CN111098650A - Dual-purpose robot of world - Google Patents
Dual-purpose robot of world Download PDFInfo
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- CN111098650A CN111098650A CN201911272359.3A CN201911272359A CN111098650A CN 111098650 A CN111098650 A CN 111098650A CN 201911272359 A CN201911272359 A CN 201911272359A CN 111098650 A CN111098650 A CN 111098650A
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- leg
- assembly
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- trunk
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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
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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
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention belongs to the field of robots, and provides a robot for both the sky and the ground, which comprises a head identification component 1, a trunk supporting component 2, a rotor flight component 3 and a plurality of leg components 4; the torso support assembly 2 comprises a torso housing 201 and a control module 203; the head recognition component 1 is rotatably connected with the trunk shell 201; the rotor flying assembly 3 is rotatably connected above the trunk shell 201; the plurality of leg assemblies 4 are rotatably connected below the trunk housing 201; the leg assembly 4 extends or retracts relative to the housing 201; wherein, the control module 203 is respectively connected with the head identification assembly 1, the rotor flight assembly 3 and the leg assembly 4 in a signal way; the control module 203 controls the operation of the rotor flight assembly 3 or the leg assembly 4 according to the received external input signal or the feedback signal of the head recognition assembly 1. Possess the performance of many rotor unmanned aerial vehicle and legged robot, can realize functions such as low-altitude flight, the autonomic landing of complicated topography, ground walking.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a robot for both the sky and the ground.
Background
In recent years, unmanned aerial vehicle technology and robot technology have been developed with great leaps and bounds. The unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, good maneuvering performance, strong survival capability, no casualty risk and the like, not only occupies an extremely important position in modern military wars, but also has very wide prospect in the civil field. From the technical perspective, current drones mainly include fixed-wing drones, unmanned vertical takeoff and landing aircraft, unmanned helicopters, multi-rotor drones, and the like. Compared with the prior art, the multi-rotor unmanned aerial vehicle has the advantages of simple structure, flexibility in control, vertical take-off and landing, capability of hovering or flying backward and the like, and can control the flight of the multi-rotor unmanned aerial vehicle through wireless remote control to complete tasks such as tracking and shooting. The robot can receive human command, run a pre-programmed program, and autonomously execute complex tasks in an artificial intelligence mode as a machine device capable of automatically executing work, and is the centralized embodiment of industrial technology development. The land robot in the robot comprises various modes such as a wheel mode, a leg mode and a peristalsis mode, wherein the leg type robot is closer to an animal shape and a motion mode, has stronger adaptability to terrain and environment, and is bound to become the most important direction for the development of the future robot.
However, legged robots and multi-rotor drones can only meet one mission scenario and do not meet the requirements of future military or civilian technologies for versatility and complex environmental suitability. Combining legged robot and many rotor unmanned aerial vehicle technique, providing a novel dual-purpose robot in heaven and earth that can realize flight and ground walking, or the robot that can say that "can fly", or "the aircraft that can walk" to break through the restriction of task environment, realize multi-scene multipurpose function. In the prior art, for example, chinese patent CN 205327397U discloses an unmanned aerial vehicle with a bionic landing gear mechanism, which combines a connecting rod clamping mechanism with an unmanned helicopter to realize that the unmanned helicopter lands on a branch or an aerial support, and the practicability needs to be investigated in consideration of the weight of the unmanned aerial vehicle and the limitation of the aerial supposition support. In addition, chinese patent CN 108502044 a discloses a combined and separated rotor and foot type mobile robot, which adopts a separated and combined design to simply connect multiple rotors and multiple feet robot, but this design has a large weight, a poor flight endurance, a large occupied space for ground walking, and limited practical performance.
Disclosure of Invention
The invention aims to provide a dual-purpose robot capable of flying and walking on the ground, which has the performances of a multi-rotor unmanned aerial vehicle and a legged robot, has three working modes of flying in the air, crawling on the ground or walking, and can realize the functions of flying in the low-altitude area, independently landing on complex terrains, walking on the ground and the like.
