CN110254148A - A Foot-Rotor Mechanism of a Ground-Air Amphibious Robot - Google Patents

Abstract

The invention discloses a foot-rotor mechanism of a ground-air amphibious robot, comprising: a metamorphic mechanism, the metamorphic mechanism includes four hinged hollow plates, the middle parts of the hollow plates are all provided with circular through holes, four When the two hollow plates are in the unfolded state, they are located on the same plane and the centers of the circular through-holes are distributed in a rectangular shape; when in the folded state, the centerlines of the circular through-holes of the hollow plates are coaxial; the flight system includes four rotor drive devices, respectively It is arranged in the circular through hole in the middle of each hollow plate; the running mechanism is symmetrically arranged on the outer peripheral walls of the two outermost hollow plates after folding. The invention can realize the free switching between flight mode and walking mode, meet the requirements of land and air amphibious, facilitate the robot to pass through the narrow space, improve the battery life and reliability of the robot to a certain extent, and eliminate the need for variable speed through the reasonable arrangement of the spring hinge. The unnecessary stable state in the middle of the cellular mechanism simplifies the mechanism and makes the structure more compact.

Description

A Foot-Rotor Mechanism of a Ground-Air Amphibious Robot

technical field

The invention belongs to the field of land and air amphibious robots, and relates to a bistable metamorphic mechanism, in particular to a foot-rotor mechanism of a land and air amphibious robot with orthogonal creases, which can be applied to inspections in dangerous areas, post-disaster rescue and Urban anti-terrorist reconnaissance, etc.

Background technique

Existing small unmanned aerial vehicles are generally four-rotor configurations driven by lithium batteries, which are difficult to perform tasks in bad weather, and due to principle problems, the efficiency is low and the power is high, which leads to the problem of insufficient battery life. Because the propeller is very noisy when it is running, it will generate noise pollution, and it is also easy to expose the target in urban anti-terrorism.

The current quadruped robots can cross obstacles to a certain extent, but when the obstacles are high, they will be restricted, and there are certain deficiencies. its usage scenarios. However, because it is on the ground, it does not need to overcome its own weight to fly, so it can have higher efficiency, save energy, and greatly increase the endurance time.

Existing four-wheeled robots have high requirements on the ground, and they are easy to get stuck once there are some obstacles, and the ability to overcome obstacles is low. However, due to the use of wheel rolling, the speed is faster than that of legged robots, and the power requirements are smaller, and the center of gravity changes less. , leading to more energy savings.

Most of the existing land-air amphibious robots use a fixed frame. When walking on land, the frame is too large, which affects the moving speed, has high requirements on the ground, and is not compact enough. Moreover, the power of some amphibious UAVs on the ground still depends on the propellers, which cannot save energy, so it does not make much sense.

Contents of the invention

In view of the above technical problems, the present invention provides a foot-rotor mechanism for land-air amphibious robots, which not only has the air maneuvering effect that conventional drones can achieve, but also can realize long-term movement on the ground, improving the battery life of the robot power and concealment.

The present invention combines the quadrotor UAV with the quadruped robot (or four-wheel robot, modular design, which can be easily replaced), and takes into account the difference between the two working environments, and controls the drone while switching modes. The frame is changed to ensure that there is enough space for the arrangement of the rotor in the flight mode, and it is compact enough to protect the important structure of the fuselage in the walking mode.

The object of the present invention is achieved at least by one of the following technical solutions:

A foot-rotor mechanism of an air-ground amphibious robot, comprising:

The metamorphic mechanism, the metamorphic mechanism includes four hinged hollow plates, the middle of the hollow plates are provided with circular through holes, the four hollow plates are located on the same plane when they are unfolded, and the centers of the circular through holes are in the shape of Rectangular distribution, the centerlines of the circular through holes of each hollow plate are coaxial in the folded state;

The flight system includes four rotor drive devices, which are respectively arranged in the circular through holes in the middle of each hollow plate;

The running mechanism is symmetrically arranged on the outer peripheral walls of the two outermost hollow plates after folding.

