CN108382487A - A kind of bio-robot having both flight and function of creeping - Google Patents
A kind of bio-robot having both flight and function of creeping Download PDFInfo
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- CN108382487A CN108382487A CN201810313050.3A CN201810313050A CN108382487A CN 108382487 A CN108382487 A CN 108382487A CN 201810313050 A CN201810313050 A CN 201810313050A CN 108382487 A CN108382487 A CN 108382487A
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- rotation
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- 239000011159 matrix material Substances 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000009194 climbing Effects 0.000 claims abstract description 29
- 210000001981 hip bone Anatomy 0.000 claims abstract description 26
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 24
- 239000000758 substrate Substances 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 24
- 230000009975 flexible effect Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 20
- 238000002604 ultrasonography Methods 0.000 claims description 12
- 239000002737 fuel gas Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 5
- 239000007789 gas Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000010146 3D printing Methods 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 239000000567 combustion gas Substances 0.000 claims 1
- 210000002414 leg Anatomy 0.000 description 47
- 238000010586 diagram Methods 0.000 description 13
- 238000004891 communication Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 4
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- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003592 biomimetic effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
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- 230000000007 visual effect Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000239290 Araneae Species 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- 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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
A kind of bio-robot having both flight and function of creeping, including aircraft, pedestal and climbing mechanism, pedestal includes upper matrix platform and lower substrate platform, climbing mechanism includes hipbone component, leg member, small leg member and link, steering engine I, steering engine II and steering engine III, the both ends of I output shaft of steering engine are connected with pedestal respectively, climbing mechanism and the mutual rotation in pedestal horizontal direction are realized in the rotation of I output shaft of steering engine；Hipbone component is connect with leg member by steering engine II, the rotation of II output shaft of steering engine, realizes the mutual rotation on hipbone component and leg member vertical direction；Leg member is connect with link by steering engine III, the rotation of III output shaft of steering engine, realizes leg member and the mutual rotation on link vertical direction.The present invention improves the ability that robot adapts to the landform of various complexity, and has flight performance, expands the range of search, improves the diversity and portability for manipulating terminal platform, has stronger obstacle climbing ability.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of bio-robot having both flight and function of creeping.
Background technology
With the development of society, various robots constantly emerge in large numbers, and played in the production and living of people
The effect to become more and more important.Robot in terms of detection needs have a variety of detecting elements, and to have higher movement flexible
Property, it is often more important that it can adapt to the landform of various complexity.In the Nature, the mankind constantly search for inspiration, from birds to
Aircraft, from fish to submarine, and nearest various bio-robots, researcher mainly by bionic structure to biology,
Function bionics, control biomimetics, motion biomimetics etc..
Domestic bio-robot research is started late, and compared with foreign countries, there is larger gap.With the innovation of technology,
The bio-robot designed can be smaller and smaller, and increasingly dexterousr, function also can be increasingly complete, therefore, the bionical flight of detecting
Robot, it will do many work instead of people, especially in face of earthquake, the natural disasters such as mine disaster, it will do instead of the mankind
The task of many danger.More enjoyment will be also brought in entertainment life.
Instantly some detection bio-robots mostly use greatly tyre type or Track Type, traditional wire communication controlling party
Formula and close range wireless communication manipulation away from mode manipulate with communicate at a distance from it is closer, sharing for real time data is inconvenient, manipulate end
End is more single, is suitble to the personnel used few, manipulates difficult.
Invention content
The object of the present invention is to provide a kind of bio-robots having both flight and function of creeping, and not only have flight work(
Can, also there is obstacle climbing ability of creeping.
Present invention technical solution used for the above purpose is：A kind of bionical machine having both flight and function of creeping
Device people, the robot include kinematic system and aircraft, and the kinematic system includes pedestal and is symmetrically connected to pedestal phase
To multiple climbing mechanisms of both sides, the aircraft is mounted on pedestal, and pedestal includes upper matrix platform and lower substrate platform；
Each climbing mechanism includes hipbone component, leg member, small leg member and link, and hipbone component is mutually cut with scissors with leg member
It connects, leg member is hinged with link, and link is fixedly connected with small leg member, and I He of steering engine is equipped on hipbone component
Steering engine II, is equipped with steering engine III on leg member, the both ends of the output shaft of steering engine I respectively with upper matrix platform and lower substrate platform
It is connected, by the rotation of the output shaft of steering engine I, realizes the mutual rotation in the horizontal direction between climbing mechanism and pedestal；Hip
It is attached by steering engine II between bone component and leg member, by the rotation of the output shaft of steering engine II, realizes hipbone component
Mutual rotation on vertical direction between leg member；It is attached by steering engine III between leg member and link,
By the rotation of the output shaft of steering engine III, the mutual rotation on the vertical direction between leg member and link is realized.
Wherein, the upper end of small leg member is fixedly connected with link, and the lower end of small leg member contacts ground in the form of a tip,
Small leg member is bent from the upper end to the position that lower end extends towards pedestal direction, and small leg member extends from the upper end to lower end
Cross-sectional area be gradually reduced.