The technical scheme of the invention is as follows: the robot comprises a head recognition assembly 1, a trunk support assembly 2, a rotor flying assembly 3 and a plurality of leg assemblies 4;
the torso support assembly 2 comprises a torso housing 201 and a control module 203;
the head recognition component 1 is rotatably connected to the trunk shell 201 and used for recognizing or sensing the surrounding environment;
the rotor flying assembly 3 is rotatably connected above the trunk shell 201 and used for providing power for the robot;
the plurality of leg assemblies 4 are rotatably connected below the trunk shell 201 and used for landing support or walking; the leg assembly 4 extends or retracts relative to the housing 201;
wherein, the control module 203 is respectively connected with the head identification assembly 1, the rotor flight assembly 3 and the leg assembly 4 in a signal way; the control module 203 controls the operation of the rotor flight assembly 3 or the leg assembly 4 according to the received external input signal or the feedback signal of the head recognition assembly 1.
Further, the leg assembly 4 comprises a first leg section 401, a second leg section 402, a bracket 409 and a connecting rod 410;
one end of the first leg section 401 is rotatably connected with the bracket 409 through a first leg section driving part 404, and the other end is rotatably connected with the second leg section 402; the first leg drive 404 drives the first leg 401 to rotate about the bracket 409;
the middle part of the second leg section 402 is rotatably connected with one end of a connecting rod 410, and the other end of the connecting rod 410 is rotatably connected with a bracket 409 through a second leg section driving part 405; the second leg driving component 405 drives the connecting rod 410 to drive the second leg 402 to move;
the bracket 409 is connected with the trunk housing 201 through a leg driving piece 403, and the leg driving piece 403 is used for driving the leg assembly 4 to rotate;
the control module 203 is in signal connection with the first leg driving element 404 and the second leg driving element 405 to control the first leg driving element 404 and the second leg driving element 405 to work; the first leg driving member 404 and the second leg driving member 405 cooperate to extend or retract the leg assembly 4 relative to the housing 201.
Further, the torso support assembly 2 further comprises a power module 202;
the leg driving member 403, the first leg driving member 404 and the second leg driving member 405 are motors; the power module 202 is electrically connected to the leg drive 403, the first leg drive 404 and the second leg drive 405.
Further, a foot 407 is connected to an end of the second leg section 402 away from the first leg section 401; a pressure sensor 406 is arranged between the foot 407 and the second leg section 402, and the pressure sensor 406 is used for detecting the supporting force received by the leg assembly when landing.
Further, the foot 407 includes a foot cushioning member 408, and the foot cushioning member 408 is disposed at an end of the foot 407.
Further, the head recognition assembly 1 includes a recognition module and a head housing 101; the recognition module includes a binocular camera 104 and a lidar 105; the binocular camera 104 and the laser radar 105 are arranged on the head shell 101 and used for recognizing or sensing the surrounding environment; the head housing 101 is rotatably connected to the trunk housing 201.
Further, the head recognition assembly 1 comprises a first drive 103; the head housing 101 is connected to the trunk housing 201 by a first driving member 103; the first driving member 103 drives the head housing 101 to rotate.
Further, said rotor-flight assembly 3 comprises a blade 301, a second actuator 302, a cantilever 304 and a third actuator 305;
two ends of the cantilever 304 are respectively connected with a second driving piece 302 and a third driving piece 305, and the second driving piece 302 is rotatably connected with the blade 301 and drives the blade to rotate; the third driving member 305 is connected to the trunk housing 201 and drives the cantilever 304 to rotate.
The invention has the technical effects that:
the invention discloses a dual-purpose robot for the sky and the ground, which combines the performances of a legged robot and a multi-rotor unmanned aerial vehicle, can be converted under three working modes of air flight, ground four-foot crawling and ground two-foot walking, and has multiple functions of low-altitude flight, automatic landing of complex terrains, folding and unfolding of rotors, complex ground four-foot crawling, complex terrain two-foot walking and the like.
The technical scheme of the invention is the embodiment of further development of the bionic technology, and breaks through the respective limitations of the legged robot and the multi-rotor unmanned aerial vehicle, so that the design can complete tasks in various complex environments in the air and on the ground, and the development trend of equipment multiple purposes, intellectualization and complex environment adaptability is conformed.
Drawings
FIG. 1 is a schematic diagram of the design principle of the dual-purpose robot for heaven and earth in the present embodiment;
FIG. 2 is a schematic diagram of a head recognition assembly of the present embodiment;
FIG. 3 is a schematic view of the torso support assembly of the present embodiment;
FIG. 4 is a schematic view of a rotor flight assembly of the present embodiment;
fig. 5 is a schematic view of the leg assembly of the present embodiment.
