CN108237856A - A kind of dwell robot and method more - Google Patents
A kind of dwell robot and method more Download PDFInfo
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- CN108237856A CN108237856A CN201810026320.2A CN201810026320A CN108237856A CN 108237856 A CN108237856 A CN 108237856A CN 201810026320 A CN201810026320 A CN 201810026320A CN 108237856 A CN108237856 A CN 108237856A
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- fuselage
- robots
- diversion pipe
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/14—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in non-rotating ducts or rings, e.g. adjustable for steering purpose
- B63H5/15—Nozzles, e.g. Kort-type
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Dwell robot and method the invention discloses one kind more, it solve the problems, such as in the prior art robot can not realize dwell, there is advantageous effect that is compact-sized, meeting a variety of environment use demands, scheme is as follows：A kind of robot of dwelling more, including fuselage, the side of fuselage sets at least four propellers, five driving motors of setting in fuselage, each driving motor drives each propeller to rotate by transmission parts respectively, propeller bottom side connect the angle propeller to be driven to rotate in a vertical plane setting by sheave component with steering motor, so that robot realizes aerial or ground or the water surface or sub-aqua sport.
Description
Technical field
The present invention relates to robot field, dwell robot and method more particularly to one kind more.
Background technology
Robot is a complicated unmanned systems, the mankind to be replaced to carry out complicated, arduous or even dangerous work, it
It is related to the multi-door subject such as electronics, computer, fluid, structure, material, hydraulic pressure, the underwater sound, optics, electromagnetism, Navigation Control, embodies
One national complex art strength and level.Under water in terms of robot, the research of China's underwater robot has been achieved with
Compared with much progress, and it is widely used to include ocean engineering, port construction, offshore oil, maritime affair law enforcement evidence obtaining, scientific research
With the numerous areas such as naval defence, to complete to search and rescue under water, detection is salvaged, deep-sea resources investigation, seabed spool laying and inspection
Look into the work in every such as repair, underwater archaeology, power station and the detection of dam dam；In terms of unmanned plane, the research starting of China's unmanned plane
In in the 1950s, making substantial progress in the nineties.By unremitting effort, unmanned air vehicle technique makes great progress, property
It can be continuously improved, form more perfect unmanned plane system, various types, various functions unmanned plane have come into operation.But nothing
The man-machine movement that mostly can be only done single space with existing Ji Lei robots such as underwater robots, has particular/special requirement certain
Different areas of activity, ideal operation effectiveness can not be reached.For example, when be explored, operation of engaging in archaeological studies etc. is needed into secret room
During operation, secret room structure is damaged in order to prevent, is usually sent into the equipment with camera by way of punching hole on wall
Internal prospecting is carried out, at this moment the work capacities of dwelling of a Tai Duoqi robots just can be embodied more, and when passing through hole, ground is climbed
Row function is a kind of optimal section space-efficient motion mode, simultaneously because secret room interior spatial structure is unknown, in order to
It is closely observed, fuselage leakproofness, airflight, ground is creeped, floating on water, the abilities such as travelling have become one under water
The pre-requisite abilities of sniffing robot；When needing to realize underwater remote movement, robot can be made to refer to by surface motions arrival
Determining operating location top, dive is to appointed place again, and since surface motions are smaller than sub-aqua sport resistance, such motion mode was both
It improves work efficiency and saves energy.
Therefore, it is necessary to carry out new research and design to a kind of robots of dwelling more.
Invention content
For overcome the deficiencies in the prior art, dwell robot the present invention provides one kind more, the robot itself rotation with
Propeller rotate integrally individually control, it can be achieved that robot in the air, ground, the water surface, underwater reliable movement.
A kind of concrete scheme of robot of dwelling as follows more：
A kind of robot of dwelling, including fuselage, the side of fuselage sets at least four propellers, and several drives are set in fuselage more
Dynamic motor, each driving motor drive each propeller to rotate by transmission parts respectively, and propeller bottom side passes through sheave component
The angle propeller to be driven to rotate in a vertical plane setting is connect with steering motor, so that robot realizes aerial or ground
Or the water surface or sub-aqua sport.
In the robot, fuselage carries sealed compartment, and transmission parts, driving motor, steering motor and sheave component are carried out
Effectively sealing, fails, and in fuselage surface covered with buoyancy plate to avoid robot, under water to ensure that robot transports under water
Suffered buoyancy is slightly larger than fuselage gravity when dynamic.