Further, the four hollow plates are movably connected by an orthogonally arranged elastic hinge device, and due to the action of the spring, one of the original three stable states of the mechanism is eliminated to obtain a bistable mechanism, thereby Meet the requirements of amphibious robots.

Further, the elastic hinge device includes a spring hinge and a torsion spring hinge, and this solution connects through sheet metal parts, which effectively reduces the weight of the machine body.

Further, the rotor drive device includes a motor fixed in a circular through hole, a propeller connected to the output shaft of the motor, the rotation radius of the propeller is smaller than the radius of the circular through hole, and when flying, The circular through hole can act as a channel, so it can pressurize the flight system and improve the efficiency of the drone.

Further, a motor fixing frame is fixedly arranged at one end or the middle part of the hollow plate along the center line of the circular through hole, and the motor is fixed at the center of the motor fixing frame.

Further, the other end of the hollow plate along the centerline of the circular through hole is provided with a rotor guard, which protects the propeller to a certain extent.

Furthermore, the center of the rotor guard is provided with a bearing that is in rotation with the propeller device, which further improves the rotation stability of the propeller and prevents it from swinging.

Further, the walking mechanism includes four caster steering gears distributed in pairs, and a caster mechanism that is drivingly connected to the output shaft of the caster steering gear. The caster mechanism is a circular wheel or an obstacle-crossing foot, The barrier-crossing foot includes three outriggers arranged in rotational symmetry. This scheme adopts a modular design for the ground walking mechanism. By simply replacing the end effector, the switch between the quadruped robot and the four-wheel robot can be realized, which is beneficial to increase the working range of the robot and improve the environmental adaptability of the robot. Has a good ability to overcome obstacles.

Further, it also includes a rope drive system, which includes a rope drive steering gear fixed on the outer peripheral wall of the hollow plate, and two sets of positive and negative ropes that are symmetrically arranged on both sides of the hollow plate. When the rope on one side is elongated by the rope steering gear, the rope on the other side is shortened equally, thereby realizing the folding and unfolding of the metamorphic mechanism.

Further, the two sets of front and back ropes include a first string and a second string, and the edges of each of the hollow plates are provided with a number of threading ropes for the first string and the second string to pass through. One end of the first thin rope and the second thin rope are wound in opposite directions and connected to the rope winding roller of the rope driving steering gear, and the other ends are symmetrically arranged and sequentially passed through the rope-through holes and then connected with the corresponding The hollow plate is fixedly connected.

Compared with the prior art, the present invention has the following beneficial effects:

The invention can realize the free switching between the flight mode and the walking mode of the robot, facilitates the robot to pass through some narrow spaces, improves the endurance and reliability of the robot to a certain extent, is beneficial to increase the working range of the robot, and improves the environmental adaptability of the robot.

The present invention realizes the mutual switching of the two modes through clever use of the metamorphic mechanism, meets the requirements of land and air amphibiousness, and has a more compact structure.

The large folding-expanding ratio of the metamorphic mechanism can greatly reduce the occupied area and reduce the overall size, which is convenient for passing through some narrow spaces and is conducive to pipeline inspection.

With the help of the rope system, when the motor rotates forward, the metamorphic mechanism is unfolded, the four axes are parallel and locked, and the mechanism can be lifted into the air with the help of the flight system, which can be regarded as a quadrotor drone; when the motor is reversed, the metamorphic mechanism is folded , the four axes overlap, and the quadruped mechanism lands on the ground, which can drive the robot to cross rough obstacles on the ground, has better obstacle-surmounting ability, and can climb certain obstacles.

The present invention eliminates the unnecessary stable state in the metamorphic mechanism through the reasonable arrangement of the elastic hinge, and simplifies the mechanism.

