CN104786768A - Spherical mechanism for quad-rotor amphibious robot - Google Patents
Spherical mechanism for quad-rotor amphibious robot Download PDFInfo
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- CN104786768A CN104786768A CN201510191622.1A CN201510191622A CN104786768A CN 104786768 A CN104786768 A CN 104786768A CN 201510191622 A CN201510191622 A CN 201510191622A CN 104786768 A CN104786768 A CN 104786768A
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Abstract
The invention discloses a spherical mechanism for a quad-rotor amphibious robot. The spherical mechanism is composed of a rotor wing mechanism and a spherical shell mechanism, wherein the rotor wing mechanism is composed of a long shaft, a short shaft, a base, four rotor wings and four motors, the spherical shell mechanism is composed of a flexible rod, two fixed bases and a rolling ring, the long shaft is perpendicular to the short shaft, the axis of the long shaft and the axis of the short shaft are located on the same plane, the four rotor wings and the motors are symmetrically installed on the long shaft and the short shaft, and a connecting shaft on the long shaft is connected with the fixed bases of the spherical shell mechanism to enable the rotor wing mechanism to rotate around the long shaft relative to the spherical shell mechanism. The rotor wing mechanism provides power for the robot, and the robot is made to fly in the air or roll on the ground by setting the rotating speed and direction of the four rotor wings. When the robot flies in the air, the spherical shell mechanism serves as a protecting device. When the robot rolls on the ground, the spherical shell mechanism serves as a protecting device and a rolling device. The spherical mechanism has the advantages of being simple in structure, practical, convenient to dismantle, convenient to maintain, low in cost and the like.
Description
Technical field
The present invention relates to robot field, specifically a kind of four rotor amphibious robot spherical mechanisms.
Background technology
Existing moveable robot movement mode is different, and common are wheeled, the mode such as leg formula, wriggling and flight, their exercise performance respectively has advantage, but also there is deficiency, is mainly manifested in the limitation of environmental adaptation.By the restriction of mode of motion, the mobile robot based on these mode of motion developed at present is only applicable to single operating environment mostly.Also to there is a small amount of amphibiously even three to dwell robot in recent years, patent of invention as publication number 101954844A discloses a kind of land, water and air three and to dwell omni-directional moving mechanism, but it is superimposed together at the omni-directional wheel being used for ground and the rotor that is used for flying, different mode of motion is not really fused into one, do not consider the protection of robot in addition, be easy to when causing robot to switch between Different Exercise Mode cause damaging.Chinese utility model patent CN203680323U discloses the key support safety protective system of a kind of general many rotors robot, but this protective system is only applicable to flying robot, and a kind of four rotor amphibious robot spherical mechanisms that the present invention proposes are as the running gear of amphibious robot and protective device, there is essence different from the former.
Summary of the invention
The object of the present invention is to provide a kind of four rotor amphibious robot spherical mechanisms, on the one hand for four rotor mechanisms of robot provide protection, enable robot realize ground surface as rolling mechanism on the one hand in addition; To solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme:
A kind of four rotor amphibious robot spherical mechanisms, be made up of rotor mechanism and spherical shell mechanism, rotor mechanism is made up of major axis, minor axis, pedestal, four rotors and four motors, spherical shell mechanism is made up of rods, two permanent seats and rolling ring, major axis and the mutual at right angle setting of minor axis and its axis are at same plane, the point of crossing of major axis and minor axis overlaps with base central, the two ends of major axis are provided with two adapter shafts, four rotors are arranged on four motors respectively, and motor symmetry is arranged on the motor cabinet of major axis and minor axis; The mid point of rods is on rolling ring, the two ends of rods are separately fixed on two permanent seats by holding screw, rods is uniformly distributed along spherical shell mechanism surface, adapter shaft on major axis is connected with the permanent seat of spherical shell mechanism, thus rotor mechanism is rotated relative to spherical shell mechanism around major axis.Pedestal is also used for other necessary parts of mounting robot, comprises battery, control assembly and sensor.
As the further scheme of the present invention: four rotors are fixed on a framework be made up of major axis, minor axis and pedestal symmetrically, each rotor is by a rotating speed and turn to adjustable motor to drive, make each rotor realize the rotary motion of friction speed in positive and negative both direction, and each rotor can control separately.
