CN108944302A - A kind of microminiature quadrotor bionic 6-leg Fei Pa robot - Google Patents
A kind of microminiature quadrotor bionic 6-leg Fei Pa robot Download PDFInfo
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- CN108944302A CN108944302A CN201810502677.3A CN201810502677A CN108944302A CN 108944302 A CN108944302 A CN 108944302A CN 201810502677 A CN201810502677 A CN 201810502677A CN 108944302 A CN108944302 A CN 108944302A
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- leg
- robot
- fei
- steering engine
- tibia
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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
-
- 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
-
- 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
Abstract
The invention discloses a kind of microminiature quadrotor bionic 6-leg Fei Pa robots, it is related to mobile robot field, including body, rotor assemblies, leg mechanism, the leg mechanism is set to the body outer periphery, and the rotor assemblies are set on the leg mechanism.The present invention can be realized mobile robot in the sky and the movement under the environment of two kinds of ground, and can move under complicated ground environment, can be applied to the fields such as Post disaster relief, building detection, military surveillance.
Description
Technical field
The present invention relates to mobile robot field more particularly to a kind of microminiature quadrotor bionic 6-leg Fei Pa robots.
Background technique
Mobile robot is a branch in robot, its main feature is that the position that do not fix, it can be according to task
Demand moves freely.Under the promotion of science and technology, mobile robot is gradually from simple function, single environment to multi-functional, strong environment
Sexual development is adapted to, especially in fields such as scouting, search and rescue, Military Applications.
Existing robot usually using single move mode, such as ground motion or aerial sports, use environment by
Limitation: ground robot usually has wheeled robot, caterpillar type robot, polypody to creep or walking robot, these robots
Close proximity to ground movement, by the biggish limitation of landform, encounters biggish barrier or gully with regard to helpless.Air-robot
Fixed-wing robot, rotor robot and flapping wing robot are generally divided into according to flight theory.Fixed-wing generally can not be former
Ground hovering, can only execute the limited task such as scouting, strike, transport, although and rotor and flapping wing robot can be in fixed positions
It keeps, but energy utilization efficiency is lower, can not work for a long time.
Document Thrust-Assisted Perching and Climbing for a Bioinspired UAV (Pope
M T et al.Biomimetic and Biohybrid Systems.Springer International Publishing,
2016) a kind of robot based on quadrotor is disclosed, the ability that there is flight and coarse metope to creep, and can be independently two
Switch between kind operating condition.Patent document CN103192987A discloses a kind of flight and climbs wall amphibious robot and its control method,
A kind of robot creeped with flight and hydraulically smooth surface has been invented, quadrotor flight has been combined and vacuum suction is creeped.Text
Offer air-ground amphibious reconnaissance robot structure design (Pang Xiang etc., Changchun Polytechnic Univ.'s journal, 2015 (3): 270-273) and text
It offers in air-ground amphibious robot flight system design (Ma Jiansuo, Beijing Institute of Technology, 2015), individually discloses in conjunction with quadrotor
And the air-ground amphibious mobile robot of wheeled ground motion.
Robot described in document above all has amphibious locomitivity, but is all difficult to adapt to complicated ground environment,
The adaptability built under the environment such as ruins, natural jungle is weaker.
Therefore, those skilled in the art is dedicated to developing a kind of mobile robot, can have both airflight and ground
Motor function, and can be moved under complicated ground environment.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to how improve air-ground amphibious shifting
Adaptability of the mobile robot to complicated ground environment.
To achieve the above object, the present invention provides a kind of microminiature quadrotor bionic 6-leg Fei Pa robots, including machine
Body, rotor assemblies, leg mechanism, the leg mechanism are set to the body outer periphery, and the rotor assemblies are set to institute
It states on leg mechanism.
Further, body includes lower main structure plate, upper main structure plate, upper PC machine, flight control modules, control of creeping
Module, power battery, battery frame, section board, electricity are adjusted, and the lower main structure plate is connected by leg mechanism with upper main structure plate
It connects, the upper PC machine, flight control modules, control module of creeping are fixed between upper and lower main structure plate, and are set to down
On main structure plate, the battery frame, section board, electricity positioning are fixedly installed on lower main structure plate below lower main structure plate
On, the power battery is fixedly installed below lower main structure plate by battery frame.