In the present invention, aircraft includes being vertically connected with column, chassis, rotation drive disk, the flexible guide rod of flying wing, flying wing spiral shell
Paddle, motor drive rod and main drive motor are revolved, column is vertically connected with and is connected on matrix platform, chassis, which is connected to, is vertically connected with column
On；Main drive motor is for driving rotation drive disk to be rotated, and rotation drive disk is equipped with arc sliding slot, and chassis is equipped with
T-type sliding groove, the head end of the flexible guide rod of flying wing are equipped with and can be slided in arc sliding slot and T-type sliding groove without taking off simultaneously
The flange gone out, flying wing propeller are mounted on the end of the flexible guide rod of flying wing；When main drive motor drives drive disk rotation, arc
Type sliding groove makes the flange of rotor shaft head end by the tangential force along rotor axis direction, be rotor shaft simultaneously camber sliding groove with
Sliding provides power in T-type sliding groove.
Further, main driving machine is connect by bolt with counterbore with chassis.
Further, arc sliding slot is multiple, center circumferentially spoke of each arc sliding slot relative to rotation drive disk
Distribution is penetrated, close its separate rotates that be smaller than for rotating driving disk center one end drives disk center one on adjacent arc sliding groove
The spacing at end.
Further, the flexible guide rod of flying wing, arc sliding slot are identical with the number of T-type sliding groove, flying wing propeller
The blade of its rotation is driven including secondary driving motor and by secondary driving motor.
Further, each arc sliding slot is mutual indepedent, and each T-type sliding groove is mutual indepedent.
Further, aircraft by bolt, nut, counterbore, be vertically connected with column and connect with upper matrix platform.
The robot of the present invention further includes detecting system, and the detecting system includes fuel gas detection module, warm and humid
Spend detection module, human body infrared detecting module, photographing module and ultrasound examination module, upper matrix platform and lower substrate platform
Between there is gap, fuel gas detection module and human body infrared detecting module to be mounted on upper matrix platform, humiture inspection
It surveys module and ultrasound examination module is mounted on lower substrate platform.
Further, the upper surface for being located at the upper matrix platform under aircraft is equipped with mounting base, and mounting base includes two
Mounting bracket and the sleeve for connecting two mounting brackets, photographing module are connected to by being equipped with the supporting rod of micro machine on sleeve.
The robot of the present invention further includes control system, and the control system includes power module, main control module, nothing
Line transmission module, executor, main control module and wireless transport module are mounted on upper matrix platform, wireless transport module and behaviour
Vertical device is wirelessly connected, and main control module executes the movement of order the realization kinematic system and aircraft of executor, and master control molding
Block connecting detection system, by fuel gas detection module, Temperature and Humidity module, human body infrared detecting module, photographing module
Executor is transmitted directly to by wireless transport module with the data of ultrasound examination module.
In the present invention, hipbone component and leg member are made by 3D printing technique, upper matrix platform and lower substrate platform
Material uses hard aluminium alloy.
Advantageous effect：The climbing mechanism of the present invention passes through hipbone component, leg member, small leg member level-one three steering engines
Cooperation realizes robot and uses three foot gait motions, and spaced three climbing mechanisms land always for holding, and the other three is climbed
Row mechanism is lifted so that no matter which kind of landform is located at, is all landed there are three climbing mechanism, can keep balancing, and improve
The stability of mechanism operation.Passed through using the walking of three step states, alternate move of two groups of six climbing mechanisms enables mechanism
It is enough to complete to advance, it retreats, the functions such as steering.
The present invention improves the ability that robot adapts to the landform of various complexity, and has flight performance, expands search
Range improves the diversity and portability for manipulating terminal platform, has stronger obstacle climbing ability.Pass through camera, combustible gas
Body sensor, Temperature Humidity Sensor etc. detect environment, and pass detection data back in real time.
The present invention is foldable, small, can be by narrow path, and deeply dark strange toxic hazardous environment is examined
It surveys.Manoeuvring platform is simply various, and steering range is wide, and the visual field is openr, and it is stronger that real time data shares ability, it is easier to it operates,
Target user is more extensive, and usability is stronger.
Wherein, aircraft will rotate the rotation of drive disk by the rotation of main drive motor under the requirement for ensureing flight
Conversion of motion be flying wing stretch guide rod one end in rotating drive disk stress, and then become the straight line in T-type sliding groove
Movement stretches guide rod relative to the stretching, extension and contractile motion for rotating drive disk to control flying wing.Camber sliding groove relative to
The center circumferentially radiation profiles for rotating drive disk make the stretch propeller of end of guide rod of multiple flying wings remain at together
On one circumference, make aircraft operating attitude stabilization, steady reliable.Close to rotation driving disk center one end on adjacent camber sliding groove
Be smaller than its spacing far from driving disk center one end so that rotor shaft stretch and contraction process in it is more steady, together
When, minimum volume is kept in a contracted state.
Aircraft in carrying out flight course, flying wing stretch guide rod can also circumferentially extending and shrink come change of flight device
The size of volume and lifting force hide the ability of obstacle to adapt to environment flights complicated and changeable different in space size
It is greatly improved.The ability that aircraft adapts to various complex environments is improved, the flight range of aircraft is expanded, is promoted
The diversity and portability of aircraft, can be applied to various disaster relief tasks, detection exploration in public place of entertainment.