Detailed Description
Example 1
In the embodiment, a dual-purpose robot for sky and ground is provided, and the robot comprises a head recognition component 1, a trunk support component 2, a rotor flight component 3 and a plurality of leg components 4. As shown in fig. 1, fig. 1 is a schematic design principle diagram of the dual-purpose robot for heaven and earth in this embodiment.
Fig. 3 is a schematic diagram of the torso support assembly of this embodiment, and as shown in fig. 3, the torso support assembly 2 includes a torso housing 201 and a control module 203. As shown in fig. 1 and 3, the head recognition assembly 1 is rotatably connected to the trunk housing 201 for recognizing or sensing the surrounding environment; the rotor flying assembly 3 is rotatably connected above the trunk shell 201 and used for providing power for the robot; a plurality of leg assemblies 4 are rotatably connected below the trunk housing 201 for landing support or walking; the leg assembly 4 extends or retracts relative to the housing 201.
Wherein, the control module 203 is respectively connected with the head identification assembly 1, the rotor flight assembly 3 and the leg assembly 4 in a signal way; the control module 203 controls the operation of the rotor flight assembly 3 or the leg assembly 4 according to the received external input signal or the feedback signal of the head recognition assembly 1.
This embodiment has broken through legged robot and many rotor unmanned aerial vehicle's restriction separately for this design can be in the air, the multiple complex environment completion task in ground.
Fig. 5 is a schematic diagram of the leg assembly of the present embodiment, and as shown in fig. 5, the leg assembly 4 includes a first leg section 401, a second leg section 402, a bracket 409 and a connecting rod 410. One end of the first leg segment 401 is rotatably connected to the bracket 409 via the first leg segment driving member 404, and the other end is rotatably connected to the second leg segment 402; the first leg drive 404 drives the first leg 401 to rotate about the bracket 409. The middle part of the second leg section 402 is rotatably connected with one end of a connecting rod 410, and the other end of the connecting rod 410 is rotatably connected with a bracket 409 through a second leg section driving part 405; the second leg driving member 405 drives the link 410 to move the second leg 402. The bracket 409 is connected to the torso housing 201 by leg drivers 403, the leg drivers 403 being used to drive the rotation of the leg assembly 4.
The control module 203 is in signal connection with the first leg driving element 404 and the second leg driving element 405 to control the first leg driving element 404 and the second leg driving element 405 to work; the first leg drive 404 and the second leg drive 405 cooperate to extend or retract the leg assembly 4 relative to the housing 201.
In this embodiment, the number of leg assemblies 4 may be two, four or six, with four being most preferred. A single leg assembly has two or three rotational degrees of freedom, with three rotational degrees of freedom being most preferred. Taking four legs as an example, in a flight mode, the four legs are retracted backwards to the lower part of the abdomen of the trunk so as to keep balance with the head assembly and reduce the whole space volume; and preparing a landing process, putting the four legs to a posture matched with the terrain contour under the coordination of a head recognition component (such as a laser radar and a binocular camera), and realizing flexible landing through the rotation of leg joints. The ground walking can adopt two modes of four-leg crawling or two-leg upright walking.
Further, as shown in fig. 3, the torso support assembly 2 also includes a power module 202. In this embodiment, the leg driving member 403, the first leg driving member 404 and the second leg driving member 405 are motors; the power module 202 is electrically connected to the leg drive 403, the first leg drive 404 and the second leg drive 405. Of course, the leg driving member 403, the first leg driving member 404 and the second leg driving member 405 of the present embodiment may also adopt other driving manners, such as hydraulic driving, and in this case, the power module 202 is a hydraulic source. Of course, the power system may also be integrated on the leg drive 403, the first leg drive 404 and the second leg drive 405, in which case the torso support assembly 2 may not include the power module 202.
Further, as shown in fig. 5, a foot 407 is connected to an end of the second leg section 402 away from the first leg section 401; a pressure sensor 406 is arranged between the foot 407 and the second leg section 402, and the pressure sensor 406 is used for detecting the supporting force received by the leg assembly when landing. The foot 407 includes a foot cushioning member 408, and the foot cushioning member 408 is disposed at an end of the foot 407. The foot cushion 408 can improve the crash resistance of the dual-purpose robot.