Since the two states are more suitable for two different working modes, it has more obvious advantages than the conventional fixed-frame amphibious robot, and at the same time, due to the use of two different power systems, the battery life can be improved.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the unfolded state (flight mode) of Embodiment 1 of the present invention.

Fig. 2 is a schematic structural diagram of the folded state (land walking mode) of Embodiment 1 of the present invention.

Fig. 3 is a schematic structural diagram of the metamorphic mechanism of Embodiment 1 of the present invention.

Fig. 4 is a schematic structural diagram of a rotor drive device according to Embodiment 1 of the present invention.

Fig. 5 is a schematic diagram of the structure of the barrier-crossing foot according to Embodiment 1 of the present invention.

Fig. 6 is a schematic diagram of the structure of the unfolded state (flight mode) of Embodiment 2 of the present invention.

Fig. 7 is a schematic structural diagram of the folded state (land walking mode) of Embodiment 2 of the present invention.

In the figure: 1- metamorphic mechanism, 11- hollow plate, 12- elastic hinge device, 13- rotor guard, 14- motor fixing frame, 15- rope hole, 2- flight system, 21- motor, 22- propeller , 3-rope drive system, 31-rope driving steering gear, 32-first string, 33-second string, 4-traveling mechanism, 41-foot wheel mechanism, 42-foot wheel steering gear.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Embodiment one

As shown in Figures 1 to 2, a foot-rotor mechanism of a ground-air amphibious robot includes:

The cell-changing mechanism 1, the cell-changing mechanism 1 comprises four hinged hollow plates 11, the middle part of the hollow plates 11 is provided with a circular through hole, when the four hollow plates 11 are unfolded (as shown in Figure 1) Located on the same plane and the centers of the circular through-holes are distributed in a rectangular shape, when in the folded state (as shown in Figure 2 ), the centerlines of the circular through-holes of the hollow plates 11 are coaxial;

The flight system 2 includes four rotor drive devices, which are respectively arranged in the circular through holes in the middle of each hollow plate 11;

The running gear 4 is symmetrically arranged on the outer peripheral walls of the two outermost hollow plates 11 after folding.

As shown in Figure 3, the four hollow plates 11 are movably connected by an orthogonally arranged elastic hinge device 12, and the elastic hinge device 12 adopts a spring hinge. One of the stable states is eliminated to obtain a bistable mechanism, thereby meeting the requirements of the amphibious robot. This embodiment is connected by sheet metal parts, which effectively reduces the quality of the body.

As shown in FIG. 4 , the rotor drive device includes a motor 21 fixed in a circular through hole and a propeller 22 connected to the output shaft of the motor 21 , and the motor 21 is a brushless motor. The radius of rotation of the propeller 22 is smaller than the radius of the circular through hole. When flying, the circular through hole can play the role of a channel, which can pressurize the flight system, increase the power, and improve the performance of the unmanned aerial vehicle. efficiency.

The hollow plate 11 is fixedly provided with a motor fixing frame 14 along one end or the middle of the center line of the circular through hole, and the motor 21 is fixed in the center of the motor fixing frame 14 . The other end of the hollow plate 11 along the direction of the centerline of the circular through hole is provided with a rotor guard 13 to protect the propeller 22 to a certain extent.

In addition, the center of the rotor guard 13 is provided with a bearing that is rotationally matched with the device of the propeller 22 to further improve the rotation stability of the propeller 22 and prevent swinging.

The walking mechanism 4 includes four caster steering gears 42 distributed in pairs, and a caster gear mechanism 41 drivingly connected to the output shaft of the caster steering gear 42. The caster gear mechanism 41 is an obstacle-crossing foot. The obstacle-crossing foot includes three rotationally symmetrical outriggers (as shown in Figure 5), which are capable of walking on various complex road surfaces and are suitable for moving on uneven and complex road conditions. In this embodiment, the ground walking mechanism adopts a modular design. By simply replacing the end effector, the switch between the quadruped robot and the four-wheel robot can be realized, which is conducive to increasing the working range of the robot, improving the environmental adaptability of the robot, and crossing obstacles. The foot has a certain ability to overcome obstacles.

