CN108515822A - Air-ground amphibious robot of omnidirectional - Google Patents
Air-ground amphibious robot of omnidirectional Download PDFInfo
- Publication number
- CN108515822A CN108515822A CN201810446368.9A CN201810446368A CN108515822A CN 108515822 A CN108515822 A CN 108515822A CN 201810446368 A CN201810446368 A CN 201810446368A CN 108515822 A CN108515822 A CN 108515822A
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- Prior art keywords
- support
- arc
- omnidirectional
- shaped
- air
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
Abstract
The invention discloses a kind of air-ground amphibious robot of omnidirectional, air-ground amphibious robot of omnidirectional, including shell and the omnidirectional's aircraft being arranged in shell；Omnidirectional's aircraft includes the multiple executing agencies of connector and connection on the connectors, the executing agency include bindiny mechanism and connect with bindiny mechanism can tilting rotor, it is described can tilting rotor include outer arcuate holder, the inner arc holder being rotatably connected in outer arcuate holder and the driving mechanism being rotatably connected on inner arc holder；It is provided with the driving motor with output shaft on the outer arcuate holder, and is connected with master gear on the output shaft, the slave gear being meshed with master gear is provided on the inner arc holder.Not only robot may be implemented and hovered with any attitude and moved in three dimensions towards any direction in the air, but also the omnidirectional moving on over there may be implemented, and accurately controlled its moving displacement.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an air-ground amphibious omnidirectional robot.
Background
Traditional many rotor unmanned aerial vehicle is because of its stability is good, characteristics such as easy control wide application in each field of production, life. And the unmanned aerial vehicle of qxcomm technology compares traditional four rotor unmanned aerial vehicle, possesses higher stability and application prospect. The omnidirectional unmanned aerial vehicle has the main characteristic that the unmanned aerial vehicle body can hover at any attitude in the air. This kind of characteristic is fit for very much and patrol and examine the field, especially during bridge detects and electric power is patrolled and examined, traditional four rotors must increase from steady cloud platform fixed camera because of the restriction that its organism self exists, moreover because cloud platform camera exists shoots the dead angle. For example, when the unmanned aerial vehicle flies under a bridge opening, the scene inside the whole bridge opening cannot be shot. These deficiencies of conventional multi-rotor drones also limit the application of multi-rotor drones.
An omnidirectional robot generally mounts omnidirectional wheels or mecanum wheels on a chassis of the robot to realize omnidirectional movement of the robot. Meanwhile, the omnidirectional robot is widely applied to the fields of scientific research, production and the like due to the characteristics of omnidirectionality, good stability, high precision and the like. However, in order to obtain higher control accuracy while mounting the omni wheels, the current omni-directional robot must mount a driving motor for each omni wheel, which increases the weight of the robot and the cost of the robot. The existing robot has low movement precision on land, and cannot acquire high control precision; hovering can only be stabilized in air at a few specific poses; it cannot hover at any pose and cannot achieve omnidirectional motion in the air.
Disclosure of Invention
The invention aims to provide an air-ground amphibious omnidirectional robot capable of realizing omnidirectional movement and arbitrary hovering on land and in the air.
The technical scheme for solving the technical problems is as follows: the air-ground amphibious omnidirectional robot comprises a shell and an omnidirectional aircraft arranged in the shell;
the omnidirectional aircraft comprises a connector and a plurality of actuating mechanisms connected to the connector, each actuating mechanism comprises a connecting mechanism and a tiltable rotor wing connected with the connecting mechanism, and each tiltable rotor wing comprises an outer arc-shaped bracket, an inner arc-shaped bracket rotationally connected in the outer arc-shaped bracket and a driving mechanism rotationally connected to the inner arc-shaped bracket;
the outer arc-shaped support is provided with a driving motor with an output shaft, the output shaft is connected with a main gear, and the inner arc-shaped support is provided with a driven gear meshed with the main gear.
Further, actuating mechanism includes the support, sets up rotor subassembly on the support and sets up pivot and the motor at the support both ends respectively, just the pivot is rotated and is connected on interior arc support, the motor is connected with the steering wheel cooperation that sets up on interior arc support.