Further, as shown in fig. 2, fig. 2 is a schematic diagram of a head recognition assembly of the present embodiment, and the head recognition assembly 1 includes a recognition module and a head housing 101; the recognition module includes a binocular camera 104 and a lidar 105; the binocular camera 104 and the laser radar 105 are arranged on the head shell 101 and used for recognizing or sensing the surrounding environment; the head housing 101 is rotatably connected to the trunk housing 201. The head recognition assembly 1 further comprises a first drive member 103; the head housing 101 is connected to the trunk housing 201 by a first driving member 103; the first driving member 103 drives the head housing 101 to rotate. In this embodiment, the first driving member 103 is a driving motor.
Further, as shown in fig. 4, fig. 4 is a schematic view of a rotor flight assembly of the present embodiment, and the rotor flight assembly 3 includes a blade 301, a second actuator 302, a cantilever 304, and a third actuator 305. Two ends of the cantilever 304 are respectively connected with a second driving piece 302 and a third driving piece 305, and the second driving piece 302 is rotatably connected with the blade 301 and drives the blade to rotate; the third driving member 305 is connected to the trunk housing 201 and drives the cantilever 304 to rotate. Second actuator 302 is a drive motor second actuator 302 secured to the forward end of boom 304 by rotor attachment structure 303. The third driving element 305 is a cantilever rotating motor, and the third driving element 305 drives the cantilever to rotate so as to realize the unfolding of the cantilever in the air flight process and the folding of the cantilever in the ground moving process.
In this embodiment, the number of rotor flight assemblies may be three, four, six, or eight, with four being most preferred. Third drive 305 is a rotary motor that drives rotor flight assembly 3 to rotate to deploy the cantilever during air flight and stow the cantilever during ground movement. In addition, the back of the torso may be fitted with a boom stop to constrain the boom 304 to the stowed rear paddle position.
Example 2
In this embodiment, a control method of a dual-purpose robot for both sky and earth is provided, where the control method includes:
the control module 203 controls the rotor flight assembly 3 to work in the first flight mode according to the received external input signal or the feedback signal of the head recognition assembly 1, and controls the leg assembly 4 to extend relative to the housing 201 for robot landing;
the control module 203 controls the rotor flight assembly 3 to operate in the second flight mode according to the received external input signal or the feedback signal of the head recognition assembly 1, and controls the leg assembly 4 to retract relative to the housing 201, so as to perform robot flight.
Of course, the rotor flight assembly 3 may be controlled to operate in the third flight mode according to the received external input signal or the feedback signal of the head recognition assembly 1, and the leg assemblies 4 may be controlled to retract relative to the housing 201, so as to perform robot crawling or walking. The external input signal may include a signal fed back by the pressure sensor 406 or an external excitation signal received by the signal receiving device.
Claims (8)
1. A dual-purpose robot, characterized in that it comprises a head recognition assembly (1), a trunk support assembly (2), a rotor flight assembly (3) and a plurality of leg assemblies (4);
the torso support assembly (2) comprises a torso housing (201) and a control module (203);
the head recognition component (1) is rotatably connected to the trunk shell (201) and is used for recognizing or sensing the surrounding environment;
the rotor flight assembly (3) is rotatably connected above the trunk shell (201) and used for providing power for the robot;
the plurality of leg components (4) are rotatably connected below the trunk shell (201) and used for landing support or walking; the leg assembly (4) is extended or contracted relative to the shell (201);
the control module (203) is in signal connection with the head recognition assembly (1), the rotor flight assembly (3) and the leg assembly (4) respectively; the control module (203) controls the rotor flight assembly (3) or the leg assembly (4) to work according to the received external input signal or the feedback signal of the head recognition assembly (1).
2. A space and ground dual purpose robot according to claim 1, characterized in that said leg assembly (4) comprises a first leg section (401), a second leg section (402), a bracket (409) and a connecting rod (410);
one end of the first leg joint (401) is rotatably connected with the bracket (409) through a first leg joint driving part (404), and the other end of the first leg joint is rotatably connected with the second leg joint (402); the first leg section driving part (404) drives the first leg section (401) to rotate around the bracket (409);
the middle part of the second leg joint (402) is rotationally connected with one end of a connecting rod (410), and the other end of the connecting rod (410) is rotationally connected with a bracket (409) through a second leg joint driving piece (405); the second leg section driving part (405) drives the connecting rod (410) to drive the second leg section (402) to move;
the bracket (409) is connected with the trunk shell (201) through a leg driving piece (403), and the leg driving piece (403) is used for driving the leg assembly (4) to rotate relative to the trunk shell (201);
the control module (203) is in signal connection with the first leg driving piece (404), the second leg driving piece (405) and the leg driving piece (403) so as to control the first leg driving piece (404), the second leg driving piece (405) and the leg driving piece (403) to work; the first leg driving part (404) and the second leg driving part (405) work together to drive the leg assembly (4) to extend or retract relative to the shell (201).
