CN107985580B - Multi-mode deformable rotor robot - Google Patents
Multi-mode deformable rotor robot Download PDFInfo
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- CN107985580B CN107985580B CN201711338782.XA CN201711338782A CN107985580B CN 107985580 B CN107985580 B CN 107985580B CN 201711338782 A CN201711338782 A CN 201711338782A CN 107985580 B CN107985580 B CN 107985580B
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- robot
- chassis frame
- rotor
- motor
- control system
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- 238000013016 damping Methods 0.000 claims abstract description 15
- 229910052751 metal Inorganic materials 0.000 claims abstract description 15
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- 239000002131 composite material Substances 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims 1
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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
Abstract
The invention provides a multi-mode deformable rotor robot, which relates to the technical field of robots and comprises four groups of rotor assemblies, wherein each group of rotor assemblies comprises a hollowed protective cover, a motor and blades, the motor and the blades are arranged in the protective cover, the motor is fixedly arranged on the protective cover, the blades are sleeved on a motor shaft, the four groups of rotor assemblies are arranged side by side in pairs and are coaxially and rotatably arranged on a chassis frame through the protective cover, the two groups of rotor assemblies in each row are driven to rotate through a gear assembly, an electronic speed regulator and a flight control system are fixed on the chassis frame, the electronic speed regulator is electrically connected with the four motors, the flight control system is electrically connected with the electronic speed regulator and a metal steering engine, and a damping driven wheel is rotatably arranged at the lower part of the chassis frame. The problem of current robot function and motion mode singleness is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multi-mode deformable rotary wing robot.
Background
With the continuous development of science and technology, robots are increasingly integrated into our lives, gradually replacing some dangers and repeating boring work. Common robots generally have only a single function or a single movement pattern, which makes their use very limited. Especially in the face of special occasions, the function and movement mode of the robot are unified, so that the practical problem cannot be solved. For example, in a post-earthquake disaster search and rescue task, the robot is required to have obstacle surmounting capability in a complex environment, and the size and the weight of the robot are required to be as small as possible, so that the search and rescue range can be enlarged. Also, in tunnel and bridge surveys, a robot is required to be able to move in an unknown environment, which requires multiple modes of movement. Particularly, in the process of fire disaster search and rescue, particularly in the condition that fire disasters occur in some high buildings and search and rescue personnel cannot reach, a robot meeting the scenes is needed to find out the accurate positions of the trapped personnel and guide the trapped personnel to get rid of the trapped personnel.
However, none of the existing robots has a good effect on these special tasks, for example, although the rotor unmanned aerial vehicle can adapt to almost all topography and land features by using the flying movement mode, the endurance of the rotor unmanned aerial vehicle is too short, which greatly limits the practical application. For another example, a four-legged robot has excellent throughput in a complex ground environment, but the robot technology is not yet mature, is difficult to miniaturize, and cannot meet large obstacles.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multi-mode deformable rotor robot, which solves the problem that the existing robot has single function and motion mode.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides a multimode deformable rotor robot, it includes four rotor assemblies, every rotor assembly of group is including being the safety cover of fretwork and install motor and the paddle in the safety cover, motor fixed mounting is on the safety cover, the paddle suit is on the motor shaft, four rotor assemblies are two by two and are installed on chassis frame side by side and through the coaxial rotatable of safety cover, two rotor assemblies of every row drive rotatory through gear assembly, gear assembly includes intermeshing's driving gear, driven gear and the metal steering engine of drive driving gear pivoted, metal steering engine fixed mounting is on chassis frame, safety cover and driven gear fixed connection; an electronic speed regulator and a flight control system are fixed on the chassis frame, the electronic speed regulator is electrically connected with four motors, the flight control system is electrically connected with the electronic speed regulator and a metal steering engine, and a damping driven wheel is rotatably arranged at the lower part of the chassis frame.
Further, the chassis frame includes first longeron and the second longeron side by side, and connects gradually first crossbeam, first connecting rod, second crossbeam, second connecting rod and the third crossbeam between first longeron and second longeron side by side, and two rows of rotor assemblies are fixed mounting respectively on first connecting rod and second connecting rod, and first connecting rod and second connecting rod are rotatable for first longeron and second longeron.
Further, the middle part of the second cross beam is provided with a flight control system support, the flight control system support comprises an upper support, a lower support and a damping ball connected with the upper support and the lower support, and the lower support is detachably connected with the second cross beam.