Further, the support comprises a support part, a first connecting part and a second connecting part which are respectively connected to two ends of the support part; a support plate is arranged in the support part, and the rotor wing assembly is arranged on the support plate; the rotating shaft and the motor are respectively arranged on the first connecting portion and the second connecting portion, and the supporting portion, the first connecting portion and the second connecting portion are all provided with evenly distributed hole grooves.
Further, the connector is formed by combining a plurality of planes all be provided with the spliced pole on every plane of connector, coupling mechanism includes arc connecting piece and bracing piece, the one end of arc connecting piece is passed through the bracing piece and is connected with the spliced pole, the other end and the outer arc leg joint of arc connecting piece.
Furthermore, the shell is formed by splicing and combining a plurality of shell units.
Furthermore, the number of the executing mechanisms is four, and the four executing mechanisms are distributed in a diamond shape.
Further, be provided with arc pivot support on the outer arc support, be provided with the arc pivot of being connected with the cooperation of arc pivot support on the interior arc support.
Furthermore, the support and the support rod are both made of carbon fiber materials.
Furthermore, the support is a frame structure formed by splicing and combining a plurality of plates.
The invention has the following beneficial effects: according to the air-ground amphibious omnidirectional robot, each tiltable rotor wing has two degrees of freedom, and the thrust direction generated by each tiltable rotor wing can be any direction in a three-dimensional space, so that the robot is driven to move towards any direction; the robot can hover in any posture in the air and move towards any direction in a three-dimensional space, can realize omnidirectional movement on the ground, and can accurately control the movement displacement of the robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of an omnidirectional aircraft according to the present invention;
fig. 3 is a schematic view of a tiltrotor rotor according to the present invention;
FIG. 4 is a schematic view of the driving mechanism of the present invention;
FIG. 5 is a schematic view of the stand according to the present invention;
FIG. 6 is a schematic view of the connecting mechanism of the present invention;
the reference numerals shown in fig. 1 to 6 are respectively expressed as: 1-housing, 2-omnidirectional vehicle, 3-steering wheel, 4-drive motor, 5-main gear, 6-slave gear, 20-actuator, 21-link, 22-tiltable rotor, 23-first link, 24-support, 25-second link, 201-curved link, 202-outer curved bracket, 208-inner curved bracket, 204-drive mechanism, 214-support, 224-rotor assembly, 234-shaft, 244-motor, 242-slot, 254-curved shaft support, 264-curved shaft, 262-support rod.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
An air-ground amphibious omnidirectional robot comprises a shell 1 and an omnidirectional aircraft 2 arranged in the shell 1. The shell 1 provides a protective supporting base for ground movement of the omnidirectional aircraft 2, and can be a spherical structure, a polyhedral structure or a rod splicing structure, and in order to facilitate relative movement with the ground, the shell 1 is preferably of a spherical structure. The omnidirectional aircraft 2 is a core component of the robot, is internally cut on the inner wall of the shell, is integrally distributed in a diamond shape, provides power and effective control for the flying motion of the robot, and can realize the integral omnidirectional motion and arbitrary hovering of the robot through the omnidirectional aircraft 2.
The omnidirectional aircraft 2 comprises a connector 203 and a plurality of actuators 20 connected to the connector 203, wherein the actuators 20 comprise a connecting mechanism 21 and a tiltable rotor 22 connected to the connecting mechanism 21, and the tiltable rotor 22 comprises an outer arc-shaped bracket 202, an inner arc-shaped bracket 208 rotatably connected to the outer arc-shaped bracket 202, and a driving mechanism 204 rotatably connected to the inner arc-shaped bracket 208.