Description of the drawings
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is kinematic system overall schematic in Fig. 1；
Fig. 3 is the schematic diagram of upper matrix platform in the present invention；
Fig. 4 is to be equipped with mounting base schematic diagram on upper matrix platform upper surface in the present invention；
Fig. 5 is the connection diagram of Fig. 4 middle sleeves and photographing module；
Fig. 6 is the schematic diagram of climbing mechanism in the present invention；
Fig. 7 is the schematic diagram of lower substrate platform in the present invention；
Fig. 8 is the schematic diagram of executor in the present invention；
Fig. 9 is the schematic diagram that aircraft is connect with upper matrix platform in the present invention；
Figure 10 is the schematic diagram on chassis in Fig. 9；
Figure 11 is the upward view that drive disk is rotated in Fig. 9；
Figure 12 is the oblique upward view that drive disk is rotated in Fig. 9；
Figure 13 is the schematic diagram of the flexible guide rod of flying wing in Fig. 9；
Figure 14 is the vertical view of the flexible guide rod of flying wing in aircraft；
Figure 15 is the schematic diagram of aircraft in this explanation；
Figure 16 is the schematic diagram of aircraft and the assembling of upper matrix platform in this explanation；
Figure 17 is the sectional view that main drive motor is connect with rotation drive disk and chassis；
Figure 18 is chassis and the flexible guide rod assembling schematic diagram of flying wing；
Figure 19 is chassis and secondary driving motor and the connection figure for being vertically connected with column；
Figure 20 is the front view of main drive motor in Fig. 9；
Figure 21 is the left view of main drive motor in Fig. 9；
Figure 22 is robot control flow chart of the present invention.
Reference numeral：1, kinematic system, 101, upper matrix platform, 102, lower substrate platform, 2, climbing mechanism, 201, hipbone
Component, 202, leg member, 203, small leg member, 204, mounting bracket, 205, sleeve, 206, link, 207, steering engine I, 208,
Steering engine II, 209, steering engine III, 210, supporting rod, 3, detecting system, 301, fuel gas detection module, 302, Temperature and Humidity mould
Block, 303, human body infrared detecting module, 304, photographing module, 305, ultrasound examination module, 4, aircraft, 401, connect up and down
Connect column, 402, chassis, 403, rotation drive disk, 404, flying wing stretch guide rod, 405, flying wing propeller, 406, secondary driving electricity
Machine, 407, blade, 408, motor drive rod, 409, main drive motor, 410, flange, 411, arc sliding slot, 412, T-type sliding
Slot, 5, control system, 501, power module, 502, main control module, 503, wireless transport module, 504, executor, 6, notch,
7, mounting hole, 8, fixed shaft coupling, 9, round end nut, 10, connecting plate, 11, locating shaft, 12, location hole, 13, counterbore I, 14, counterbore
Ⅱ。
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.
A kind of bio-robot having both flight and function of creeping, as depicted in figs. 1 and 2, which includes kinetic system
System 1, detecting system 3, aircraft 4 and control system 5, kinematic system 1 is including pedestal and is symmetrically connected to pedestal opposite sides
Multiple climbing mechanisms 2, aircraft 4 be mounted on pedestal on, pedestal therein includes upper matrix platform 101 and lower substrate platform
102。
As shown in Figure 2 and Figure 6, each climbing mechanism 2 includes hipbone component 201, leg member 202, small leg member 203
With link 206, hipbone component 201 is hinged with leg member 202, and leg member 202 is hinged with link 206,
Link 206 is fixedly connected with small leg member 203.The upper end of small leg member 203 is fixedly connected with link 206, small leg member
203 lower end contacts ground in the form of a tip, and small leg member 203 is curved to the position that lower end extends towards pedestal direction from the upper end
Song, and the cross-sectional area that small leg member 203 extends from the upper end to lower end is gradually reduced.
The small leg member 203 of the present invention is designed to half selenodont, and cross section from top to bottom with reference to crab tip shape
Product is gradually reduced, and the small leg member 203 of half selenodont overcomes common detection bio-robot vertical-type shank and grabs during exercise
The obstacle in terms of not caused enough the movement of the dynamics on ground is taken, the bending resistance of entire small leg member is also made to get a promotion；And
And this small 203 end of leg member is the design of inward slant certain angle, contacts ground in the form of a tip, not only during exercise
Ground can be accurately captured, reduces resistance when obtaining enough power, and striding forward again；It is set on small leg member 203
Jagged 6, the hollow design of notch has the advantages that mitigate quality in the case where meeting exercise intensity requirement, to make it
It is more flexible accurate to move.