Further, the turning member that the propeller shaft bottom setting of the propeller is connect with the sheave component, institute
Transmission parts are stated in turning member.
Transmission parts can be cooperation either semidecussation conveyer belt or the worm and gear of two first bevel gears.
Further, electromagnetic component is set outside the turning member, propeller shaft is cased with spring, spring one end and electromagnetic part
Part connect, electromagnetic component be powered generate magneticaction under spring compressed, turning member side setting diversion pipe, diversion pipe with
Turning member is connected to be moved with turning member, and spring is set on inside diversion pipe.
Further, the spring top setting sliding block, propeller shaft is splined shaft, and interior flower is provided on the inside of the sliding block
Key, outside are provided with external splines, and spline is engaged with propeller shaft on the inside of sliding block, and spline is nibbled with internal spline on the inside of diversion pipe on the outside of sliding block
It closes, makes diversion pipe circumferentially fixed with propeller shaft, and propeller shaft is followed to rotate, diversion pipe is a hollow T-shaped pipe
It follows the rotation of turning member and rotates, circumferential movement can be also done with respect to turning member, and surface is hollow to avoid to propeller
The interference of rotation.
Turning member includes a housing for being equipped with cavity, and case top is fixed with electromagnetic component, and electromagnetic component connects with spring
It connects, enclosure interior is for setting bevel gear, and housing side setting casing, casing is interior to set the shaft being connect with bevel gear.When opening
When opening electromagnetic component, under magneticaction, sliding block compressed spring is simultaneously disengaged from the internal spline on the inside of diversion pipe, and is followed and turned
It is moved to component；When closing electromagnetic component, magnetic force disappears, and under spring force effect, spline is nibbled with propeller shaft on the inside of sliding block
It closes, spline is engaged with internal spline on the inside of diversion pipe on the outside of sliding block, makes diversion pipe circumferentially fixed with propeller shaft, and follow propeller
Axis rotates.
Further, the fuselage interior setting center convolution paddle, center convolution paddle is driven by centre-drive motor to be rotated,
Fuselage upper surface sets trepanning, and to ensure the work of center convolution paddle, and center convolution paddle is set on fuselage center.
Further, center convolution paddle is mounted on the tapping at fuselage center.
Further, the steering motor imparts power to first gear axis by roller gear, and first gear axis leads to
It crosses bevel gear, second driving shaft and active pin wheel to connect, the driven sheave cooperation that active pin wheel is connect with the turning member,
The rotation of four turning members is driven with this, driven sheave is set on jacket exterior, to drive the rotation of turning member housing, casing
It is set across fuselage.
Wherein, it controls for convenience, if side sets four propellers, fuselage is rectangular parallelepiped structure, then fuselage quadrangle is set
Each driving motor, transmission parts and the propeller put are symmetrical arranged about two median planes of fuselage.
Further, the driving motor is individually connect with the steering motor with controller respectively, controller with it is long-range
Remote controler wireless connection.
Further, the image acquisition device and positioning element that the side-of-body setting is connect with controller, in fuselage side
Portion also sets up manipulator, and manipulator is symmetrically set in side-of-body for aerial or underwater operation, manipulator, and positioning element includes
GPS and inertial navigation system, for obtaining the real-time accurate location of machine man-hour.
Image acquisition device includes the photograph unit for taking pictures and the camera group for camera shooting, mounted on fuselage head and the tail two
End, for the Quick Acquisition information under various motion morphologies.
Two headlamps in left and right are respectively installed at fuselage head and the tail both ends, and headlamp is mounted in fuselage sealed compartment, and by controller
Control its brightness.