The main body of this embodiment is a metamorphic mechanism, which includes four main body frames and four sets of rotary joints. When it is necessary to walk on land, two of the main frames are folded once at the same time, and then due to the action of the spring hinge, there is a tendency to fold twice, and then an external force is applied to make the other two main frames fold twice, thus entering the In the land walking mode shown in FIG. 2 , at this time, the four main frames are folded coaxially, and each foot wheel steering gear 42 is started to drive the barrier-crossing feet to realize barrier-crossing walking. When it is necessary to fly, each main frame is unfolded around the spring hinge by external force. In the intermediate transition state, the elasticity of the spring hinge is still used to realize the unfolding. At the same time, after unfolding, the spring hinge maintains a stable unfolded state. Make necessary preparations for the flight, and then start each motor 21 to drive the propeller 22 to realize the flight operation.

Embodiment two

The difference between this embodiment and the first embodiment is that the above-mentioned foot wheel mechanism 41 is replaced by a circular wheel, so that it can run fast on a road with a certain degree of flatness.

Embodiment three

As shown in Figure 6, the difference between this embodiment and Embodiment 1 is that this embodiment also includes a rope drive system 3, and the rope drive system 3 includes a rope drive steering gear 31 fixed on the outer peripheral wall of the hollow plate 1. Two sets of positive and negative ropes are symmetrically arranged on both sides of the hollow plate. When the rope steering gear 31 drives one side of the rope to elongate, the other side of the rope is shortened equally, thereby realizing variable The expansion of the cellular structure.

Wherein, the two sets of positive and negative ropes include a first thin rope 32 and a second thin rope 33, and the edges of each of the hollow plates are provided with a plurality of holes for the first thin rope 32 and the second thin rope 33 to pass through. The threading hole 15 of the rope, one end of the first string 32 and the second string 33 are wound in the opposite direction and connected to the rope winding roller of the rope driving steering gear 31, and the other ends are symmetrically arranged and sequentially passed through the After threading the rope hole 15, it is fixedly connected with the corresponding hollow plate.

This embodiment is provided with a rope drive system 3 and two sets of ropes arranged in front and back, through which the switching of the metamorphic mechanism in two different stable states can be realized.

When it is necessary to walk on land, the rope driving steering gear 31 rotates in the set direction, the first string 32 is shortened, and the second string 33 is lengthened at the same time, so that the two main frame After folding, due to the effect of the spring hinge, there is a tendency to fold twice, and then continue to rely on the tension of the two sets of ropes on the front and back, so that the other two main frames can be folded twice, thus entering the land as shown in Figure 7. Walking mode, at this time, the four main frames are coaxially folded, each foot wheel steering gear is started, and the barrier-crossing feet are driven to realize barrier-crossing walking. When it is necessary to fly, the rope-driven steering gear 31 rotates in the opposite direction, the first string 32 is lengthened, and the second string 33 is shortened in the same amount at the same time, and each main body frame is unfolded around the spring hinge by external force. In the intermediate transitional state, the elasticity of the spring hinge is still used to realize the unfolding. At the same time, after unfolding, the spring hinge maintains a stable unfolded state, thereby entering the unfolded state as shown in Figure 6, making necessary preparations for flight, and then , start each motor 21 to drive the propeller 22, and realize the flight operation.

The above-mentioned embodiments can realize the free switching between the flight mode and the walking mode of the robot, facilitate the robot to pass through some narrow spaces, and improve the endurance and reliability of the robot to a certain extent; through the clever use of the metamorphic mechanism, the mutual interaction between the two modes is realized. Switching to meet the requirements of land and air amphibious; the cell mechanism is evolved from the Bennett mechanism, which has three stable states. Through the reasonable arrangement of the spring hinges, the unnecessary stable state existing in the middle of the cell mechanism is eliminated, simplifying agency. Through the design of the metamorphic mechanism, the metamorphic mechanism is used as the frame, which makes the structure more compact, enables the robot to achieve a large folding ratio in two different states, improves the flexibility of ground movement, and relies on the metamorphic mechanism. The duct protects the propeller, and the principle of duct boosting can also be used to improve flight efficiency during flight.