3. A dual use robot according to claim 2, wherein said torso support assembly (2) further comprises a power module (202);
the leg driving part (403), the first leg driving part (404) and the second leg driving part (405) are motors; the power module (202) is electrically connected to the leg drive (403), the first leg drive (404), and the second leg drive (405).
4. The dual-purpose robot as claimed in claim 2, wherein the second leg section (402) is connected with a foot section (407) at an end thereof remote from the first leg section (401); a pressure sensor (406) is arranged between the foot part (407) and the second leg section (402), and the pressure sensor (406) is used for detecting the supporting force born by the leg component when landing.
5. The dual-purpose robot according to claim 4, wherein the foot portion (407) includes a foot cushion member (408), and the foot cushion member (408) is provided at an end of the foot portion (407).
6. A space and ground robot according to claim 1, characterized in that the head recognition assembly (1) comprises a recognition module and a head housing (101); the identification module comprises a binocular camera (104) and a laser radar (105); the binocular camera (104) and the laser radar (105) are arranged on the head shell (101) and used for recognizing or sensing the surrounding environment; the head housing (101) is rotatably connected to the trunk housing (201).
7. A dual-purpose robot as claimed in claim 6, characterized in that said head recognition assembly (1) comprises a first drive member (103); the head shell (101) is connected to the trunk shell (201) through a first driving piece (103); the first driving piece (103) drives the head shell (101) to rotate.
8. A space and ground robot according to claim 1, characterized in that said rotor-flight assembly (3) comprises a blade (301), a second drive (302), a cantilever (304) and a third drive (305);
two ends of the cantilever (304) are respectively connected with a second driving piece (302) and a third driving piece (305), and the second driving piece (302) is rotatably connected with the blade (301) and drives the blade to rotate; the third driving piece (305) is connected with the trunk shell (201) and drives the cantilever (304) to rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911272359.3A CN111098650A (en) | 2019-12-11 | 2019-12-11 | Dual-purpose robot of world |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911272359.3A CN111098650A (en) | 2019-12-11 | 2019-12-11 | Dual-purpose robot of world |
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| CN201911272359.3A Pending CN111098650A (en) | 2019-12-11 | 2019-12-11 | Dual-purpose robot of world |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111661316A (en) * | 2020-08-08 | 2020-09-15 | 南京航空航天大学 | Variant six-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions |
| CN112173115A (en) * | 2020-11-12 | 2021-01-05 | 重庆凯创荣智能科技有限公司 | High-altitude rescue unmanned aerial vehicle with damping device and using method |
| CN112340042A (en) * | 2020-11-16 | 2021-02-09 | 中山大学 | Multifunctional unmanned aerial vehicle |
| CN112977805A (en) * | 2021-04-19 | 2021-06-18 | 北京航空航天大学 | Landing device for micro-miniature flapping-wing aircraft |
| CN114368254A (en) * | 2020-10-14 | 2022-04-19 | 中南大学 | Multi-purpose robot capable of realizing jumping and flying motion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111661316A (en) * | 2020-08-08 | 2020-09-15 | 南京航空航天大学 | Variant six-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions |
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| CN112173115A (en) * | 2020-11-12 | 2021-01-05 | 重庆凯创荣智能科技有限公司 | High-altitude rescue unmanned aerial vehicle with damping device and using method |
| CN112173115B (en) * | 2020-11-12 | 2022-05-13 | 观典防务技术股份有限公司 | Use method of high-altitude rescue unmanned aerial vehicle with damping device |
| CN112340042A (en) * | 2020-11-16 | 2021-02-09 | 中山大学 | Multifunctional unmanned aerial vehicle |
| CN112977805A (en) * | 2021-04-19 | 2021-06-18 | 北京航空航天大学 | Landing device for micro-miniature flapping-wing aircraft |
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Application publication date: 20200505 |