A kind of robot realizes the methods dwelt more, as follows using step using one kind robots of dwelling more：
1-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually parallel, and propeller blade is in body upper；If robot fast lifting need to be realized, center convolution paddle and surrounding spiral
Paddle acts simultaneously；
1-2) each driving motor controls each propeller to rotate respectively, by controlling the rotary speed of different propellers with band
Mobile robot is rotated, rises or is declined in the air；
During surface motions：
2-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually perpendicular to；
2-2) each driving motor controls each propeller to rotate respectively, by controlling the rotary speed of different propellers with band
Mobile robot is in surface motions；
When entering sub-aqua sport by the water surface：
3-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually parallel, and propeller blade is below fuselage；
3-2) each driving motor controls each propeller to rotate respectively, can realize at this time robot from the quick dive of the water surface to
Under water；
During sub-aqua sport：
4-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually perpendicular to；
4-2) each driving motor controls each propeller to rotate respectively, at this point, the rotation side by control centre's propeller
, it can be achieved that the vertical direction of robot moves, turning for robot can be realized by the rotating speed for adjusting surrounding propeller to rotating speed
To and horizontal motion；
4-3) if you need to realize floating upward quickly or the dive of robot, adjustable surrounding propeller rotate on the upside of fuselage or under
Side makes it with center convolution paddle collective effect to reach the requirement of floating upward quickly or dive；
During ground motion：
Electromagnetic component 5-1) is closed, makes sliding block and spline engagement on the inside of diversion pipe, diversion pipe is together with propeller shaft at this time
Rotation；
5-2) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually perpendicular to；
5-3) each driving motor controls each propeller to rotate respectively, drives diversion pipe rotation, diversion pipe outer ring can be realized
Tire function is so as to fulfill robot in ground motion, the ground motion of the rotating speed realization robot by adjusting each propeller
When steering；
5-4) if robot encounters high elevation or impassable low lying areas, control robot is converted to state of flight,
It crosses and drops to ground again after impassable topography and continue ground motion.
Compared with prior art, the beneficial effects of the invention are as follows：
1) present invention can drive rotation of the propeller component relative to fuselage by the setting of steering motor and sheave component
Turn, meet motion requirement of the robot in varying environment.
2) present invention can make diversion pipe that propeller or turning member be followed to move, work as diversion pipe by the setting of diversion pipe
The ground motion of robot can be realized when spiral shell propeller shaft being followed to rotate instead of tire.
3) robot of the present invention realizes floating on water in the case where not expending power, can reduce energy consumption, and can be in energy
Measure it is insufficient in the case of float rapidly, improve complete underwater operation when reliability.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not form the improper restriction to the application for explaining the application.
Fig. 1 is a kind of robot architecture's schematic diagrames of dwelling of the invention more；
Fig. 2 is side view when a kind of robots of dwelling of the invention move more in the air；
Fig. 3 is a kind of robot vertical views of dwelling of the invention more；
Fig. 4 is a kind of robot side views in surface motions of dwelling of the invention more；
Fig. 5 is part-structure schematic diagram in Fig. 1 of the present invention；
Wherein：1st, 7,9,15 be propeller, 2,6,10,14 be turning member, 3,5,11,13 be headlamp, 21,23,31,
33rd, 50 be driving motor, and 4,12 be image acquisition device, and 8 be fuselage, and 16 be blade, and 17 be buoyancy plate, 19,25,26,29,35,
36th, 39,41,42,51 be first bevel gear, 46,47 be second bevel gear, 40,43,44,49 be active pin wheel, 20,24,30,
34 be driven sheave, and 27 be accumulator group, and 37 be positioning element, and 38 devices in order to control, 52 be steering motor, and 22,32 be the second tooth
Wheel shaft, 28 be first gear axis, and 53 be manipulator, and 54 be propeller shaft, and 55 be diversion pipe, and 56 be sliding block, and 57 be electromagnetic component,
58 be roller bearing, and 59 be internal spline, and 60 be thrust ball bearing, and 61 be spring, and 62 is turn to housing.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.It is unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
As background technology is introduced, the deficiencies in the prior art, the technical issues of in order to solve as above, this Shen
One kind please be propose to dwell robot more.
In a kind of typical embodiment of the application, as shown in Fig. 2, much a kind of robots of dwelling, including fuselage, fuselage
At least four propellers 1,7,9,15 of side setting, the interior setting driving motor 21,23,31,33,50 of fuselage, driving motor 21,
23rd, 31,33,50 corresponding propeller 1,7,9,15,16 is driven to rotate by transmission parts, 1,7,9,15 bottom side of propeller
Portion connect the angle propeller to be driven to rotate in a vertical plane setting by sheave component with steering motor 52, so that machine
People realizes aerial or ground or the water surface or sub-aqua sport.
In the robot, fuselage carries sealed compartment, to transmission parts, driving motor 21,23,31,33,50, steering motor
52 and sheave component effectively sealed, fail under water to avoid robot, and in fuselage surface covered with buoyancy plate 17, with
Ensure that buoyancy suffered when robot moves under water is more than fuselage gravity.
Propeller shaft 54 is splined shaft, and internal spline is provided on the inside of the sliding block, and outside is provided with external splines, sliding block inside spline
It is engaged with propeller shaft, spline is engaged with internal spline 59 on the inside of diversion pipe on the outside of sliding block, makes diversion pipe circumferentially solid with propeller shaft
It is fixed, and propeller shaft is followed to rotate, the turning member that the setting of propeller shaft bottom is connect with sheave component, the transmission parts are set
In in turning member, diversion pipe 55 is fixedly connected with turning member by roller bearing 58.