Each climbing mechanism 2 further includes steering engine I 207, steering engine II 208 and steering engine III 209, and steering engine I 207 is connected to matrix
Between platform 101 and lower substrate platform 102.Wherein, steering engine I 207 and steering engine II 208, thigh structure are installed on hipbone component 201
Steering engine III 209 is installed on part 202, passes through steering wheel positioning screw hole and upper matrix platform 101 and the lower base worn on steering engine I 207
The mounting hole 7 of body platform 102, by screw by the both ends of the output shaft of steering engine I 207 respectively with upper matrix platform 101 and lower base
Body platform 102 is connected, and steering engine I 207 is fixed on hipbone component 201 in itself, by the output shaft rotation of steering engine I 207 to which band is climbed
Row mechanism 2 is relative to the horizontal mutually rotation of upper matrix platform 101 and lower substrate platform 102.It should be in a like fashion by hipbone structure
Part 201 is attached with leg member 202 by steering engine II 208, and the fuselage of steering engine II 208 is fixed on hipbone component 201, in this way
Keep the center of gravity of steering engine II 208 lower, and be more conducive to improve mechanism advance stability, also achieve hipbone component 201 with
Mutual rotation on vertical direction between leg member 202；It should be in a like fashion by leg member 202 and link 206
It is connected by steering engine III 209, and the matrix of steering engine III 209 is fixed on leg member 202 by screw.Six climbing mechanisms 2
Limbs are respectively symmetrically distributed in pedestal both sides, and degree of freedom is high, can walk in many ways.
It is detailed：The both ends of the output shaft of steering engine I 207 are connected with upper matrix platform 101 and lower substrate platform 102 respectively,
By the rotation of the output shaft of steering engine I 207, realize between climbing mechanism 2 and pedestal in the horizontal direction in orientation shown in Fig. 2
Mutually rotation；It is attached by steering engine II 208 between hipbone component 201 and leg member 202, passes through the defeated of steering engine II 208
The rotation of shaft is realized and is mutually turned on the vertical direction in orientation shown in Fig. 2 between hipbone component 201 and leg member 202
It is dynamic；It is attached by steering engine III 209 between leg member 202 and link 206, passes through turn of the output shaft of steering engine III 209
It is dynamic, realize the mutual rotation on the vertical direction in orientation shown in Fig. 2 between leg member 202 and link 206.
The structure and working principle of steering engine belongs to existing known ripe technology, and steering engine draws three conducting wires, respectively electric
Source line, baseline and signal control line, power cord connect power module, power cord and baseline to inside steering engine direct current generator and control
Circuit is powered, and signal control line is connect with main control module.
As shown in Fig. 1, Fig. 9, Figure 15 and Figure 16, aircraft 4 includes being vertically connected with column 401, chassis 402, rotation drive disk
403, the flexible guide rod 404 of flying wing, flying wing propeller 405, motor drive rod 408 and main drive motor 409, wherein up and down
Connecting pole 401 is connected on matrix platform 101, and chassis 402, which is connected to, to be vertically connected on column 401.Main drive motor 409 is used for
Driving rotation drive disk 403 is rotated, and as shown in figure 11, rotation drive disk 403 is equipped with arc sliding slot 411, such as Figure 19
Shown, chassis 402 is equipped with T-type sliding groove 412, and as shown in Figure 13 and Figure 14, the stretch head end of guide rod 404 of flying wing is equipped with energy
Enough flanges 410 slided simultaneously without abjection in arc sliding slot 411 and T-type line sliding groove 412, flying wing propeller 405
It stretches mounted on flying wing the end of guide rod 404, flying wing propeller 405 includes secondary driving motor 406 and by pair driving electricity
Machine 406 drives the blade 407 of its rotation.
As shown in Figure 10, main drive motor 409 is mounted on the center on chassis 402, and the locating shaft 11 of main drive motor 409
The fixation shaft coupling 8 being fixedly connected with 403 center of rotation drive disk by the location hole 12 on chassis 402 is sequentially connected.
Aircraft is scalable six wings flight instruments, which ensures under the requirement of flight, passes through main drive motor 409
Rotation, by the translating rotation for rotating drive disk 403 be flying wing stretch guide rod 404 one end in rotating drive disk 403 stress,
And then become the movement of the radial alignment in T-type sliding groove 412, to control the stretching, extension and contraction of wing, volume is made to reach most
Small, six flying wing propellers 405 remain on the same circumference, steady reliable, radial expansion and change the big of climbing power
The small and volume of itself can creep difficult and fly, be discontented with when having in the air compared with multi-obstacle avoidance in complicated terrain environment
It can also creep in the case of sufficient flying condition, the ability and accessible range for hiding obstacle greatly increase.It is telescopic
Stretch guide rod 404 of flying wing can't increase whole weight, and the chassis 402 of hollow out setting and rotation drive disk 403, mitigate
The weight of whole aircraft.
Main drive motor 409 is mounted on the center on chassis 402, and main drive motor by the counterbore on bolt and chassis
409 drive shaft is driven by the motor drive rod 408 that the centre bore on chassis 402 is fixedly connected with 403 center of rotation drive disk
Connection.Wherein, as is illustrated by figs. 11 and 12, arc sliding slot 411 is multiple, and each camber sliding groove 411 is arc shaped groove, arc
Sliding groove 411 is in the consistent arcuate structure of bending direction, and each arc sliding slot 411 is in relative to the center of rotation drive disk 403
Circumference radiation profiles are smaller than its far from rotation on adjacent arc sliding groove 411 close to 403 center one end of rotation drive disk
The spacing of 403 center one end of drive disk so that the flexible guide rod 404 of flying wing is more steady in stretching, extension and contraction process, simultaneously
Minimum volume is kept in a contracted state；When the driving rotation drive disk 403 of main drive motor 409 rotates, camber sliding groove 411 makes
The flange 410 of flying wing 404 head end of flexible guide rod is obtained mainly by the tangential force in 404 direction of guide rod of stretching along flying wing, for flight
The wing stretches, and sliding provides power to guide rod 404 in camber sliding groove 411 and T-type sliding groove 412 simultaneously.T-type sliding groove 412 is more
It is a, and 412 linear structure of T-type sliding groove, each T-type sliding groove 412 are distributed relative to the central symmetry on chassis 402.
