transverse installation bottom plate 23 side by side along the length direction of the flight platform, the end surface of the inner side of the slideway 24 is provided with a sliding chute along the horizontal direction, two sides of the top end of the storage battery 22 respectively extend outwards along the horizontal direction to form plate-shaped outer edges, and the two plate-shaped outer edges of the two sides of the storage battery 22 are respectively slidably connected with the two slideways 24 at the bottom of the transverse installation bottom plate 23. So set up, be convenient for realize battery 22's change and dismouting. Other compositions and connections are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiments.
Principle of operation
The working principle of the air-ground amphibious robot combining the tilting quadrotors and the double-wheel feet is described with reference to fig. 1 to 13:
in a flight mode, firstly, a tiltable four-rotor mechanism is adopted to enable the robot to be in a hovering state, then a thigh driving motor 10 is started to directly drive a thigh rod 11 to rotate towards one side close to a flight platform by taking a motor shaft of the thigh driving motor 10 as a center until the thigh rod 11 is in a horizontal state; then, a shank driving motor 9 is started to drive a shank rod 12 to rotate towards one side close to a thigh rod 11 by taking a pin shaft at the joint of the shank rod 12 and the thigh rod 11 as a center through a first four-bar linkage mechanism and a second four-bar linkage mechanism in sequence until the shank rod 12 is overlapped with the thigh rod 11, at the moment, a leg component is completely recovered to the side parts of two longitudinal installation side plates 18 of the robot body 4, the leg structure has two degrees of freedom, the position of the mass center of the whole robot can be adjusted in the process of recovering the legs, and the robot is guaranteed to have better flight performance; and finally, the four-rotor mechanism capable of tilting is adopted to realize the functions of vertical take-off and landing, vertical rotation and horizontal flight and the like.
In the ground moving mode, firstly, the shank driving motor 9 is started to drive the shank rod 12 to rotate towards one side far away from the shank rod 11 by taking a pin shaft at the joint of the shank rod 11 as a center through the first four-bar linkage mechanism and the second four-bar linkage mechanism sequentially, and then the shank driving motor 10 is started to directly drive the shank rod 11 to rotate towards one side close to the ground by taking a motor shaft of the shank driving motor 10 as a center; finally, the wheel driving motor 14 drives the wheel hub 15 and the tire 16 mounted on the wheel hub 15 to rotate, so that the ground walking function can be realized, and the free switching between the four-wheel moving mode and the two-wheel self-balancing mode can be realized in the walking process.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a combine to vert four rotors and sufficient empty amphibious robot in land of double round which characterized in that: the aircraft comprises a flight platform and a ground moving platform, the flight platform is a tilting four-rotor mechanism, the tilting four-rotor mechanism comprises a fuselage (4) and four rotor assemblies, each rotor assembly comprises a propeller (1), a rotor driving motor (2) and a tilting steering engine (3), the fuselage (4) comprises a middle upper connecting column (17), two longitudinal installation side plates (18), two middle lower connecting columns (19) and two steering engine driving rotating shafts (20), the two longitudinal installation side plates (18) are vertically and oppositely arranged on the left side and the right side of the flight platform, the middle lower parts of the inner side walls of the two longitudinal installation side plates (18) are fixedly connected through the two middle lower connecting columns (19) which are horizontally arranged side by side, the middle upper parts of the inner side walls of the two longitudinal installation side plates (18) are fixedly connected through the middle upper connecting columns (17) which are horizontally arranged, the two driving rotating shafts (20) are respectively horizontally arranged on the front side and the back side of the flight platform and are rotatably connected with the two longitudinal installation side plates (18), two ends of each steering engine driving rotating shaft (20) are respectively provided with the two tilting steering engine driving rotating shafts (3), the two tilting steering engine driving rotating shafts (20) are respectively, the two tilting steering engine driving rotating shafts (18) are respectively arranged on the front side plates (3), a propeller (1) is arranged on a motor shaft of each rotor wing driving motor (2), each steering engine driving rotating shaft (20) is driven by two tilting steering engines (3) connected with the steering engine driving rotating shaft to rotate, and then the propellers (1) and the rotor wing driving motors (2) at two ends of each steering engine driving rotating shaft (20) are driven to tilt, a ground moving platform is a two-wheel leg type self-balancing crawling mechanism, two leg components of the two-wheel leg type self-balancing crawling mechanism are respectively and symmetrically arranged on the outer side walls of two longitudinal installation side plates (18), each leg component comprises a leg connecting rod A (5), a leg connecting rod B (6), a leg connecting rod C (7), a leg connecting rod D (8), a leg driving motor (9), a thigh driving motor (10), a thigh rod (11), a leg rod (12) and a wheel component, a leg driving motor (9) and a thigh driving motor (10) which are arranged in parallel are respectively arranged on the inner side surface of each longitudinal installation side plate (18), the leg driving motor (9) is positioned above the thigh driving motor (10), two longitudinal installation side plates (18) are processed with two assembling holes, the leg driving motor shaft (9) and the leg driving motor (9) and the leg connecting plate (10) extends to the outer side plate (9) and is connected with the motor shaft (18) and the motor shaft (9), shank connecting rod C (7) one end is passed through the bearing and is connected with the coaxial rotation of motor shaft of thigh driving motor (10), shank connecting rod B (6) both ends are rotated through round pin axle and shank connecting rod A (5) and shank connecting rod C (7) other end respectively and are connected, the motor shaft fixed connection of thigh pole (11) top and thigh driving motor (10), thigh pole (11) bottom is rotated through round pin axle and shank pole (12) top and is connected, wheel unit spare is installed to shank pole (12) bottom, shank connecting rod D (8) one end is rotated through round pin axle and shank pole (12) middle and upper portion and is connected, shank connecting rod D (8) other end rotates through round pin axle and shank connecting rod C (7) other end and is connected.