Further, four shock-absorbing driven wheels are rotatably arranged on the chassis frame, and the four shock-absorbing driven wheels are arranged on the outer sides of the first longitudinal beam and the second longitudinal beam in parallel.
Further, the damping driven wheel comprises an outer ring, an inner ring and a plurality of damping spokes clamped between the outer ring and the inner ring. The damping spokes arranged on the damping driven wheel can avoid the damage of the robot when the robot runs on a road surface with poor road conditions.
Further, the inner ring is rotatably arranged at the end part of the pin shaft through a bearing, the pin shaft is fixed between two connecting plates, and the connecting plates are fixedly connected with the chassis frame.
Further, the damping spoke is made of composite materials which deform under the force.
Further, the second cross beam and the protective cover are carbon fiber plates.
Further, the motor is a DC brushless motor.
The beneficial effects of the invention are as follows: under the condition that four rotor wing assemblies are kept parallel to the ground, the rotation of motors in the four rotor wing assemblies drives the blades to rotate, so that the robot can fly in the air by overcoming the gravity, and the robot can hover at fixed points, pitch, yaw and roll in the air by controlling the change of the rotation speeds of the four motors through the electronic speed regulator. The rotating angle of the rotor wing assembly can be continuously adjusted and controlled, so that the robot can run on a vertical wall surface.
The metal steering engine drives the driving gear to rotate, the driving gear drives the driven gear and the protective cover fixedly connected with the driven gear to rotate, and the rotor assembly can give a component force parallel to the ground to the chassis support in the rotating process, so that the damping driven wheel is driven to rotate, and the robot can run on the road surface. The robot can move forwards, backwards and turn on the road surface by controlling the rotation angle of the rotor wing assembly and simultaneously controlling the rotation speed of the motor.
The robot can travel on the ground and vertical wall surfaces and fly, so the robot has strong obstacle surmounting capability, can quickly pass through by continuously switching the mode of driving movement, and is particularly suitable for working in dangerous and complex environments.
The multi-mode deformable rotor robot can fly and can also run on the ground, so that the movement mode of the multi-mode deformable rotor robot can be selected according to the requirement, and the flight consumes much more energy than the road surface, so that the robot has longer endurance time compared with the traditional rotor robot which can only fly.
The damping driven wheel in the multi-mode deformable rotor robot can provide ground running support on one hand, ensure that the robot has ground running capacity, and on the other hand can provide external protection for the robot, so that the robot is prevented from being damaged due to the fact that an engine body touches external obstacles or is subjected to external strong collision. The protection cover on the rotor assembly can protect the blades and prevent the blades rotating at high speed from hurting personnel.
Drawings
Fig. 1 is a perspective view of a multi-modal deformable rotary-wing robot.
Fig. 2 is an enlarged view of the gear assembly of fig. 1.
Fig. 3 is an enlarged view of the flight control system bracket of fig. 1.
Wherein, 1, rotor wing assembly; 11. a motor; 12. a paddle; 13. a protective cover; 2. a chassis frame; 21. a first stringer; 22. a second stringer; 23. a first cross beam; 24. a second cross beam; 25. a third cross beam; 26. a first link; 27. a second link; 28. a flight control system bracket; 281. an upper bracket; 282. a lower bracket; 283. a shock-absorbing ball; 3. a gear assembly; 31. a drive gear; 32. a driven gear; 33. a metal steering engine; 34. steering wheel; 35. a shaft sleeve; 4. damping driven wheels; 41. an outer ring; 42. an inner ring; 43. damping spokes; 44. a pin shaft; 45. and (5) connecting a plate.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
As shown in fig. 1 to 3, the multi-mode deformable rotary wing robot comprises a chassis frame 2, wherein the chassis frame 2 comprises a first longitudinal beam 21 and a second longitudinal beam 22 which are arranged side by side, and a first cross beam 23, a first connecting rod 26, a second cross beam 24, a second connecting rod 27 and a third cross beam 25 which are connected between the first longitudinal beam 21 and the second longitudinal beam 22 side by side in sequence, the two rows of rotary wing assemblies 1 are respectively fixedly installed on the first connecting rod 26 and the second connecting rod 27, two ends of the first connecting rod 26 and the second connecting rod 27 are inserted into through holes in the first longitudinal beam 21 and the second longitudinal beam 22, and two ends of the first cross beam 23, the second cross beam 24 and the third cross beam 25 are fixedly connected to the first longitudinal beam 21 and the second longitudinal beam 22. The second cross member 24 is fixed at both ends thereof to the center positions of the first and second side members 21 and 22, respectively, the first link 26 is located at the center position between the first and second cross members 23 and 24, and the second link 27 is located at the center position between the second and third cross members 24 and 25.