As the further scheme of the present invention: described permanent seat is provided with bearing, be connected between four rotor mechanisms with spherical shell mechanism by bearing, the adapter shaft namely on major axis penetrates in the bearing be fixed in two permanent seats and forms turning cylinder.
As the further scheme of the present invention: airflight and ground surface two kinds of mode of motion can be completed.
As the further scheme of the present invention: described two kinds of mode of motion provide power by four rotors, by configuring the rotating speed of each rotor and turning to, realize that robot is skyborne up and down, all around flight, crabbing and hovering, realize robot scroll forward and backward on the ground and turn to.
Compared with prior art, the invention has the beneficial effects as follows: the present invention is motion and the fender guard that four rotor amphibious robots provide integration, have that structure is simple, practical function, easy accessibility, be convenient to features such as safeguarding, with low cost.
Accompanying drawing explanation
Fig. 1 is the rotor mechanism in four rotor amphibious robot spherical mechanisms of the present invention.
Fig. 2 is the spherical shell mechanism in four rotor amphibious robot spherical mechanisms of the present invention.
Fig. 3 is the overall structure of four rotor amphibious robot spherical mechanisms of the present invention.
Fig. 4 is rotor and the spherical shell connecting portion enlarged drawing of four rotor amphibious robots of the present invention.
In figure: 1-minor axis, 2-major axis, 3-motor cabinet, 4-motor, 5-rotor, 6-pedestal, 7-adapter shaft, 8-rods, 9-permanent seat, 10-bearing, 11-rolling ring, 12-holding screw.
Detailed description of the invention
Below in conjunction with the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
Refer to Fig. 1-Fig. 4, in the embodiment of the present invention, a kind of four rotor amphibious robot spherical mechanisms, primarily of rotor mechanism and spherical shell mechanism composition.
Fig. 1 is the rotor mechanism in four rotor amphibious robot spherical mechanisms of the present invention, form primarily of minor axis 1, major axis 2, motor cabinet 3, motor 4, rotor 5, pedestal 6 and adapter shaft 7, minor axis 1 and the orthogonal and axis co-planar of major axis 2, the intersection point of axis and the center superposition of pedestal 6, motor cabinet 3 is fixed on major axis 2 side, motor 4 is fixed on motor cabinet 3, rotor 5 is fixed in the rotating shaft of motor 4, four groups of motor cabinet-motor-rotors are circumferentially distributed on minor axis 1 and major axis 2 around pedestal 6, and the two ends of major axis 2 are provided with two adapter shafts 7.Pedestal 6 is used for other necessary parts of mounting robot, and as battery, control assembly and sensor, these parts are necessary parts of a composition complete machine people, but not at the right of patent of the present invention.
Fig. 2 is the spherical shell mechanism of four rotor amphibious robot spherical mechanisms of the present invention; form primarily of rods 8, permanent seat 9, bearing 10, rolling ring 11 and holding screw 12; the mid point of each rods 8 is on rolling ring 11; two permanent seats 9 are pierced at the two ends of rods 8 respectively; and fixed by holding screw 12; permanent seat 9 is provided with bearing 10; form a spherical shell mechanism; when aloft flying; spherical shell mechanism is as fender guard; when ground surface, not only spherical shell mechanism is as fender guard but also as running gear.
Fig. 3 is the overall structure of four rotor amphibious robot spherical mechanisms of the present invention, and this overall structure obtains in the bearing 10 by being inserted by the adapter shaft 7 on the rotor mechanism shown in Fig. 1 in the spherical shell mechanism shown in Fig. 2.
Fig. 4 is rotor and the spherical shell connecting portion enlarged drawing of four rotor amphibious robot spherical mechanisms of the present invention, one end of rods 8 is inserted in permanent seat 9 hole circumferentially, and fixed by the holding screw 12 be screwed into by the end-face helical hole of permanent seat 9, bearing 10 is arranged in permanent seat 9, adapter shaft 7 one end is enclosed within major axis 2, and the other end inserts bearing 10.
Principle of work of the present invention is: this four rotors amphibious robot can realize airflight and ground surface two kinds of mode of motion, two kinds of mode of motion provide power by four rotors, by configuring the rotating speed of each rotor and turning to, can realize that robot is skyborne up and down, all around flight, crabbing and hovering, also can realize robot scroll forward and backward on the ground and turn to.