2. The air-ground amphibious robot combining the tilting quadrotors and the double-wheel-feet as claimed in claim 1, is characterized in that: the longitudinal installation side plate (18) is of an inverted equilateral triangle plate-shaped structure, and a downward-concave V-shaped groove is formed in the middle of the upper end of the longitudinal installation side plate (18).
3. The amphibious robot with tilting quadrotors and double-wheel feet as claimed in claim 2, which is characterized in that: two rotating shaft assembling holes are processed on the upper portions of the front end and the rear end of each longitudinal installation side plate (18) respectively, four rotating shaft assembling holes in the two longitudinal installation side plates (18) are arranged in a pairwise opposite mode, the two ends of a front side steering engine driving rotating shaft (20) are connected with the two rotating shaft assembling holes in the front end of the two longitudinal installation side plates (18) in a rotating mode through two bearings respectively, and the two ends of a rear side steering engine driving rotating shaft (20) are connected with the two rotating shaft assembling holes in the rear end of the two longitudinal installation side plates (18) in a rotating mode through two bearings respectively.
4. The amphibious robot with tilting quadrotors and double-wheel feet as claimed in claim 1, which is characterized in that: the leg component adopts a double four-link structure, a lower leg connecting rod A (5), a lower leg connecting rod B (6), a lower leg connecting rod C (7) and a longitudinal installation side plate (18) form a first four-link mechanism, the first four-link mechanism is a parallel four-link mechanism, and the lower leg connecting rod C (7), a lower leg connecting rod D (8), a lower leg rod (12) and a thigh rod (11) form a second four-link mechanism.
5. The air-ground amphibious robot combining the tilting quadrotors and the double-wheel-feet as claimed in claim 4, is characterized in that: the wheel part assembly comprises a wheel part driving motor (14), a hub (15) and a tire (16), the wheel part driving motor (14) is installed at the bottom end of the lower leg rod (12), the hub (15) is installed on a motor shaft of the wheel part driving motor (14), and the tire (16) is installed on the hub (15).
6. The air-ground amphibious robot combining the tilting quadrotors and the double-wheel-feet as claimed in claim 5, is characterized in that: each leg component further comprises a driven wheel (13), a driven wheel mounting frame is arranged on the end face of one side, away from the thigh rod (11), of the upper portion of the shank rod (12), and the driven wheel (13) is mounted on the driven wheel mounting frame.
7. The amphibious robot with tilting quadrotors and double-wheel feet as claimed in claim 6, wherein: fuselage (4) still include controller (21), and controller (21) pass through connecting piece fixed mounting on two middle and lower part spliced poles (19), and controller (21) are connected with two shank driving motor (9), two thigh driving motor (10), two wheel portion driving motor (14), four rotor driving motor (2) and four tilting steering wheel (3) respectively through a plurality of wires.
8. An air-ground amphibious robot combining a tilt quad-rotor with two-wheel-feet according to claim 7, characterized in that: fuselage (4) still include battery (22), and battery (22) set up in controller (21) below, and battery (22) top is passed through the connecting piece and can be dismantled with controller (21) and be connected, and battery (22) are connected through a plurality of wires controller (21), two shank driving motor (9), two thigh driving motor (10), two wheel portion driving motor (14), four rotor driving motor (2) and four steering wheel (3) that vert respectively.
9. The air-ground amphibious robot combining the tilting quadrotors and the double-wheel-feet as claimed in claim 8, is characterized in that: fuselage (4) still include horizontal mounting plate (23) and two slides (24), horizontal mounting plate (23) horizontal installation is in controller (21) bottom, horizontal mounting plate (23) lower terminal surface installs two slides (24) side by side along flight platform length direction level, the spout has been seted up along the horizontal direction to slide (24) medial surface, battery (22) top both sides are outwards extended respectively along the horizontal direction and are followed outward, battery (22) both sides are platelike outer along respectively with two slides (24) sliding connection of horizontal mounting plate (23) bottom.
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| CN202211025894.0A CN115284804B (en) | 2022-08-25 | 2022-08-25 | Land-air amphibious robot combining tilting four rotors and double-wheel feet |
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| CN115743356B (en) * | 2022-12-09 | 2024-05-03 | 成都理工大学 | Cockroach-imitating robot suitable for narrow topography detection |
| CN115991253A (en) * | 2023-02-17 | 2023-04-21 | 北京理工大学 | Jumping and flying integrated device |
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