The second cross beam 24 is formed by overlapping two long carbon fiber plates, and is engraved with a plurality of square holes, round holes or strip holes which are penetrated to reduce the weight or be used for installing other equipment when the functions of the robot need to be expanded. Four mounting holes are distributed in the middle of the second cross member 24 for mounting the flight control system bracket 28. The flight control system bracket 28 includes upper and lower brackets 281 and 282, and shock absorbing balls 283 connecting the upper and lower brackets 281 and 282, and the lower bracket 282 and the second cross member 24 are detachably connected through those four mounting holes. The upper bracket 281 is provided with a flight control system, and the lower bracket 282 is provided with an electronic governor.
The four rotor assemblies 1 are fixedly connected to the first link 26 and the second link 27 of the chassis frame 2 in pairs side by side. The protection covers of the two rotor wing assemblies 1 in the same row are connected into an 8-shaped whole body, and the protection covers are engraved into two 8-shaped hollowed-out plates by a carbon fiber plate and are connected in parallel up and down through an aluminum column. Two circle centers in the 8-shaped protective cover are respectively and fixedly connected with a motor 11, the motor 11 is a direct current brushless motor, the optimal model is X2212 and 980KV, a blade 12 is sleeved on the shaft of the motor 11, and the blade 12 comprises two blades. Three pipe clamps are fixedly connected to the outer side of the bottom of the 8-shaped protection cover at intervals, and the two rotor wing assemblies 1 in the same row are fixedly connected to the first connecting rod 26 or the second connecting rod 27 through the three pipe clamps.
The two sets of rotor assemblies 1 of each row are rotated by a set of gear assemblies 3, and the two gear assemblies 3 are distributed on both sides of the chassis frame 2 to balance the center of gravity of the whole robot. The gear assembly 3 comprises a driving gear 31 and a driven gear 32 which are meshed with each other, the outer diameter of the driving gear 31 is larger than that of the driven gear 32, the driving gear 31 is fixed on an output shaft of a metal steering engine 33 through four screws on a steering wheel 34, the metal steering engine 33 is fixedly connected to a first longitudinal beam 21 (the metal steering engine 33 in the gear assembly 3 driving the other row of rotor assemblies 1 to rotate is fixedly connected to a second longitudinal beam 22), the driven gear 32 is meshed with the driving gear 31, the driven gear 32 is fixedly connected to a shaft sleeve 35, the shaft sleeve 35 is fixedly sleeved on a second connecting rod 27 or a first connecting rod 26, and the shaft sleeve 35 is fixedly connected with one end of an 8-shaped protection cover.
The damper driven wheel 4 includes an outer ring 41 and an inner ring 42. The outer ring 41 is a circular ring with 8 bulges at intervals on the circumference of the inner surface, concave-convex points for increasing friction force are arranged on the outer surface of the circular ring, and clamping grooves are arranged in the middle of the bulges on the inner surface; the inner ring 42 is star-shaped, a round hole is formed in the center, 8 protrusions corresponding to the protrusions on the inner surface of the outer ring 41 are uniformly distributed on the circumference of the outer surface, and a clamping groove is formed in each protrusion. 8 shock-absorbing spokes 43 with a certain radian, which are made of composite material polyurethane-epoxy resin and can deform under stress, are respectively inserted into clamping grooves arranged on the inner ring and the outer ring.
The bearing is arranged in the round hole in the center of the inner ring 42, then the bearing is sleeved at the end part of the pin shaft 44, the pin shaft 44 is fixed between two connecting plates 45, and the other ends of the connecting plates 45 are fixed on the chassis frame 2. Specifically, connection plates 45 rotatably connecting the four damper driven wheels 4 are fixed to both ends of the first side member 21 and the second side member 22, respectively. To reduce weight, the connection plate 45 is provided with a plurality of circular holes and elliptical holes at intervals.