The features such as the present invention is motion and the fender guard that four rotor amphibious robots provide integration, has structure simple, practical function, easy accessibility, is convenient to safeguard, with low cost.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this specification sheets is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of specification sheets is only for clarity sake, those skilled in the art should by specification sheets integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (5)
1. a rotor amphibious robot spherical mechanism, be made up of rotor mechanism and spherical shell mechanism, rotor mechanism is made up of major axis, minor axis, pedestal, four rotors and four motors, spherical shell mechanism is made up of rods, two permanent seats and rolling ring, it is characterized in that, major axis and the mutual at right angle setting of minor axis and its axis are at same plane, the point of crossing of major axis and minor axis overlaps with base central, the two ends of major axis are provided with two adapter shafts, four rotors are arranged on four motors respectively, and motor symmetry is arranged on the motor cabinet of major axis and minor axis; The mid point of rods is on rolling ring, the two ends of rods are separately fixed on two permanent seats by holding screw, rods is uniformly distributed along spherical shell mechanism surface, adapter shaft on major axis is connected with the permanent seat of spherical shell mechanism, thus rotor mechanism is rotated relative to spherical shell mechanism around major axis.
2. four rotor amphibious robot spherical mechanisms according to claim 1, it is characterized in that, each rotor is by a rotating speed and turn to adjustable motor to drive, and make each rotor realize the rotary motion of friction speed in positive and negative both direction, and each rotor can control separately.
3. four rotor amphibious robot spherical mechanisms according to claim 1, it is characterized in that, permanent seat is provided with bearing, is connected between four rotor mechanisms with spherical shell mechanism by bearing, and the adapter shaft namely on major axis penetrates in the bearing be fixed in two permanent seats and forms turning cylinder.
4., according to the arbitrary four described rotor amphibious robot spherical mechanisms of claim 1-3, it is characterized in that, airflight and ground surface two kinds of mode of motion can be completed.
5. four rotor amphibious robot spherical mechanisms according to claim 4, it is characterized in that, described two kinds of mode of motion provide power by four rotors, by configuring the rotating speed of each rotor and turning to, realize that robot is skyborne up and down, all around flight, crabbing and hovering, realize robot scroll forward and backward on the ground and turn to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510191622.1A CN104786768A (en) | 2015-04-21 | 2015-04-21 | Spherical mechanism for quad-rotor amphibious robot |
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| CN201510191622.1A CN104786768A (en) | 2015-04-21 | 2015-04-21 | Spherical mechanism for quad-rotor amphibious robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059526A (en) * | 2015-07-29 | 2015-11-18 | 北京中科遥数信息技术有限公司 | Slide rod type lightweight four-rotor unmanned aerial vehicle |
| CN105539037A (en) * | 2015-12-31 | 2016-05-04 | 骆研 | Land-air four-rotor-wing unmanned aerial vehicle capable of rolling on ground |
| CN105836147A (en) * | 2016-03-21 | 2016-08-10 | 飞智控（天津）科技有限公司 | Rotor wing unmanned aerial vehicle protection device |
| CN106586006A (en) * | 2017-01-23 | 2017-04-26 | 南京大学 | Land-space amphibious rotor craft capable of omnidirectional rolling on ground, and installation and control method for land and-space amphibious rotor craft |
| WO2017197601A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Unmanned aerial vehicle capable of walking on ground |