In the case where electromagnetic mechanism is not powered on, with propeller shaft 54 by the sliding block 56 that feather key is connect in 61 elastic force of spring
Effect is lower to be connect with diversion pipe by spline, realizes the circumferentially fixed of propeller shaft and diversion pipe, i.e., diversion pipe can be electric in driving
The driving lower band mobile robot of machine realizes the ground motion of robot；In the case where electromagnetic mechanism is powered, in the effect of magnetic force
Under, sliding block meeting compressed spring is simultaneously disengaged from spline on the inside of diversion pipe, at this point, diversion pipe only passes through bearing with turning to housing 62
It is fixed, propeller shaft is not followed to rotate, sliding block 56 is fixed by thrust ball bearing 60 and spring 61.
The diversion pipe of this programme connect the axial direction, it can be achieved that with turning to housing 62 by roller bearing 58 with turning to housing 62
Fixed and relative rotary motion.When realizing ground motion, realized by bearing with turning to housing and connected due to diversion pipe, it can be with
Ensure when realizing ground motion, the stability of electromagnetic mechanism.
Transmission parts can be cooperation either semidecussation conveyer belt or the worm gear snail of two first bevel gears 25,26
Bar.
Turning member is fixed with electromagnetic component 57, and propeller shaft is cased with the sliding block that can be connect with diversion pipe 55 by spline
56, it is powered in electromagnetic component and generates 56 slide downward of magneticaction sliding block and compressed spring, diversion pipe 55 is nibbled with sliding block disengaging
It closes, propeller shaft is not followed to rotate.Turning member 2,6,10,14 includes a housing for being equipped with cavity, case top setting and bullet
The electromagnetic component of spring connection, for setting bevel gear, housing side setting casing, the interior setting of casing connects enclosure interior with bevel gear
The shaft connect.
8 inside setting center convolution paddle of fuselage, driving motor 50 drive center convolution paddle 18 to rotate, 18 leaf of center convolution paddle
Piece state and the state of propeller blade are consistent.
Steering motor 52 imparts power to first gear axis 28 by roller gear, and first gear axis 28 passes through the second cone
Gear 46,47, second driving shaft 22,32 are connect with active pin wheel 40,43,44,49, active pin wheel 40,43,44,49 be with it is same
The driven sheave 20,24,30,34 of the turning member connection coordinates, and the rotation of four turning members, driven sheave are driven with this
20th, 24,30,34 jacket exterior is set on, to drive the rotation of turning member housing, casing is set across fuselage.
Wherein, it controls for convenience, if side sets four propellers, fuselage is rectangular parallelepiped structure, then fuselage quadrangle is set
Each driving motor, transmission parts and the propeller put are symmetrical arranged about two median planes of fuselage.
Driving motor is individually connect with the steering motor with controller 38 respectively, and controller 38 passes through with remote manipulator
Wireless module carries out wireless connection.
The image acquisition device and positioning element that side-of-body setting is connect with controller, manipulator is also set up in side-of-body
53, for manipulator 53 for aerial or underwater operation, manipulator 53 is symmetrically set in side-of-body, and positioning element includes GPS and inertia
Navigation system, for obtaining the real-time accurate location of machine man-hour.
Image acquisition device includes the photograph unit for taking pictures and the camera group for camera shooting, mounted on fuselage head and the tail two
End, for the Quick Acquisition information under various motion morphologies.
Two headlamps in left and right are respectively installed at fuselage head and the tail both ends, and headlamp 3,5,11,13 is mounted in fuselage sealed compartment, and
Its brightness is controlled by controller.