Further, the leg mechanism include first driving steering engine, cross axle adapter, base pitch, meropodium, two connecting rods,
Tibia, the base pitch include the second driving steering engine, base pitch connecting plate, third driving steering engine, base pitch central axis, rod end bearing limit
Position, two connecting rod include the first rod end bearing, threaded rod, the second rod end bearing, and the tibia includes tibia structural member, tibia
Pitman shaft, rubber feet.
Further, the first driving steering engine is connected by the cross axle adapter with the second driving steering engine
It connects；The second driving steering engine is fixedly connected with third driving steering engine by the base pitch connecting plate；The base pitch center
Axis is fixedly installed on base pitch connecting plate center, and first rod end bearing is fixedly installed on by rod end bearing limit
On the base pitch central axis；The threaded rod both ends are fixedly installed first rod end bearing and second rod end bearing,
Second rod end bearing is connected by the tibia pitman shaft with the tibia；Described meropodium one end and second driving
Steering engine is connected, and tibia structural member described in the other end is connected；The rubber feet is fixedly installed on tibia structural member end.
Further, the lower main structure plate is connected by the first driving steering engine of leg mechanism with upper main structure plate.
Further, the rotor assemblies include electric rotating base, rotating electric machine, rotor, and the electric rotating base is fixed
It is set on the tibia structural member of leg mechanism, the rotating electric machine is fixedly installed on electric rotating base, and the rotor is fixed
It is set on rotating electric machine.
Further, the leg mechanism shares six groups, wherein being respectively arranged with rotor assemblies on four groups, and respectively symmetrically
It is set in body two sides, remaining two groups are set to front part of a body.
Further, the base pitch, meropodium, two connecting rods, tibia constitute parallel four-bar linkage.
Further, the exportable digital signal of upper PC machine, to control creep control module and flight control mould
Block；The control module output digit signals of creeping, control the first, second, third driving steering engine；The flight control modules are defeated
Digital signal out regulates and controls rotating electric machine processed by electricity.
Further, the first, second, third driving steering engine, the rotating electric machine, control module of creeping, flight control
Molding block, upper PC machine are powered by the power battery.
Further, the position of the battery frame is adjustable, to adjust the center of gravity of Fei Pa robot.
The present invention has both airflight and ground motion function, and can move under complicated ground environment.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is a preferred embodiment of the present invention three-dimensional figure；
Fig. 2 is the body three-dimensional, exploded view of a preferred embodiment of the present invention；
Fig. 3 is the leg mechanism of a preferred embodiment of the present invention and the three-dimensional figure of rotor assemblies.
Wherein: 1- body, 2- leg mechanism, 3- rotor assemblies, main structure plate under 101-, the upper main structure plate of 102-, 103-
Upper PC machine, 104- flight control modules, 105- creep control module, 106- power battery, 107- battery frame, 108- points of electricity
Plate, 109- electricity tune, the driving steering engine of 201- first, 202- cross axle adapter, 203- base pitch, 204- meropodium, bis- connecting rod of 205-,
206- tibia, the driving steering engine of 2031- second, 2032- base pitch connecting plate, 2033- third driving steering engine, 2034- base pitch central axis,
The limit of 2035- rod end bearing, the first rod end bearing of 2051-, 2052- threaded rod, the second rod end bearing of 2053-, 2061- tibia knot
Component, 2062- tibia pitman shaft, 301- electric rotating base, 302- rotating electric machine, 303- rotor.
Specific embodiment
The preferred embodiment of the present invention is introduced below with reference to Figure of description, keeps its technology contents more clear and convenient for reason
Solution.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention is not limited only to text
In the embodiment mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.Apparent in order to make to illustrate, some places suitably exaggerate the thickness of component in attached drawing.
As shown in Figure 1, a preferred embodiment of the present invention microminiature quadrotor bionic 6-leg Fei Pa robot, including body
1, leg mechanism 2 and rotor assemblies 3.
As shown in Fig. 2, body 1 includes lower main structure plate 101, upper main structure plate 102, upper PC machine 103, flight control mould
Block 104, control module of creeping 105, power battery 106, battery frame 107, section board 108, electricity adjust 109.
