CN104442248A - Air-ground amphibious robot - Google Patents
Air-ground amphibious robot Download PDFInfo
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- CN104442248A CN104442248A CN201410716895.9A CN201410716895A CN104442248A CN 104442248 A CN104442248 A CN 104442248A CN 201410716895 A CN201410716895 A CN 201410716895A CN 104442248 A CN104442248 A CN 104442248A
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Abstract
The invention relates to an air-ground amphibious robot, belongs to a bionic shape air-ground amphibious robot device. A ground walking device is fixedly connected with a flight device. The air-ground amphibious robot has the benefits that the air-ground amphibious robot has high obstacle crossing capacity and through capacity, meanwhile, has flight capacity, and mainly comprises the advantages that firstly, bionic platform design is adopted, the stealthiness of the robot is convenient to guarantee when the robot carries out a task, the overall mechanical design size is small, and the appearance of the robot achieves bionic camouflage; secondly, an incomplete wheel structure with a bionic structure is adopted, and the through capacity of the structure is higher than that of wheel type and crawler type structures under the condition of light weight and the same size; thirdly, an automatic inclinator and coaxal sculls are simplified, the mechanical structure is simple and compact, the size is small, the weight is light, and the control is simple.
Description
Technical field
The invention belongs to a kind of air-ground amphibious robot device of bionical external form, especially can obstacle detouring and the robot investigating function.
Background technology
At present, common land walking mechanism has: wheeled, crawler type, leg formula three kinds of structures.Wheeled, obstacle climbing ability is limited, in ice face, snowfield, mud ground sandstone ground performance deficiency of advancing; Crawler type, cannot reach the weight-saving demand of platform and ensure high pass ability; Common leg formula structure is also in the conceptual approach stage now, and most complicated structure, controls complexity and very heavy.Common aviation mechanism has: fixed-wing, rotor, flapping wing, rocket propulsion four kinds of structures.Rocket propulsion formula controllability requires high, and complex structure is not suitable as miniaturization Detecting Robot; Flapping wings type complex structure, requires high to structure and material, controls difficulty; Fixed-wing, can not hover, poor operability, and fixing wing volume is larger.Find in the process of consulting, walking and the amphibious robot combined that flies are studied very few both at home and abroad, nearly all belong to blank.
Summary of the invention
The invention provides a kind of air-ground amphibious robot, to solve the problem overcoming obstacle detouring, flatness, ground adaptivity deficiency existed at present.Land of the present invention row structure adopts the incomplete wheel construction of bionics device, and the condition of same size can be adopted to be issued to higher than obstacle climbing ability that is wheeled, track structure in very little weight.Flight structure adopts coaxial double-oar and auto-bank unit simplified way, not only alleviate quality, simplify the structure, and control method is also fairly simple.
The technical solution used in the present invention is: land row device is fixedly connected with flight instruments,
The structure of described land row device is: electric machine support is fixedly connected with domain, motor A is fixedly mounted on this electric machine support by screw, motor A is connected with miniature gears by key, this miniature gears and big gear wheel are connected with a joggle, this big gear wheel is fixedly connected with Large Gear Shaft During by key, worm screw B is connected with worm screw B holder pivots, worm screw B, worm screw A is coaxially connected with this Large Gear Shaft During respectively, worm gear B is connected with worm gear B holder pivots, this worm screw B engages with worm gear B, worm-wheel shaft B is fixedly connected with worm gear B, this turbo-shaft B takes turns coaxial connection with bionical, worm screw A and worm gear A is connected with a joggle,
The structure of flight instruments is: by electrical motor one, drag link mechanism, outer central siphon, upper master revolves head, bearing, lower master revolves a holding screw, lower master revolves head, rotor holding screw, electrical motor two, gear one, gear holding screw, gear two, gear fixed cover, gear three, gear four, interior central siphon form;
Electrical motor one is connected with gear four by key, and gear three and interior central siphon are fixed together by gear fixed cover, and gear three, gear four engage each other, and upper master is revolved head and is fixedly connected with interior central siphon; Electrical motor two is connected with gear one by key, and gear two and outer central siphon are fixed together by gear fixed cover simultaneously, and gear one, gear two engage each other, and lower master is revolved head and is fixedly connected with outer central siphon by holding screw;
Drag link mechanism is made up of steering wheel, dynamic pull bar, cross plate, inclination outer disk, connecting rod, position-limited rack, rotor, and steering wheel is connected with dynamic pull bar, and dynamic pull bar is connected with cross plate, and cross plate is connected with position-limited rack, and tilting frame is connected with rotor by connecting rod; Auto-bank unit comprises stabilizing hammer, main rotor, stabilizing hammer connecting rod, connecting rod stud, rotary chuck connecting rod, main rotor is connected with rotary chuck connecting rod, rotary chuck connecting rod is linked together by connecting rod stud and stabilizing hammer connecting rod, and stabilizing hammer connecting rod is connected with stabilizing hammer.