In the present embodiment, chassis 402 and the rotation rounded structure of drive disk 403, each T-type sliding groove 412 is along chassis 402
Radial distribution, each T-type sliding groove 412 along chassis 402 center symmetric setting, each arc sliding slot 411 relative to rotation drive
The center of circle divergence distribution of Moving plate 403.Four counterbores I 13 for connecting main drive motor 409, bottom are equipped with above chassis 402
The location hole 12 of realization and 409 coaxial cooperation of main drive motor, the diameter and main drive motor of location hole 12 are additionally provided on disk 402
109 11 diameter of locating shaft is identical, and four counterbores II 14 of the extraneous carrier of connection are additionally provided on chassis 402.
Wherein, T-type sliding groove 412 is T-slot, and the upper part of T-type sliding groove 412 is narrow vertical slots, as flying wing
The sliding rail of 404 head end flange 410 of flexible guide rod, plays guiding role；The lower part of T-type sliding groove 412 is wide transverse direction
Slot, the upper and lower wall surface of transverse groove receive and transmit to stretch 404 lifting force of guide rod from flying wing, and the left and right wall surface of transverse groove connects
By and transmit and stretch guide rod 404 steering force from flying wing, coordinate with the flying wing accurate zero-clearance of guide rod 404 that stretches, most effectively
Torque is transmitted, while being also used as the sliding rail of the flexible guide rod of flying wing 404.
Stretch guide rod 404, arc sliding slot 411 of flying wing is identical with the number of type sliding groove 412, each arc sliding slot
411 independently of each other, and each T-type sliding groove 412 is mutual indepedent.Preferably, the both ends of arc sliding slot 411 are not penetrated rotation drive disk
403 center and peripheral；One end of T-type sliding groove 412 is not penetrated the center on chassis 402, and the other end of T-type sliding groove 412 passes through
The edge on logical chassis 402；The upper and lower surface of the perforation rotation drive disk 403 of arc sliding slot 411；T-type sliding groove 412
Groove top penetrates through the upper surface on chassis 402, and the slot bottom of T-type sliding groove 412 is not penetrated the lower surface on chassis 402.
Preferably, there are three the settings of blade 407 of each flying wing propeller 405, it should be noted that each flying wing
The quantity present invention of the blade of propeller 405 does not limit, for example may be two.
Preferably, the flexible guide rod 404 of the symmetrical flying wing of the surrounding of rotation drive disk 403 is four or six.Respectively
Flying wing propeller 405 is installed on each flying wing by an independent secondary driving motor 406 respectively and stretches the end of guide rod 404
End, blade 407 are driven by independent secondary driving motor 406 respectively, and therefore, the rotating speed of each flying wing propeller 405 can be with
Independently controlled.As shown in Figure 13 and Figure 18, each pair driving motor 406 is removably mounted to by a connecting plate 10 respectively
Flying wing stretches the end of guide rod 404, convenient for handling repair.And the arrangement side of flying wing propeller 405, secondary driving motor 406
Formula is identical with conventional scheme, is arranged along whole aircraft center periphery.
Preferably, main drive motor 409 is mounted on the center on chassis 402 so that main drive motor 409 is to whole aircraft
The vibration effect of generation minimizes；And the arrangement of blade 407, secondary driving motor 406 is identical with conventional scheme, along entirety
Aircraft center periphery arranges.The aircraft is foldable, small, can be deeply dark/strange/toxic by narrow path
Hazardous environment fly, it is easily operated, it is highly practical.Figure 20 and Figure 21 is the location drawing of main drive motor 409.
Preferably, main drive motor 409 carries out coaxial cooperation by its locating shaft 11 and the location hole 12 on chassis 402, main
Driving motor 409 is connected by the counterbore I 13 on chassis 402 with hexagon socket head cap screw mounted on the center on chassis 402, main driving electricity
The locating shaft 11 of machine 409 and connect and is driven with rotation drive disk 403 by the location hole 12 on chassis 402 so that main driving
The vibration effect that motor 409 generates whole aircraft minimizes.
Main drive motor 409 is coaxially matched by the locating shaft 11 of motor and the location hole 12 on chassis 402 and chassis 402
It closes, and is connected mounted on the center on chassis 402, main drive motor 409 with hexagon socket head cap screw by the counterbore I 13 on chassis 402
The symmetrical both sides of shaft there is the flat position of axis, combined with the fixation shaft coupling 8 that matches on rotation drive disk 403 and carry out driving torque,
The top of shaft is equipped with screw thread, as shown in figure 17, tightens the fastening rotation drive disk 403 of round end nut 9, main drive motor 409 carries
When for power, rotation drive disk 403 rotates, make each flying wing stretch guide rod 404 flange 410 rotation drive disk 403 arc
Forced-slip in type sliding groove 411, to keep the flexible guide rod 404 of flying wing radial straight in the T-type sliding groove 412 on chassis 402
Line is flexible, to the stretching, extension and contraction of controllable aircraft wing during flying progress, adapts to environment complicated and changeable and flies
Row, the ability for hiding obstacle is greatly improved, and when storage makes volume reach minimum；Six wings are kept in same circumference, to protect always
The stability of six rotors is demonstrate,proved, can also convert telescopic rotor axis can convert the size of climbing power and the volume of itself.Chassis
It can carry a variety of loads on 402, the telescopic flying wing of the invention guide rod 404 that stretches can't increase whole weight,
And rotation drive disk 4032 and the chassis 402 of hollow out setting, alleviate the weight of whole aircraft.