The flight control system mounted on upper support 281 is preferably an open source flight control system of model SANYE LIGHT which uses an STM32F407VGT6 microprocessor chip of the RAM family, with a main frequency of 168MHz. A model airplane brushless electronic governor, preferably 30A, is secured to the lower bracket 282 and is connected to the motor 11 in the rotor assembly 1 to control the rotational speed of the motor 11. The flight control system is electrically connected with the electronic speed regulator and the metal steering engine 33 respectively, and the flight control system controls the electronic speed regulator and the metal steering engine 33 by outputting PWM signals.
When the multi-modal deformable rotorcraft is required to perform a flight maneuver, it can perform fixed-point hover, pitch, yaw, and roll movements during the flight. When the flight mission is executed, the rotor wing assembly 1 is kept parallel to the ground, the flight control system controls the electronic speed regulator through the PWM signals, and the electronic speed regulator controls the direct current brushless motors 11 in the four groups of rotor wing assemblies, so that the blades 12 are driven to rotate at a high speed, the blades 12 rotate to generate an upward pulling force, and when the resultant force generated by the four blades is larger than the self gravity of the robot, the robot leaves the ground and moves upward. The specific control in the four-group rotor assembly 1 during flight is described in detail below:
as shown in fig. 1, the working layout structure of four rotors of the multi-mode deformable rotor robot is an "X", that is, the four rotors form a pair of positive and negative paddles, the rotor A, C rotates counterclockwise, the rotor B, D rotates clockwise, and the positive paddles. When the rotor wing A, B, C, D vertically moves, the rotation speed of the rotor wing A, B, C, D is increased or decreased simultaneously, so that the vertical movement of the multi-mode deformable rotor wing robot in the air can be realized. When the pitching motion is required, the rotation speed of the rotor wing A, B is increased, the rotation speed of the rotor wing C, D is reduced, and the multi-mode deformable rotor wing robot can fly backwards; similarly, the rotation speed of the rotor A, B is reduced, the rotation speed of the rotor C, D is increased, and the multi-mode deformable rotor robot can fly forwards.
When the rolling motion is needed, the rotation speed of the rotor wing A, D is increased, the rotation speed of the rotor wing B, C is reduced, and the multi-mode deformable rotor wing robot can fly leftwards; similarly, the rotation speed of the rotor A, D is reduced, the rotation speed of the rotor B, C is increased, and the multi-mode deformable rotor robot can fly rightwards. When in yaw movement, the rotation speed of the rotor wing A, C is increased, the rotation speed of the rotor wing B, D is reduced, and the multi-mode deformable rotor wing robot can realize rightward rotation flight; similarly, the rotation speed of the rotor wing A, C is reduced, the rotation speed of the rotor wing B, D is increased, and the multi-mode deformable rotor wing robot can realize left rotation flight.
When the multi-modal deformable rotorcraft is required to travel on a road surface, it can perform forward travel, backward travel, and steering actions. The flight control system controls the metal steering engine 33 to drive the driving gear 31 to rotate through PWM signals, and the driving gear 31 drives the same-row rotor wing assembly 1 which is connected with the driven gear 32 into a whole to rotate. In the process that the flight control system controls the two rows of rotor wing assemblies 1 to simultaneously rotate 90 degrees forwards from 0 degrees, at this time, the rotor wing assemblies 1 can provide an upward component force and a forward component force, the upward component force reduces the pressure of the rotor wing robot to the ground, and the forward component force generates a forward pulling force to overcome the ground resistance, so that the rotor wing robot moves forwards. If the rotational speeds of the two brushless dc motors on one row of rotor assemblies 1 are different, the present rotary-wing robot will generate a steering action. Similarly, the flight control system controls the rotor robot to move backwards when controlling the two rows of rotor assemblies 1 to rotate backwards by 90 degrees from 0 degrees.
When the multi-mode deformable rotor robot is required to move on a vertical wall surface, the control principle is similar to that of ground running, a flight control system controls two rows of rotor assemblies 1 to rotate 180 degrees, pressure is downwards provided, the generated pressure enables the rotor robot to be clung to the wall, then, in the process of controlling the two rows of rotor assemblies 1 to rotate forwards for 90 degrees, an upward component force is provided while the downward pressure is generated, and the rotor robot can overcome the gravity to move upwards; similarly, in the process of controlling the two rows of rotor wing assemblies 1 to rotate backwards by 90 degrees, the rotor wing robot is controlled to move backwards.