A kind of robot realizes the methods dwelt more, as follows using step using one kind robots of dwelling more：
1-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually parallel, and propeller blade is in body upper；If robot fast lifting need to be realized, center convolution paddle and surrounding spiral
Paddle acts simultaneously；
1-2) each driving motor controls each propeller to rotate respectively, by controlling the rotary speed of different propellers with band
Mobile robot is rotated, rises or is declined in the air；
During surface motions：
2-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually perpendicular to；
2-2) each driving motor controls each propeller to rotate respectively, by controlling the rotary speed of different propellers with band
Mobile robot is in surface motions；
When entering sub-aqua sport by the water surface：
When entering sub-aqua sport by the water surface：
3-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually parallel, and propeller blade is below fuselage；
3-2) each driving motor controls each propeller to rotate respectively, can realize at this time robot from the quick dive of the water surface to
Under water；
During sub-aqua sport：
4-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually perpendicular to；
4-2) each driving motor controls each propeller to rotate respectively, at this point, the rotation side by control centre's propeller
, it can be achieved that the vertical direction of robot moves, turning for robot can be realized by the rotating speed for adjusting surrounding propeller to rotating speed
To and horizontal motion；
4-3) if you need to realize floating upward quickly or the dive of robot, adjustable surrounding propeller rotate on the upside of fuselage or under
Side makes it with center convolution paddle collective effect to reach the requirement of floating upward quickly or dive；
During ground motion：
Electromagnetic component 5-1) is closed, makes sliding block and spline engagement on the inside of diversion pipe, diversion pipe is together with propeller shaft at this time
Rotation；
5-2) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage
It is mutually perpendicular to；
5-3) each driving motor controls each propeller to rotate respectively, drives diversion pipe rotation, diversion pipe outer ring can be realized
Tire function is so as to fulfill robot in ground motion, the ground motion of the rotating speed realization robot by adjusting each propeller
When steering；
5-4) if robot encounters high elevation or impassable low lying areas, control robot is converted to state of flight,
It crosses and drops to ground again after impassable topography and continue ground motion.
The foregoing is merely the preferred embodiments of the application, are not limited to the application, for the skill of this field
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. much a kind of robots of dwelling, which is characterized in that including fuselage, the side of fuselage sets at least four propellers, in fuselage
Several driving motors are set, and each driving motor drives propeller to rotate by transmission parts respectively, and propeller bottom side passes through slot
Wheel component connect the angle propeller to be driven to rotate in a vertical plane setting with steering motor, so that robot realizes in the air
Or ground or the water surface or sub-aqua sport.
2. a kind of robots of dwelling according to claim 1, which is characterized in that the propeller shaft bottom of the propeller is set more
The turning member being connect with the sheave component is put, the transmission parts are set in turning member.
3. a kind of robots of dwelling according to claim 2, which is characterized in that electromagnetic part is set outside the turning member more
Part, propeller shaft are cased with spring, and spring one end is connect with electromagnetic component, the spring quilt in the case where electromagnetic component is powered generation magneticaction
Compression, turning member side setting diversion pipe, diversion pipe is connected with turning member and is moved with turning member, and spring is set on water conservancy diversion
Inside pipe.
4. a kind of robots of dwelling according to claim 3, which is characterized in that the spring top sets sliding block, sliding block more
It is detachably connected with the internal spline of the diversion pipe.
5. a kind of robots of dwelling according to claim 1, which is characterized in that the fuselage interior sets center convolution more
Paddle, center convolution paddle is driven by centre-drive motor to be rotated.
A kind of 6. robots of dwelling according to claim 5, which is characterized in that the center convolution paddle of the center convolution paddle more
Tapping set on fuselage center.
7. a kind of robots of dwelling according to claim 2, which is characterized in that the steering motor will by roller gear more
Power passes to first gear axis, and first gear axis is connected by bevel gear, second driving shaft and active pin wheel, active pin wheel with
With the driven sheave cooperation of turning member connection, the rotation of four turning members is driven with this.
8. a kind of robots of dwelling according to claim 1, which is characterized in that the driving motor and the steering motor more
It is individually connect with controller respectively, controller and remote manipulator wireless connection.
9. a kind of robots of dwelling according to claim 8, which is characterized in that the side-of-body setting connects with controller more
The image acquisition device and positioning element connect, manipulator is also set up in side-of-body.