Preferably, aircraft by with four groups of bolts, nut, counterbore, be vertically connected with column and connect with upper matrix platform.
Wherein, as shown in Fig. 2, Fig. 4 and Fig. 5, the upper surface for being located at the upper matrix platform 101 under aircraft 4 is equipped with peace
Seat is filled, mounting base includes two mounting brackets 204 and connects the sleeve 205 of two mounting brackets 204, and photographing module 304 passes through peace
Supporting rod 210 equipped with micro machine is connected on sleeve 204.This photographing module 304 is more than and is shot to the scenery of front,
It can also be realized on horizontal plane by the rotation of the supporting rod 210 equipped with micro machine to the left side, the right side, followed by shooting
360 ° shoot without dead angle；More outstanding is that can realize that photographing module 304 is overlooked and faced upward by the rotation of sleeve 204
Depending on the scene of shooting is more wide, this, which is fixed camera, to do.Mounting base had both expanded the visual field model of camera
It encloses, also ensures the stability of matrix platform.
The robot further includes detecting system 3, and detecting system 3 includes fuel gas detection module 301, humiture inspection
Survey module 302, human body infrared line detecting module 303, photographing module 304 and ultrasound examination module 305, upper matrix platform
There is gap, as shown in Figure 3 and Figure 7, fuel gas detection module 301 and human body infrared between 101 and lower substrate platform 102
Detecting module 303 is mounted on the upper surface of upper matrix platform 101, and Temperature and Humidity module 302 and ultrasound examination module 305 are pacified
Mounted in the upper surface of lower substrate platform 102, detecting system is easy to operate, and operating personnel only need control terminal equipment to can be completed respectively
Kind operation.
The robot further includes control system 5, the control system 5 include power module 501, main control module 502,
Wireless transport module 503, executor 504, as shown in Fig. 3, Fig. 7 and Fig. 8, main control module 502 and wireless transport module 503 are pacified
Mounted in the upper surface of upper matrix platform 101, power module 501 is mounted on the upper surface of lower substrate platform 102, wireless transport module
503 are wirelessly connected with executor 504, and kinematic system and aircraft are realized in the order that main control module 502 executes executor 504
Movement, and 502 connecting detection system of main control module, by fuel gas detection module 301, Temperature and Humidity module 302, human body
The data of infrared line detecting module 303, photographing module 304 and ultrasound examination module 305 are direct by wireless transport module
It is transferred to executor.Power module provides direct current for steering engine and various detection modules.
Temperature, the humidity in environment are subjected to data acquisition by Temperature and Humidity module 302, detected by fuel gas
Module 301 detects the concentration of fuel gas in environment, by human body infrared detecting module 303 to the human body infrared light in environment
Spectrum is detected, and by ultrasound examination module 305 to the landform of environment, distance is detected, by photographing module 304 to ring
Environment in border in visible-range carries out image, video acquisition.Collected data are carried out first with main control module 502
Analyzing processing recycles wireless transport module 503 to carry out the data of various acquisitions to be sent to manipulation terminal, passes through the aobvious of terminal
Showing device is by the temperature of acquisition, humidity, combustable gas concentration, human body infrared spectrum, environment terrain figure, distance, environmental images, figure
The data such as piece are shown that carrying out discriminatory analysis for remote control testing staff is completed at the same time control.
As shown in figure 22, main control module 502 has the I/O port that multiple servos controls and sensor detect, and mounted on upper
On matrix platform 101 and for connecting each steering engine, the movement of motion control instruction implementation mechanism is executed, and be coupled each detection
With data acquisition module, the data such as concentration, humiture, picture, the landform ultrasound examination of fuel gas detected will be collected
It is passed directly to executor 504, mobile phone or computer by wireless transport module 503, to reach the communication and control of medium and long distance
System.It can also be connected into internet by router, to realize ultra-distance communication and the control with mobile phone or computer.
Communication and control are versatile and flexible, have both solved the limitation for being communicated and being controlled using circuit, also greatly improve manipulation control
The possibility of the range and real time data teleengineering support of system.