| CN107839419A (en) * | 2017-11-30 | 2018-03-27 | 中国科学院合肥物质科学研究院 | A kind of coaxial eight rotor three is dwelt robot |
| CN108515822A (en) * | 2018-05-11 | 2018-09-11 | 西南交通大学 | Air-ground amphibious robot of omnidirectional |
| 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 |
| CN109227567A (en) * | 2018-10-26 | 2019-01-18 | 中国电子科技集团公司电子科学研究院 | Sniffing robot |
| CN109367335A (en) * | 2018-11-07 | 2019-02-22 | 南京航空航天大学 | A kind of land, water and air three are dwelt quadrotor drone |
| CN109850117A (en) * | 2018-12-05 | 2019-06-07 | 中国航空工业集团公司成都飞机设计研究所 | A kind of multi-rotor aerocraft with walking function |
| CN110171260A (en) * | 2019-04-15 | 2019-08-27 | 北京航空航天大学 | A kind of amphibious ball shape robot in environment information acquisition sky land |
| CN110203386A (en) * | 2019-05-31 | 2019-09-06 | 上海大学 | A kind of new coaxial unmanned machine of configuration omnidirectional |
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
| CN111559438A (en) * | 2020-04-24 | 2020-08-21 | 山东科技大学 | Spherical robot driving structure |
| CN112277551A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN113148133A (en) * | 2021-04-02 | 2021-07-23 | 泉州中国兵器装备集团特种机器人研发中心 | Improved generation air-land dual-purpose four rotor unmanned aerial vehicle |
| CN113997738A (en) * | 2021-12-03 | 2022-02-01 | 江苏集萃智能制造技术研究所有限公司 | Spherical amphibious robot platform |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059526A (en) * | 2015-07-29 | 2015-11-18 | 北京中科遥数信息技术有限公司 | Slide rod type lightweight four-rotor unmanned aerial vehicle |
| CN105539037A (en) * | 2015-12-31 | 2016-05-04 | 骆研 | Land-air four-rotor-wing unmanned aerial vehicle capable of rolling on ground |
| CN105836147A (en) * | 2016-03-21 | 2016-08-10 | 飞智控（天津）科技有限公司 | Rotor wing unmanned aerial vehicle protection device |
| WO2017197601A1 (en) * | 2016-05-18 | 2017-11-23 | 深圳市创客工场科技有限公司 | Unmanned aerial vehicle capable of walking on ground |
| CN106586006B (en) * | 2017-01-23 | 2024-02-13 | 南京大学 | Land-air amphibious rotor craft capable of rolling omnidirectionally on ground and mounting and controlling method thereof |
| CN106586006A (en) * | 2017-01-23 | 2017-04-26 | 南京大学 | Land-space amphibious rotor craft capable of omnidirectional rolling on ground, and installation and control method for land and-space amphibious rotor craft |
| CN107839419A (en) * | 2017-11-30 | 2018-03-27 | 中国科学院合肥物质科学研究院 | A kind of coaxial eight rotor three is dwelt robot |
| CN108515822A (en) * | 2018-05-11 | 2018-09-11 | 西南交通大学 | Air-ground amphibious robot of omnidirectional |
| 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 |
| CN109227567A (en) * | 2018-10-26 | 2019-01-18 | 中国电子科技集团公司电子科学研究院 | Sniffing robot |
| CN109367335A (en) * | 2018-11-07 | 2019-02-22 | 南京航空航天大学 | A kind of land, water and air three are dwelt quadrotor drone |
| CN109850117A (en) * | 2018-12-05 | 2019-06-07 | 中国航空工业集团公司成都飞机设计研究所 | A kind of multi-rotor aerocraft with walking function |
| CN110171260A (en) * | 2019-04-15 | 2019-08-27 | 北京航空航天大学 | A kind of amphibious ball shape robot in environment information acquisition sky land |
| CN110203386A (en) * | 2019-05-31 | 2019-09-06 | 上海大学 | A kind of new coaxial unmanned machine of configuration omnidirectional |
| CN111376663A (en) * | 2020-04-02 | 2020-07-07 | 青岛海研电子有限公司 | Amphibious spherical robot |
| CN111559438A (en) * | 2020-04-24 | 2020-08-21 | 山东科技大学 | Spherical robot driving structure |
| CN112277551A (en) * | 2020-10-28 | 2021-01-29 | 北京航空航天大学 | Variable structure multi-mode mobile robot |
| CN113148133A (en) * | 2021-04-02 | 2021-07-23 | 泉州中国兵器装备集团特种机器人研发中心 | Improved generation air-land dual-purpose four rotor unmanned aerial vehicle |
| CN113997738A (en) * | 2021-12-03 | 2022-02-01 | 江苏集萃智能制造技术研究所有限公司 | Spherical amphibious robot platform |
| CN113997738B (en) * | 2021-12-03 | 2023-09-22 | 江苏集萃智能制造技术研究所有限公司 | Spherical amphibious robot platform |
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Application publication date: 20150722 |