The above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in different forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (10)

1. a kind of foot-rotor mechanism of air-ground amphibious robot characterized by comprising

Metamorphic mechanisms (1), the metamorphic mechanisms (1) include four hinged cored slabs (11), the middle part of the cored slab (11) It is provided with circular through hole, whens four cored slab (11) unfolded states is generally aligned in the same plane and the center of circle of each circular through hole is in rectangle Distribution, in folded state, the center line of the circular through hole of each cored slab is coaxial；

Flight system (2), including four rotor drive devices, are separately positioned in the circular through hole at the middle part of each cored slab (11) The heart；

Walking mechanism (4) is symmetrical arranged on the periphery wall of two cored slabs (11) on the outermost side after folding.

2. foot-rotor mechanism of air-ground amphibious robot according to claim 1, which is characterized in that four described hollow It is flexibly connected between plate (11) by the elastic hinge joint device (12) of orthogonal setting.

3. foot-rotor mechanism of air-ground amphibious robot according to claim 1, which is characterized in that the elasticity hinge Connection device (12) includes spring hinge, torsional spring hinge.

4. foot-rotor mechanism of air-ground amphibious robot according to claim 1, which is characterized in that the rotor drives The propeller (22) that dynamic device includes the motor (21) being fixed in circular through hole, is connected on the motor (21) output shaft, The radius of turn of the propeller (22) is less than the radius of the circular through hole.

5. foot-rotor mechanism of air-ground amphibious robot according to claim 4, which is characterized in that the cored slab (11) it is fixedly installed motor fixing frame (14) along one end of circular through hole center line or middle part, the motor (21) is fixed on institute State the center of motor fixing frame (14).

6. foot-rotor mechanism of air-ground amphibious robot according to claim 5, which is characterized in that the cored slab (11) other end along circular through hole centerline direction is provided with rotor retaining frame (13).

7. foot-rotor mechanism of air-ground amphibious robot according to claim 6, which is characterized in that the rotor retaining frame (13) be provided centrally with the bearing being rotatably assorted with the device of the propeller (22).

8. foot-rotor mechanism of air-ground amphibious robot according to claim 1, which is characterized in that the vehicle with walking machine Structure (4) includes the sufficient turbine that four foot wheels steering engine (42) being distributed in pairs and foot wheel steering engine (42) output shaft are drivingly connected Structure (41), the Zu Lun mechanism (41) are circular wheel or take turns across barrier that described take turns across barrier includes three branch in rotational symmetry setting Leg.

9. foot-rotor mechanism of air-ground amphibious robot according to claim 1, which is characterized in that further include that rope drives system It unites (3), rope drive system (3) includes that one be fixed on the periphery wall of the cored slab drives rope steering engine (31), symmetry arrangement Ground is threaded through positive and negative two sets of cord circuits of the cored slab two sides, when the cord circuit elongation for steering engine (31) driving side of restricting, the other side Cord circuit shorten isometricly, to realize the folding exhibition of metamorphic mechanisms.

10. foot-rotor mechanism of air-ground amphibious robot according to claim 9 characterized by comprising described Positive and negative two sets of cord circuits include the first cord (32), the second cord (33), and the edge of each cored slab is provided with described in several confessions The lacing hole (15) that first cord (32), the second cord (33) pass through, first cord (32), the second cord (33) one end It is intertwined and connected on the rope rolling roller for driving rope steering engine (31) in the opposite direction, successively wears to other end symmetry arrangement described wear Cord hole (15) is fixedly connected with corresponding cored slab afterwards.