When medium and long distance communicates, medium and long distance can be completed to robot by executor, computer or mobile phone terminal
The wireless control of a variety of instructions, and can pass back and be shown in the information to the screen of control terminal that robot acquires in real time
Show.The data of transmission internet can be connected into overlength distance, to realize the control of overlength distance, and data can be realized
It is shared.The present invention improves the ability that robot adapts to the landform of various complexity, expands manipulation distance, improves manipulation eventually
The diversity and portability for holding platform can be applied to various disaster relief tasks, in detection exploration and public place of entertainment.Such as pass through manipulation
Device, mobile phone terminal or computer send motion control instruction and are transferred wirelessly the reception of module 503, and then data are by main control module
502 receptions parse, then the data by main control module 502 to I0 mouthfuls export, real to control corresponding steering engine movement
The actions such as standing, advance, retrogressing, steering, the row of existing climbing mechanism.Power module provides electric energy for entire mechanism.
For the stability of hoisting mechanism.In structure, the structure being connect with steering engine shaft is all made of bi-directional symmetrical connection,
To promote the stability in each joint in leg.On material, for intensity requirement not high hipbone component 201 and leg member
202 are made by 3D printing technique, and the steering engine III 209 of control shank component 203 is included in leg member 202, compact-sized,
The center of gravity of leg is set to be partial to the center of gravity of entire robot, such robot can be very smoothly on extremely severe complicated ground
It is moved in shape.203 selection intensity of small leg member is high, and wearability is strong, light-weight metal.Stability for pedestal and mitigation
The weight of mechanical system, upper matrix platform 101 and lower substrate platform 102 are using the hard aluminium alloy using high intensity, small density
Material.Easy to operate, operating personnel only need control terminal equipment that various operations can be completed.
When robot uses three foot gait motions, spaced three climbing mechanisms land always for holding, and the other three is climbed
Row mechanism is lifted so that no matter which kind of landform is located at, is all landed there are three climbing mechanism, can keep balancing, and improve
The stability of mechanism operation.Being passed through using the walking of three step states, the alternate movement of two groups of legs enables mechanism to complete to advance,
It retreats, the functions such as steering.When carrying out the movement and rotation of small distance, the mode that single foot continuously moves may be used and carry out small model
The movement and rotation enclosed ensure that the accuracy of small range movement, stability；Pass through the data and video figure for terrain detection
As the data of acquisition, operating personnel can be helped to judge complicated landform, the route of advance is planned, hide in road
Obstacle.The robot of the present invention detects environment by camera, combustible gas sensor, Temperature Humidity Sensor etc., and passes in real time
Return detection data.Robot is imitative spider, and carries out various gait analysis designs, has stronger obstacle climbing ability.
In the description of the present invention, it should be noted that the orientation of the instructions such as term "center", "vertical", "horizontal" or
Position relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without
It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as limitation of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, it can understand that above-mentioned term exists with regard to concrete condition
Concrete meaning in the present invention.
Other not described contents of the invention belong to the prior art.
Above example is in order to illustrate technical scheme of the present invention, and the purpose is to be to enable those skilled in the art
Understand present disclosure and be practiced, but is not limited the scope of the invention with this.Based on the implementation in the present invention
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The scope of protection of the invention.
Claims (10)
1. a kind of bio-robot having both flight and function of creeping, it is characterised in that：The robot includes kinematic system and flies
Row device, the kinematic system include pedestal and are symmetrically connected to multiple climbing mechanisms of pedestal opposite sides, and described flies
Row device is mounted on pedestal, and pedestal includes upper matrix platform and lower substrate platform；
Each climbing mechanism includes hipbone component, leg member, small leg member and link, hipbone component and leg member phase
Mutually hinged, leg member is hinged with link, and link is fixedly connected with small leg member, and steering engine is equipped on hipbone component
I and steering engine II, steering engine III is installed on leg member, the both ends of the output shaft of steering engine I respectively with upper matrix platform and lower substrate
Platform is connected, and by the rotation of the output shaft of steering engine I, realizes and mutually turns in the horizontal direction between climbing mechanism and pedestal
It is dynamic；It is attached by steering engine II between hipbone component and leg member, by the rotation of the output shaft of steering engine II, realizes hipbone
Mutual rotation on vertical direction between component and leg member；Connected by steering engine III between leg member and link
It connects, by the rotation of the output shaft of steering engine III, realizes the mutual rotation on the vertical direction between leg member and link.
2. a kind of bio-robot having both flight and function of creeping according to claim 1, it is characterised in that：Shank structure
The upper end of part is fixedly connected with link, and the lower end of small leg member contacts ground in the form of a tip, small leg member from the upper end to
The position that lower end extends is bent towards pedestal direction, and the cross-sectional area that small leg member extends from the upper end to lower end gradually subtracts
It is small.
3. a kind of bio-robot having both flight and function of creeping according to claim 1, it is characterised in that：Described
Aircraft include be vertically connected with column, chassis, rotation drive disk, flying wing stretch guide rod, flying wing propeller, motor drive rod and
Main drive motor is vertically connected with column and is connected on matrix platform, and chassis, which is connected to, to be vertically connected on column；Main drive motor is used for
Driving rotation drive disk is rotated, and rotation drive disk is equipped with arc sliding slot, and chassis is equipped with T-type sliding groove, flying wing
The head end of flexible guide rod is equipped with the flange that can be slided simultaneously without abjection in arc sliding slot and T-type sliding groove, flying wing
Propeller is mounted on the end of the flexible guide rod of flying wing；When main drive motor drives drive disk rotation, camber sliding groove to revolve
The flange of wing axis head end is that rotor shaft is sliding in camber sliding groove and T-type sliding groove simultaneously by the tangential force along rotor axis direction
It is dynamic that power is provided.