10. a kind of robot realizes the methods dwelt more, which is characterized in that using one kind described in any one of claim 2-4
Robots of dwelling more, it is as follows using step：
During aerial sports：
1-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage are mutual
It is parallel, and propeller blade is in body upper；If robot fast lifting need to be realized, center convolution paddle and surrounding propeller are same
When act；
1-2) each driving motor controls each propeller to rotate respectively, by controlling the rotary speed of different propellers with band motivation
Device people rotates, rises or declines in the air；
During surface motions：
2-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage are mutual
Vertically；
2-2) each driving motor controls each propeller to rotate respectively, by controlling the rotary speed of different propellers with band motivation
Device people is in surface motions；
When entering sub-aqua sport by the water surface：
3-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage are mutual
It is parallel, and propeller blade is below fuselage；
3-2) each driving motor controls each propeller to rotate respectively, can realize robot from the quick dive of the water surface to water at this time
Under；
During sub-aqua sport：
4-1) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage are mutual
Vertically；
4-2) each driving motor controls each propeller to rotate respectively, at this point, by the direction of rotation of control centre's propeller and
Rotating speed, it can be achieved that robot vertical direction movement, by the rotating speed for adjusting surrounding propeller can realize robot steering and
Horizontal motion；
4-3) if you need to realize floating upward quickly or the dive of robot, adjustable surrounding propeller is rotated to fuselage upside or downside,
Make it with center convolution paddle collective effect to reach the requirement of floating upward quickly or dive；
During ground motion：
Electromagnetic component 5-1) is closed, makes sliding block and spline engagement on the inside of diversion pipe, diversion pipe is rotated together with propeller shaft at this time；
5-2) after steering motor control propeller turning direction component rotation set angle, propeller blade and plane where fuselage are mutual
Vertically；
5-3) each driving motor controls each propeller to rotate respectively, drives diversion pipe rotation, diversion pipe outer ring can realize tire
Function so as to fulfill robot in ground motion, when realizing the ground motion of robot by the rotating speed for adjusting each propeller
It turns to；
5-4) if robot encounters high elevation or impassable low lying areas, control robot is converted to state of flight, crosses
Ground is dropped to after impassable topography again and continues ground motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810026320.2A CN108237856B (en) | 2018-01-11 | 2018-01-11 | A kind of dwell robot and method more |
Applications Claiming Priority (1)
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| CN109591984A (en) * | 2018-11-29 | 2019-04-09 | 哈尔滨工业大学（威海） | Underwater unmanned plane |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
| CN112208736A (en) * | 2020-10-31 | 2021-01-12 | 国网山西省电力公司大同供电公司 | Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery |
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| CN113443109A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Drive arrangement of seabed sonar robot |
| CN113734429A (en) * | 2020-05-28 | 2021-12-03 | 乐天集团股份有限公司 | Aircraft with a flight control device |
| CN113772064A (en) * | 2021-10-13 | 2021-12-10 | 江苏科技大学 | Mechanical steering structure of miniature underwater robot |
| CN115649423A (en) * | 2022-12-29 | 2023-01-31 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft water-air coaxial double-paddle structure |
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| CN109591984A (en) * | 2018-11-29 | 2019-04-09 | 哈尔滨工业大学（威海） | Underwater unmanned plane |
| CN110347169A (en) * | 2019-07-30 | 2019-10-18 | 南京昱晟机器人科技有限公司 | The control system of automatic obstacle avoiding and planning under underwater robot and its high-speed motion |
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| CN113734429A (en) * | 2020-05-28 | 2021-12-03 | 乐天集团股份有限公司 | Aircraft with a flight control device |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
| CN112208736B (en) * | 2020-10-31 | 2021-10-22 | 国网山西省电力公司大同供电公司 | Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery |
| CN112208736A (en) * | 2020-10-31 | 2021-01-12 | 国网山西省电力公司大同供电公司 | Multifunctional propelling mechanism of underwater inspection robot for cable pipe gallery |
| CN112407169A (en) * | 2020-11-26 | 2021-02-26 | 澜途集思生态科技集团有限公司 | Water quality maintenance robot driving part and steering part |
| CN112407169B (en) * | 2020-11-26 | 2021-09-07 | 澜途集思生态科技集团有限公司 | Water quality maintenance robot driving part and steering part |
| CN113443109A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Drive arrangement of seabed sonar robot |
| CN113443109B (en) * | 2021-07-15 | 2022-04-19 | 哈尔滨工程大学 | Drive arrangement of seabed sonar robot |
| CN113772064A (en) * | 2021-10-13 | 2021-12-10 | 江苏科技大学 | Mechanical steering structure of miniature underwater robot |
| CN113772064B (en) * | 2021-10-13 | 2022-07-19 | 江苏科技大学 | Mechanical steering structure of miniature underwater robot |
| CN115649423A (en) * | 2022-12-29 | 2023-01-31 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft water-air coaxial double-paddle structure |
| CN115649423B (en) * | 2022-12-29 | 2023-03-21 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft water-air coaxial double-paddle structure |
| CN117549329A (en) * | 2024-01-10 | 2024-02-13 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
| CN117549329B (en) * | 2024-01-10 | 2024-03-22 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
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