The connecting mechanism 21 is used to connect each tiltable rotor 22. Relative rotation can be generated between the outer arc-shaped bracket 202 and the inner arc-shaped bracket 208, based on the outer arc-shaped bracket 202, the inner arc-shaped bracket 208 can rotate relatively to form a degree of freedom, and the inner arc-shaped bracket 208 rotates to drive the driving mechanism 204 to rotate along with the rotation direction of the inner arc-shaped bracket 208. Because the driving mechanism 204 is rotatably connected with the inner arc-shaped bracket 208, a second degree of freedom is formed, and the driving mechanism 204 can rotate along the direction perpendicular to the rotating direction of the inner arc-shaped bracket 208 according to the use requirement, so that the use requirement is met. Through the matched rotation of the driving mechanism 204 and the inner arc-shaped support 208, the omnidirectional movement and hovering of the robot in the air and the accurate control of the omnidirectional movement and movement displacement on the ground are realized.
The outer arc bracket 202 is provided with a driving motor 4 having an output shaft, the output shaft is connected with a main gear 5, and the inner arc bracket 208 is provided with a driven gear 6 engaged with the main gear 5.
The driving motor 4 provides power for the rotation of the inner arc-shaped bracket 208, and the main gear 5 and the secondary gear 6 form a power transmission link. The power is transmitted to the inner arc-shaped bracket 208 through gear transmission, the driving motor 4 is started to drive the main gear 5 to rotate, the main gear 5 rotates to drive the driven gear 6 to rotate, and then the inner arc-shaped bracket 208 connected with the driven gear 6 rotates.
The driving mechanism 204 comprises a support 214, a rotor assembly 224 arranged on the support 214, and a rotating shaft 234 and a motor 244 respectively arranged at two ends of the support 214, wherein the rotating shaft 234 is rotatably connected to the inner arc-shaped bracket 208, and the motor 244 is cooperatively connected with the rudder disk 3 arranged on the inner arc-shaped bracket 208.
The support 214 is a part of the support portion 24 of the driving mechanism 204, and the rotating shaft 234 is a connecting part connecting the support 214 and the inner arc-shaped bracket 208, so as to facilitate relative rotation between the support 214 and the inner arc-shaped bracket 208. The motor 244 provides power for the integral rotation of the driving mechanism 204, and the motor can be a servo motor, a worm gear motor or a stepping motor; one end of which is connected to the rudder stock 3 and the other end of which is connected to the support 214. When rotation is required, the motor 244 is turned on, and based on the rudder wheel 3, the motor 244 rotates to rotate the support 214. Rotor subassembly 224 provides power for the motion of device, and rotor subassembly 224 includes DC brushless motor 244 and connects the paddle on DC brushless motor 244, and when being in flight state, DC brushless motor 244 drives the paddle rotation and produces the lifting force to make the aircraft fly to rise, the rethread actuating mechanism 204 is rotatory with the cooperation of interior arc support 208, realizes in aerial omnidirectional movement and arbitrary hovering. When the robot is in a ground motion state, the brushless dc motor 244 drives the blades to rotate to generate thrust, so that the robot moves forward, and further, the robot rotates in cooperation with the inner arc-shaped support 208 through the driving mechanism 204, so that the omnidirectional motion and the accurate control of motion displacement of the robot on the ground are realized.
In order to facilitate the connection of the tiltable rotors 22, in the present invention, the connection mechanism 21 includes an arc-shaped connection member 201, a support rod 262 and a connector 203, the connector 203 is formed by combining a plurality of planes, a connection column 204 is disposed on each plane of the connector 203, the arc-shaped connection member 201 is connected to the connection column 204 through the support rod 262, and the end of the arc-shaped connection member 201 away from the support rod 262 is connected to the outer arc-shaped bracket 202. The arc-shaped connecting piece 201 is of a T-shaped structure, the end part of the arc-shaped connecting piece, which is far away from the supporting rod 262, is provided with a clamping groove matched with the outer arc-shaped bracket 202, and the clamping groove is clamped on the outer arc-shaped bracket 202, so that the connection stability of the two is enhanced; the support rod 262 is a connecting part of the connector 203 and the arc-shaped connecting member 201, and the number of the tiltable rotors 22 connected to the connecting mechanism 21 can be determined by the number of the planes constituting the connector 203. The planar upper connecting column 204 of the connector 203 is of a main structure, so that the supporting rod 262 can be reliably connected conveniently, and the connector 203 is prevented from being easily damaged due to the fact that the supporting rod 262 is directly connected to the connector 203 through the connection transition effect of the connecting column 204.