As shown in figure 3, leg mechanism includes the first driving steering engine 201, cross axle adapter 202, base pitch 203, meropodium
204, two connecting rods 205, tibia 206.Base pitch includes the second driving steering engine 2031, base pitch connecting plate 2032, third driving steering engine
2033, base pitch central axis 2034, rod end bearing limit 2035；Two connecting rods 205 include the first rod end bearing 2051, threaded rod
2052, the second rod end bearing 2053；Tibia includes tibia structural member 2061, tibia pitman shaft 2062.Rotor assemblies 3 include rotation
Motor cabinet 301, rotating electric machine 302, rotor 303.
Main structure plate 101 is wherein descended to connect with upper main structure plate 102 by the first driving steering engine 201；Upper PC machine 103,
Flight control modules 104, control module of creeping 105 are fixed on lower main structure plate 101, are located at lower 101 top of main structure plate, i.e.,
Between upper main structure plate 102；Battery frame 107, section board 108, electricity adjust 109 to be fixed on lower main structure plate 101, under being located at
101 lower section of main structure plate；Power battery 106 is fixed on lower 101 lower section of main structure plate by battery frame 107.
First driving 201 output shaft of steering engine exports axis connection by cross axle adapter 202 and the second driving steering engine 2031；
Second driving steering engine 2031 is connected and fixed with third driving steering engine 2033 by base pitch connecting plate 2032；Base pitch central axis 2034 is solid
Due to 2032 center of base pitch connecting plate, the first rod end bearing 2051 is fixed on base pitch center by 2035 constraint of rod end bearing limit
On axis 2034；The first rod end bearing 2051 and the second rod end bearing 2053, the second rod end bearing are fixed in 2052 both ends of threaded rod
2053 are connect by tibia pitman shaft 2062 with tibia structural member 2061；204 one end of meropodium is connected to the second driving steering engine 2031
On output shaft, the other end is connected on tibia structural member 2061；Rotating electric machine 302 is fixed on tibia by electric rotating base 301
On structural member 2061, rotor 303 is fixed thereon.
In the present embodiment, base pitch 203, meropodium 204, two connecting rods 205, tibia 206 constitute parallel four-bar linkage.Leg
Mechanism 2 shares six groups, wherein be respectively arranged with rotor assemblies 3 on four groups, and is symmetrically arranged in 1 two sides of body, remaining
Two groups are set to 1 front of body.Upper 103 output digit signals of PC machine control creep control module 105 and flight control modules
104.105 output digit signals of control module of creeping, control the first, second, third driving steering engine 201,2031,2033.Flight
104 output digit signals of control module adjust 109 control rotating electric machines 2065 by electricity.First, second, third driving steering engine
201,2031,2033, rotating electric machine 2064, control module of creeping 105, flight control modules 104, upper PC machine 103 is by dynamic
Power battery 106 is powered.Power battery frame 107 can adjust position to adjust the center of gravity of Fei Pa robot in fixed chute.
Foregoing invention embodiment can be realized mobile robot in the sky and two kinds of ground ring compared with prior art
Movement under border, and can be moved under complicated ground environment, it can be applied to Post disaster relief, building detection, military surveillance etc.
Field.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be within the scope of protection determined by the claims.
Claims (10)
1. a kind of microminiature quadrotor bionic 6-leg Fei Pa robot, including body, rotor assemblies, which is characterized in that further include
Leg mechanism, the leg mechanism are set to the body outer periphery, and the rotor assemblies are set on the leg mechanism.
2. microminiature quadrotor bionic 6-leg Fei Pa as described in claim 1 robot, which is characterized in that body includes lower main knot
Structure plate, upper main structure plate, upper PC machine, flight control modules, control module of creeping, power battery, battery frame, section board,
Electricity is adjusted, and the lower main structure plate is connected by leg mechanism with upper main structure plate, the upper PC machine, flight control modules,
Control module of creeping is fixed between upper and lower main structure plate, and is set on lower main structure plate, the battery frame, point electricity
Plate, electricity positioning are fixedly installed on lower main structure plate below lower main structure plate, and the power battery is solid by battery frame
Surely it is set to below lower main structure plate.
3. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 2 robot, which is characterized in that the leg mechanism packet
The first driving steering engine, cross axle adapter, base pitch, meropodium, two connecting rods, tibia are included, the base pitch includes the second driving steering engine, base
Connecting plate, third driving steering engine, base pitch central axis, rod end bearing limit are saved, two connecting rod includes the first rod end bearing, screw thread
Bar, the second rod end bearing, the tibia include tibia structural member, tibia pitman shaft, rubber feet.