Claims (7)
1. The multi-mode deformable rotor robot is characterized by comprising four groups of rotor assemblies (1), wherein each group of rotor assemblies (1) comprises a hollow protection cover (13) and a motor (11) and a blade (12) which are arranged in the protection cover (13), the motor (11) is fixedly arranged on the protection cover (13), the blade (12) is sleeved on a motor shaft, the four groups of rotor assemblies (1) are arranged side by side in pairs and are coaxially and rotatably arranged on a chassis frame (2) through the protection cover (13), the two groups of rotor assemblies (1) in each row are driven to rotate through a gear assembly (3), the gear assembly (3) comprises a driving gear (31), a driven gear (32) and a metal steering engine (33) which is used for driving the driving gear (31) to rotate, and the metal steering engine (33) is fixedly arranged on the chassis frame (2), and the protection cover (13) is fixedly connected with the driven gear (32); an electronic speed regulator and a flight control system are fixed on the chassis frame (2), the electronic speed regulator is electrically connected with the four motors (11), the flight control system is electrically connected with the electronic speed regulator and the metal steering engine (33), and a damping driven wheel (4) is rotatably arranged at the lower part of the chassis frame (2);
the damping driven wheel (4) comprises an outer ring (41), an inner ring (42) and a plurality of damping spokes (43) clamped between the outer ring (41) and the inner ring (42); the shock absorption spokes (43) are made of composite materials which deform under stress.
2. The multi-modal, deformable rotary-wing robot of claim 1, wherein the chassis frame (2) comprises a first longitudinal beam (21) and a second longitudinal beam (22) side by side, and a first transverse beam (23), a first link (26), a second transverse beam (24), a second link (27) and a third transverse beam (25) connected side by side in sequence between the first longitudinal beam (21) and the second longitudinal beam (22), the two rows of rotor assemblies (1) being fixedly mounted on the first link (26) and the second link (27), respectively, the first link (26) and the second link (27) being rotatable with respect to the first longitudinal beam (21) and the second longitudinal beam (22).
3. The multi-modal, deformable rotary-wing robot of claim 2, wherein a middle portion of the second cross beam (24) is provided with a flight control system bracket (28), the flight control system bracket (28) comprising an upper bracket (281) and a lower bracket (282) and a shock-absorbing ball (283) connecting the upper bracket (281) and the lower bracket (282), the lower bracket (282) being detachably connected with the second cross beam (24).
4. A multi-modal deformable rotary-wing robot according to claim 3, characterized in that four shock absorbing driven wheels (4) are rotatably mounted on the chassis frame (2), the four shock absorbing driven wheels (4) being mounted side by side in pairs outside the first and second stringers (21, 22).
5. The multi-modal, deformable rotary-wing robot of claim 1, wherein the inner ring (42) is rotatably mounted at the end of a pin (44) by means of bearings, the pin (44) being fixed between two connection plates (45), the connection plates (45) being fixedly connected to the chassis frame (2).
6. The multi-modal deformable rotorcraft according to claim 2, characterized in that the second cross beam (24) and the protective cover (13) are carbon fibre plates.
7. The multi-modal deformable rotary-wing robot according to claim 1, characterized in that the motor (11) is a brushless dc motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711338782.XA CN107985580B (en) | 2017-12-14 | 2017-12-14 | Multi-mode deformable rotor robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711338782.XA CN107985580B (en) | 2017-12-14 | 2017-12-14 | Multi-mode deformable rotor robot |
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| CN107985580A CN107985580A (en) | 2018-05-04 |
| CN107985580B true CN107985580B (en) | 2023-12-05 |
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| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
| CN109981042A (en) * | 2019-04-30 | 2019-07-05 | 天津大学 | A kind of clean intelligent robot of solar panel based on more rotors |
| CN110614891B (en) * | 2019-10-08 | 2021-03-09 | 潘佳义 | Method for cross-dimension movement of flying robot |
| CN111516770B (en) * | 2020-04-28 | 2022-07-22 | 扬州大学 | Snake state/quadruped state/rotor wing flight state robot based on mimicry state |
| CN113071576A (en) * | 2021-04-23 | 2021-07-06 | 北京理工大学 | Reverse thrust adsorption high-speed mobile robot |
| CN114103571A (en) * | 2021-12-17 | 2022-03-01 | 江苏大亿智能科技有限公司 | Health detection and maintenance robot for bridge pier tower |
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