The invention has the beneficial effects as follows that there is very strong obstacle climbing ability and carrying capacity, meanwhile take into account its flight performance, mainly comprise: 1, Platform Designing imitation biochemistry: being convenient to ensure the disguise of this robot when executing the task.Not only want overall mechanical design volume little, and outward appearance to do bio-imitability camouflage.2, adopt the incomplete wheel construction of biomimetic features, be issued to higher than carrying capacity that is wheeled, track structure in the condition of very little weight and employing same size.3, simplify auto-bank unit and coaxial double-oar mode physical construction simple and compact, volume is little, lightweight, control is simple.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is the structural representation of land of the present invention row;
Fig. 5 is the bionical structural representation of taking turns of the present invention;
Fig. 6 is the structural representation that the present invention flies;
Fig. 7 is the structural representation of drag link mechanism of the present invention;
Fig. 8 is the structural representation of auto-bank unit of the present invention.
Detailed description of the invention
Land row device 1 is fixedly connected with flight instruments 2,
The structure of described land row device 1 is: electric machine support 102 is fixedly connected with domain 106, motor A 103 is fixedly mounted on this electric machine support 102 by screw, motor A 103 is connected with miniature gears 111 by key, this miniature gears 111 is connected with a joggle with big gear wheel 110, this big gear wheel is fixedly connected with Large Gear Shaft During 112 by key, worm screw B107 and worm screw B support 101 are rotationally connected, worm screw B, worm screw A113 is coaxially connected with this Large Gear Shaft During respectively, worm gear B108 and worm gear B support 104 are rotationally connected, this worm screw B engages with worm gear B, worm-wheel shaft B109 is fixedly connected with worm gear B, this turbo-shaft B takes turns 105 be coaxially connected with bionical, worm screw A and worm gear A114 is connected with a joggle,
The structure of flight instruments 2 is: revolve 204 by electrical motor 1, drag link mechanism 300, outer central siphon 203, upper master, bearing 205, lower master revolve a holding screw 206, lower master revolves 207, rotor holding screw 208, electrical motor 2 209, gear 1, gear holding screw 211, gear 2 212, gear fixed cover 213, gear 3 214, gear 4 215, interior central siphon 216 form;
Electrical motor 1 is connected with gear 4 215 by key, and gear 3 214 and interior central siphon 216 are fixed together by gear fixed cover 213, and gear 3 214, gear 4 215 engage each other, and upper master is revolved 204 and is fixedly connected with interior central siphon 216; Electrical motor 2 209 is connected with gear 1 by key, and gear 2 212 and outer central siphon 203 are fixed together by gear fixed cover 213 simultaneously, and gear 1, gear 2 212 engage each other, and lower master is revolved 207 and is fixedly connected with outer central siphon 203 by holding screw 208;
Drag link mechanism 300 is made up of steering wheel 301, dynamic pull bar 302, cross plate 303, inclination outer disk 304, connecting rod 305, position-limited rack 306, rotor 307, steering wheel 301 is connected with dynamic pull bar 302, dynamic pull bar 302 is connected with cross plate 303, cross plate 303 is connected with position-limited rack 306, and tilting frame 304 is connected with rotor 307 by connecting rod 305; Auto-bank unit comprises stabilizing hammer 401, main rotor 402, stabilizing hammer connecting rod 403, connecting rod stud 404, rotary chuck connecting rod 405, main rotor 402 is connected with rotary chuck connecting rod 405, rotary chuck connecting rod 405 is linked together by connecting rod stud 404 and stabilizing hammer connecting rod 403, and stabilizing hammer connecting rod 403 is connected with stabilizing hammer 401.