4. a kind of bio-robot having both flight and function of creeping according to claim 3, it is characterised in that：Arc is slided
Dynamic slot is multiple, center circumferentially radiation profiles of each arc sliding slot relative to rotation drive disk, on adjacent arc sliding groove
It is smaller than its spacing far from rotation driving disk center one end close to rotation driving disk center one end.
5. a kind of bio-robot having both flight and function of creeping according to claim 3, it is characterised in that：Flying wing
Flexible guide rod, arc sliding slot are identical with the number of T-type sliding groove, and flying wing propeller includes secondary driving motor and driven by pair
Dynamic motor drives its blade rotated.
6. a kind of bio-robot having both flight and function of creeping according to claim 3, it is characterised in that：Each arc
Sliding groove is mutual indepedent, and each T-type sliding groove is mutual indepedent.
7. a kind of bio-robot having both flight and function of creeping according to claim 1, it is characterised in that：The machine
People further includes detecting system, and the detecting system includes that fuel gas detection module, Temperature and Humidity module, human body are red
Outside line detecting module, photographing module and ultrasound examination module have gap between upper matrix platform and lower substrate platform, flammable
Gas detection module and human body infrared detecting module are mounted on upper matrix platform, Temperature and Humidity module and ultrasound examination
Module is mounted on lower substrate platform.
8. a kind of bio-robot having both flight and function of creeping according to claim 7, it is characterised in that：Positioned at winged
The upper surface of upper matrix platform under row device is equipped with mounting base, and mounting base includes two mounting brackets of two mounting brackets and connection
Sleeve, photographing module is connected to by being equipped with the supporting rod of micro machine on sleeve.
9. a kind of bio-robot having both flight and function of creeping according to claim 7, it is characterised in that：The machine
People further includes control system, and the control system includes power module, main control module, wireless transport module, executor, master
Control module and wireless transport module are mounted on upper matrix platform, and wireless transport module is wirelessly connected with executor, main control
Module executes the movement of order the realization kinematic system and aircraft of executor, and main control module connecting detection system, can
The number of combustion gas detection module, Temperature and Humidity module, human body infrared detecting module, photographing module and ultrasound examination module
It is transmitted directly to executor according to by wireless transport module.
10. a kind of bio-robot having both flight and function of creeping according to claim 1, it is characterised in that：Hipbone
Component and leg member are made by 3D printing technique, and the material of upper matrix platform and lower substrate platform uses hard aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810313050.3A CN108382487A (en) | 2018-04-09 | 2018-04-09 | A kind of bio-robot having both flight and function of creeping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810313050.3A CN108382487A (en) | 2018-04-09 | 2018-04-09 | A kind of bio-robot having both flight and function of creeping |
Publications (1)
| Publication Number | Publication Date |
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| CN108382487A true CN108382487A (en) | 2018-08-10 |
Family
ID=63073629
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810313050.3A Pending CN108382487A (en) | 2018-04-09 | 2018-04-09 | A kind of bio-robot having both flight and function of creeping |
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| CN110281718A (en) * | 2019-06-27 | 2019-09-27 | 东莞理工学院 | Air-ground amphibious bio-robot and control method |
| CN110962958A (en) * | 2019-12-10 | 2020-04-07 | 胡钢墩 | Crescent wheel leg for robot, bionic robot and motion control method of bionic robot |
| CN111137082A (en) * | 2019-12-30 | 2020-05-12 | 长春理工大学 | Single-duct land air cross-domain robot and control method thereof |
| CN111251314A (en) * | 2020-02-19 | 2020-06-09 | 青岛新起点文化科技有限公司 | Bionic ant robot and information system based on same |
| ES2779633A1 (en) * | 2019-02-18 | 2020-08-18 | Artifact Consulting Slu | Massive Battle Royale-style robotic combat system (Machine-translation by Google Translate, not legally binding) |
| WO2020243925A1 (en) * | 2019-06-05 | 2020-12-10 | 中国科学院深圳先进技术研究院 | Rotor structure and rolling and crawling robot using same |
| CN112389666A (en) * | 2019-11-30 | 2021-02-23 | 徐江奎 | Wall-climbing robot based on vector flight |
| CN114476039A (en) * | 2022-01-18 | 2022-05-13 | 山西医科大学 | Medical rescue system suitable for complex terrain |
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| CN112389666A (en) * | 2019-11-30 | 2021-02-23 | 徐江奎 | Wall-climbing robot based on vector flight |
| CN112389666B (en) * | 2019-11-30 | 2023-08-15 | 南京南华航空产业有限公司 | Wall climbing robot based on vector flight |
| CN110962958A (en) * | 2019-12-10 | 2020-04-07 | 胡钢墩 | Crescent wheel leg for robot, bionic robot and motion control method of bionic robot |
| CN111137082A (en) * | 2019-12-30 | 2020-05-12 | 长春理工大学 | Single-duct land air cross-domain robot and control method thereof |
| CN111251314A (en) * | 2020-02-19 | 2020-06-09 | 青岛新起点文化科技有限公司 | Bionic ant robot and information system based on same |
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