In order to improve the usability of the robot, in the present invention, the support 214 includes a support portion 24, and a first connection portion 23 and a second connection portion 25 respectively connected to two ends of the support portion 24; a support plate 241 is arranged in the support part 24, and the rotor assembly 224 is arranged on the support plate 241; the rotating shaft 234 and the motor 244 are respectively disposed on the first connecting portion 23 and the second connecting portion 25, and the supporting portion 24, the first connecting portion 23 and the second connecting portion 25 are all provided with evenly distributed holes 242. The support 214 is a frame structure formed by splicing and combining a plurality of plates, the plates are connected around the support, and the support is arranged in a hollow manner, so that the overall weight of the robot is greatly reduced, and the flying and ground motion of the robot can be accurately controlled. Through the subregion setting to support 214, make support 214 form the platform that supplies motor 244, pivot 234 and rotor subassembly 224 to lay respectively, the structure is clear, and is simple and reliable, and sets up through hole groove 242 to the board, makes the weight greatly reduced of board, helps motor 244 to drive the rotatory operation of support 214, and is convenient and reliable.
In order to facilitate the rotational connection between the outer arc-shaped bracket 202 and the inner arc-shaped bracket 208, in the present invention, an arc-shaped rotating shaft support 254 is disposed on the outer arc-shaped bracket 202, and an arc-shaped rotating shaft 264 cooperatively connected with the arc-shaped rotating shaft support 254 is disposed on the inner arc-shaped bracket 208. The arc-shaped rotating shaft 264 is matched with the arc-shaped rotating shaft support 254, and is of an arc-shaped structure, so that friction is not generated in the rotating process, and the smoothness of relative rotation of the inner arc-shaped support 208 and the outer arc-shaped support 202 is improved.
In order to facilitate the adjustment of the size of the flexible housing to meet the needs of different omnidirectional aircraft, in the present invention, the housing 1 is formed by splicing and combining multiple housing units. The housing units are arc-shaped, and each housing unit is 3D printed, and an appropriate number of housing units are selected for splicing and combination according to needs, so as to form the whole housing and facilitate effective movement on the ground.
In order to reduce the overall weight of the robot, in the present invention, the support 214 and the support rod 262 are made of carbon fiber material. The carbon fiber is a high-strength and high-modulus fiber material, is flexible outside and rigid inside, is lighter in weight, has high axial strength and good fatigue resistance, is made of the material, and can effectively improve the overall service performance and control performance of the robot.
The actuator 20 may be plural. For more applications, it is preferable that the number of the actuators 20 is four, and the four actuators 20 are distributed in a diamond shape.
The above is a specific implementation manner of the invention, and it can be seen from the implementation process that each tiltable rotor wing of the amphibious omnidirectional robot provided by the invention has two degrees of freedom, and the thrust direction generated by each tiltable rotor wing can be any direction in a three-dimensional space, so that the robot is driven to move towards any direction; the robot can hover in any posture in the air and move towards any direction in a three-dimensional space, can realize omnidirectional movement on the ground, and can accurately control the movement displacement of the robot.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An air-ground amphibious omnidirectional robot is characterized by comprising a shell (1) and an omnidirectional aircraft (2) arranged in the shell (1);
the omnidirectional aircraft (2) comprises a connector (203) and a plurality of actuators (20) connected to the connector (203), wherein each actuator (20) comprises a connecting mechanism (21) and a tiltable rotor (22) connected with the connecting mechanism (21), and each tiltable rotor (22) comprises an outer arc-shaped bracket (202), an inner arc-shaped bracket (208) rotatably connected in the outer arc-shaped bracket (202) and a driving mechanism (204) rotatably connected on the inner arc-shaped bracket (208);
the outer arc-shaped bracket (202) is provided with a driving motor (4) with an output shaft, the output shaft of the driving motor (4) is connected with a main gear (5), and the inner arc-shaped bracket (208) is provided with a driven gear (6) meshed with the main gear (5).