The air-ground amphibious robot of the present invention, is made up of land row device 1 and flight instruments 2; Land row apparatus structure has four bionic legs and is respectively driven by two brshless DC motors, and flight instruments has simplification auto-bank unit and four coaxial double-oars are driven by two outer rotor brushless motors.
This air-ground amphibious robot land row device has four bionic legs, two differences 180 degree adjacent one another are between four wheeled bionic leg structures.The left and right sides has two wheeled bionic legs respectively, primary speed-down transmits motion to transmission shaft by motor output end by gear transmission, transmission shaft two ends adopt worm gear device to carry out double reduction respectively, and worm gear rotates thus achieves the straight line moving motion of leg.Two wheeled bionic legs, by regulating the differential of the wheeled leg in the left and right sides, can make land row robot complete divertical motion.The mode that this air-ground amphibious robot flight instruments adopts two main screws relatively to rotate.The moment of rotation that coaxial anti-oar mode makes two screw propellers produce cancels each other, and helicopter is balanced.Upper rotor by motor output end by gear transmission in upper mast, thus realize the rotary motion of upper rotor.Lower rotor by motor output end by gear transmission in lower mast, thus realize the rotary motion of lower rotor.When whole device rotates, as long as reduce the rotating speed of a screw propeller, strengthen the rotating speed of another screw propeller.Adopt swivel eye and non rotating ring to change the size and Orientation of lift, thus realize the control to helicopter flight state.Flight instruments is mounted on the row mechanism shell of land by screw.
Claims (1)
1. an air-ground amphibious robot, is characterized in that: land row device is fixedly connected with flight instruments,
The structure of described land row device is: electric machine support is fixedly connected with domain, motor A is fixedly mounted on this electric machine support by screw, motor A is connected with miniature gears by key, this miniature gears and big gear wheel are connected with a joggle, this big gear wheel is fixedly connected with Large Gear Shaft During by key, worm screw B is connected with worm screw B holder pivots, worm screw B, worm screw A is coaxially connected with this Large Gear Shaft During respectively, worm gear B is connected with worm gear B holder pivots, this worm screw B engages with worm gear B, worm-wheel shaft B is fixedly connected with worm gear B, this turbo-shaft B takes turns coaxial connection with bionical, worm screw A and worm gear A is connected with a joggle,
The structure of flight instruments is: by electrical motor one, drag link mechanism, outer central siphon, upper master revolves head, bearing, lower master revolves a holding screw, lower master revolves head, rotor holding screw, electrical motor two, gear one, gear holding screw, gear two, gear fixed cover, gear three, gear four, interior central siphon form;
Electrical motor one is connected with gear four by key, and gear three and interior central siphon are fixed together by gear fixed cover, and gear three, gear four engage each other, and upper master is revolved head and is fixedly connected with interior central siphon; Electrical motor two is connected with gear one by key, and gear two and outer central siphon are fixed together by gear fixed cover simultaneously, and gear one, gear two engage each other, and lower master is revolved head and is fixedly connected with outer central siphon by holding screw;