The first driving steering engine is connected by the cross axle adapter with the second driving steering engine；Second driving
Steering engine is fixedly connected with third driving steering engine by the base pitch connecting plate；The base pitch central axis is fixedly installed on described
Base pitch connecting plate center, first rod end bearing are fixedly installed on the base pitch central axis by rod end bearing limit
On；The threaded rod both ends are fixedly installed first rod end bearing and second rod end bearing, the second rod end axis
It holds and is connected by the tibia pitman shaft with the tibia；Described meropodium one end is connected with the second driving steering engine, separately
Tibia structural member described in one end is connected；The rubber feet is fixedly installed on tibia structural member end.
4. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 3 robot, which is characterized in that the lower main structure plate
It is connected by the first driving steering engine of leg mechanism with upper main structure plate.
5. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 4 robot, which is characterized in that the rotor assemblies packet
Electric rotating base, rotating electric machine, rotor are included, the electric rotating base is fixedly installed on the tibia structural member of leg mechanism, institute
It states rotating electric machine to be fixedly installed on electric rotating base, the rotor is fixedly installed on rotating electric machine.
6. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 5 robot, which is characterized in that the leg mechanism is total
There are six groups, wherein being respectively arranged with rotor assemblies on four groups, and is symmetrically arranged in body two sides, remaining two groups are set to
Front part of a body.
7. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 6 robot, which is characterized in that the base pitch, meropodium,
Two connecting rods, tibia constitute parallel four-bar linkage.
8. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 7 robot, which is characterized in that the upper PC machine can
Output digit signals, to control creep control module and flight control modules；The control module output digit signals of creeping,
Control the first, second, third driving steering engine；The flight control modules output digit signals regulate and control rotating electric machine processed by electricity.
9. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 8 robot, which is characterized in that described first, second,
Third drives steering engine, the rotating electric machine, control module of creeping, flight control modules, upper PC machine by the power battery
Power supply.
10. microminiature quadrotor bionic 6-leg Fei Pa as claimed in claim 9 robot, which is characterized in that the battery frame
Position it is adjustable, to adjust the center of gravity of Fei Pa robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810502677.3A CN108944302B (en) | 2018-05-23 | 2018-05-23 | Micro-miniature four-rotor hexapod bionic flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810502677.3A CN108944302B (en) | 2018-05-23 | 2018-05-23 | Micro-miniature four-rotor hexapod bionic flying robot |
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| Publication Number | Publication Date |
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| CN108944302A true CN108944302A (en) | 2018-12-07 |
| CN108944302B CN108944302B (en) | 2021-10-22 |
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| CN201810502677.3A Active CN108944302B (en) | 2018-05-23 | 2018-05-23 | Micro-miniature four-rotor hexapod bionic flying robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114347739A (en) * | 2022-02-24 | 2022-04-15 | 南京理工大学 | Air-ground amphibious robot with variable structure |
| CN114715364A (en) * | 2022-04-11 | 2022-07-08 | 中国人民解放军国防科技大学 | Compound drive underwater robot |
| US11472498B2 (en) | 2018-11-29 | 2022-10-18 | Saudi Arabian Oil Company | Perching UAV with releasable crawler |
| CN115743356A (en) * | 2022-12-09 | 2023-03-07 | 成都理工大学 | Cockroach-imitated robot suitable for narrow terrain detection |
| CN116374041A (en) * | 2023-05-06 | 2023-07-04 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
| CN115743356B (en) * | 2022-12-09 | 2024-05-03 | 成都理工大学 | Cockroach-imitating robot suitable for narrow topography detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11472498B2 (en) | 2018-11-29 | 2022-10-18 | Saudi Arabian Oil Company | Perching UAV with releasable crawler |
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| CN114715364A (en) * | 2022-04-11 | 2022-07-08 | 中国人民解放军国防科技大学 | Compound drive underwater robot |
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| CN116374041A (en) * | 2023-05-06 | 2023-07-04 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
| CN116374041B (en) * | 2023-05-06 | 2023-11-21 | 深圳技术大学 | Land-air multi-mode four-foot bionic robot and control method |
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| CN108944302B (en) | 2021-10-22 |
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