2. An amphibious omnidirectional robot according to claim 1, wherein the driving mechanism (204) comprises a support (214), a rotor assembly (224) arranged on the support (214), and a rotating shaft (234) and a motor (244) which are respectively arranged at two ends of the support (214), wherein the rotating shaft (234) is rotatably connected to the inner arc-shaped support (208), and the motor (244) is cooperatively connected with a rudder disc (3) arranged on the inner arc-shaped support (208).
3. An air-ground amphibious omnidirectional robot according to claim 2, wherein the support (214) comprises a support portion (24) and a first connecting portion (23) and a second connecting portion (25) respectively connected to both ends of the support portion (24); a support plate (241) is arranged in the support part (24), and the rotor wing assembly (224) is arranged on the support plate (241); the rotating shaft (234) and the motor (244) are respectively arranged on the first connecting portion (23) and the second connecting portion (25), and the supporting portion (24), the first connecting portion (23) and the second connecting portion (25) are all provided with evenly distributed hole grooves (242).
4. An air-ground amphibious omnidirectional robot according to claim 1, wherein the connector (203) is formed by combining a plurality of planes, a connecting column (204) is arranged on each plane of the connector (203), the connecting mechanism (21) comprises an arc-shaped connecting piece (201) and a supporting rod (262), one end of the arc-shaped connecting piece (201) is connected with the connecting column (204) through the supporting rod (262), and the other end of the arc-shaped connecting piece (201) is connected with the outer arc-shaped bracket (202).
5. An air-ground amphibious omnidirectional robot according to claim 4, wherein an arc-shaped rotating shaft support (254) is arranged on the outer arc-shaped support (202), and an arc-shaped rotating shaft (264) which is connected with the arc-shaped rotating shaft support (254) in a matched manner is arranged on the inner arc-shaped support (208).
6. An air-ground amphibious omnidirectional robot according to claim 1, wherein the housing (1) is formed by splicing and combining a plurality of housing units.
7. An amphibious omnidirectional robot according to claim 1, wherein there are four actuators (20), and the four actuators (20) are distributed in a diamond shape.
8. An amphibious omnidirectional robot according to claim 3, wherein the support (214) and the support bar (262) are both made of carbon fiber material.
9. An amphibious omnidirectional robot according to claim 8, wherein the support (214) is a frame structure formed by splicing and combining a plurality of plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810446368.9A CN108515822A (en) | 2018-05-11 | 2018-05-11 | Air-ground amphibious robot of omnidirectional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810446368.9A CN108515822A (en) | 2018-05-11 | 2018-05-11 | Air-ground amphibious robot of omnidirectional |
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| Publication Number | Publication Date |
|---|---|
| CN108515822A true CN108515822A (en) | 2018-09-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810446368.9A Pending CN108515822A (en) | 2018-05-11 | 2018-05-11 | Air-ground amphibious robot of omnidirectional |
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| CN109606667A (en) * | 2019-01-24 | 2019-04-12 | 南昌航空大学 | A kind of foldable inclination rotor aircraft |
| CN111645855A (en) * | 2020-05-28 | 2020-09-11 | 西南交通大学 | Diaxon module and use unmanned aerial vehicle of this subassembly |
| CN111899599A (en) * | 2019-08-22 | 2020-11-06 | 王晨曦 | Flight simulator 3DOF cockpit |
| CN115139316A (en) * | 2022-08-01 | 2022-10-04 | 煤炭科学技术研究院有限公司 | Amphibious robot with adjustable rotor wing angle |
| WO2023180270A1 (en) * | 2022-03-22 | 2023-09-28 | Aerix Systems | Omnidirectional propelled vehicle with minimal overall dimensions |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109606667A (en) * | 2019-01-24 | 2019-04-12 | 南昌航空大学 | A kind of foldable inclination rotor aircraft |
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| CN111645855A (en) * | 2020-05-28 | 2020-09-11 | 西南交通大学 | Diaxon module and use unmanned aerial vehicle of this subassembly |
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Application publication date: 20180911 |