Drag link mechanism is made up of steering wheel, dynamic pull bar, cross plate, inclination outer disk, connecting rod, position-limited rack, rotor, and steering wheel is connected with dynamic pull bar, and dynamic pull bar is connected with cross plate, and cross plate is connected with position-limited rack, and tilting frame is connected with rotor by connecting rod; Auto-bank unit comprises stabilizing hammer, main rotor, stabilizing hammer connecting rod, connecting rod stud, rotary chuck connecting rod, main rotor is connected with rotary chuck connecting rod, rotary chuck connecting rod is linked together by connecting rod stud and stabilizing hammer connecting rod, and stabilizing hammer connecting rod is connected with stabilizing hammer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410716895.9A CN104442248B (en) | 2014-12-02 | 2014-12-02 | Air-ground amphibious robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410716895.9A CN104442248B (en) | 2014-12-02 | 2014-12-02 | Air-ground amphibious robot |
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| Publication Number | Publication Date |
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| CN104442248A true CN104442248A (en) | 2015-03-25 |
| CN104442248B CN104442248B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410716895.9A Active CN104442248B (en) | 2014-12-02 | 2014-12-02 | Air-ground amphibious robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108271491A (en) * | 2018-01-23 | 2018-07-13 | 深圳润丰投资咨询有限公司 | A kind of passive type agricultural fertilizer device |
| CN110154659A (en) * | 2019-05-31 | 2019-08-23 | 南京理工大学 | The air-ground amphibious robot of insect formula |
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| EP1193168A2 (en) * | 2000-09-26 | 2002-04-03 | Rafael Armament Development Authority Ltd. | Unmanned mobile device |
| CN201158285Y (en) * | 2008-01-11 | 2008-12-03 | 王学威 | Dual-purpose automobile for open area |
| CN101559702A (en) * | 2009-03-27 | 2009-10-21 | 谢雁洲 | Longitudinal-line-type dual-culvert vertical-lifting air-ground vehicle |
| CN101954844A (en) * | 2009-07-15 | 2011-01-26 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
| CN104149565A (en) * | 2014-08-21 | 2014-11-19 | 大连理工大学 | Air and ground dual-purpose multifunctional trolley |
| CN204309541U (en) * | 2014-12-02 | 2015-05-06 | 长春工业大学 | Air-ground amphibious robot |
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2014
- 2014-12-02 CN CN201410716895.9A patent/CN104442248B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1193168A2 (en) * | 2000-09-26 | 2002-04-03 | Rafael Armament Development Authority Ltd. | Unmanned mobile device |
| CN201158285Y (en) * | 2008-01-11 | 2008-12-03 | 王学威 | Dual-purpose automobile for open area |
| CN101559702A (en) * | 2009-03-27 | 2009-10-21 | 谢雁洲 | Longitudinal-line-type dual-culvert vertical-lifting air-ground vehicle |
| CN101954844A (en) * | 2009-07-15 | 2011-01-26 | 中国科学院沈阳自动化研究所 | Triphibian omnibearing moving mechanism |
| CN104149565A (en) * | 2014-08-21 | 2014-11-19 | 大连理工大学 | Air and ground dual-purpose multifunctional trolley |
| CN204309541U (en) * | 2014-12-02 | 2015-05-06 | 长春工业大学 | Air-ground amphibious robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108271491A (en) * | 2018-01-23 | 2018-07-13 | 深圳润丰投资咨询有限公司 | A kind of passive type agricultural fertilizer device |
| CN110154659A (en) * | 2019-05-31 | 2019-08-23 | 南京理工大学 | The air-ground amphibious robot of insect formula |
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| Publication number | Publication date |
|---|---|
| CN104442248B (en) | 2016-08-24 |
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Owner name: JILIN ACADEMY OF ELECTRIC POWER SCIENCE ELECTRIC P Free format text: FORMER OWNER: JILIN ACADEMY OF ELECTRIC POWER SCIENCE ELECTRIC POWER RESEARCH INSTITUTE, STATE GRIDJILIN ELECTRIC POWER CO., LTD. Effective date: 20150430 |
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Effective date of registration: 20150430 Address after: 130012 Yanan street, Jilin, No. 2055, No. Applicant after: Changchun Polytechnic Univ. Applicant after: Jilin Academy of Electric Power Science Applicant after: Electric Power Research Institute, State Grid Jilin Power Co., Ltd. Applicant after: State Grid Corporation of China Address before: 130012 Yanan street, Jilin, No. 2055, No. Applicant before: Changchun Polytechnic Univ. Applicant before: Jilin Academy of Electric Power Science Applicant before: Electric Power Research Institute, State Grid Jilin Power Co., Ltd. |
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