CN111746207A - Amphibious robot - Google Patents
Amphibious robot Download PDFInfo
- Publication number
- CN111746207A CN111746207A CN202010531060.1A CN202010531060A CN111746207A CN 111746207 A CN111746207 A CN 111746207A CN 202010531060 A CN202010531060 A CN 202010531060A CN 111746207 A CN111746207 A CN 111746207A
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- China
- Prior art keywords
- robot
- ground
- hemisphere
- flying
- module
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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
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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
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Abstract
The invention relates to an amphibious robot which comprises a flying robot body assembly, wherein the bottom of the flying robot body assembly is fixedly connected with the top of a ground robot body assembly, the flying robot body assembly comprises a flying robot frame, the flying robot frame is of a hollow structure, a power supply assembly and a controller unit which are mutually connected are arranged in the flying robot frame, a GPS positioning assembly is further arranged at one end of the flying robot frame, the ground robot body assembly comprises a ground robot frame, a video pod is arranged in the ground robot frame, and the GPS positioning assembly and the video pod are both connected with the controller unit. Compared with the prior art, the invention has the advantages of high-efficiency and quick aerial operation capability, capability of coping with ground operation of complex terrains, high-speed ground motion capability and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an amphibious robot.
Background
At present, the main amphibious scheme in the market focuses on realizing the composition of a multi-legged robot and an unmanned aerial vehicle structure, and the amphibious robot has the defect of low ground efficiency. For example, the Chinese invention patent CN108297638A discloses an amphibious robot, in particular to an air-ground dual-purpose bionic hexapod robot which can be used for complex terrains. The six-foot flying device is composed of a control assembly, a six-foot walking assembly and a six-foot flying assembly. The control assembly comprises a single chip microcomputer, an electronic speed regulator, a main body support plate, and a flight control plate, a motor driver and a steering engine control plate which are respectively fixed with the main body support plate. Every group walking subassembly includes steering wheel III that links to each other with the main part extension board, steering wheel II that links to each other through cross and steering wheel III and the mechanical leg that links to each other through U template and steering wheel II. The ground-air dual-purpose bionic hexapod robot is combined with the multi-axis unmanned aerial vehicle through the foot type robot, and the motor and the propeller can enable the robot to climb over obstacles, so that short-distance flight is realized, and meanwhile, higher speed can be achieved.
However, although the unmanned aerial vehicle disclosed in the prior art is applicable to ground mode operation and air mode operation of an amphibious robot, a multi-foot mechanism adopted in the ground mode has low working efficiency and slow movement speed, and cannot realize rapid feeding in the ground mode.
Disclosure of Invention
The invention aims to provide an amphibious robot for overcoming the defect that the high-speed feeding in a ground mode cannot be realized by simply combining a multi-legged robot and a multi-rotor aircraft in the prior art.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an amphibious robot, includes flying robot body subassembly, the bottom of flying robot body subassembly and the top fixed connection of ground robot body subassembly, flying robot body subassembly includes flying robot frame, flying robot frame is hollow out construction, and its inside built-in power supply module and the controller unit that has interconnect, one end still is equipped with GPS locating component in the flying robot frame, ground robot body subassembly includes ground robot frame, the inside video nacelle that is equipped with of ground robot frame, GPS locating component with the video nacelle all with the controller unit is connected.
Further, flying robot body subassembly still including set up in a plurality of rotor subassemblies of hoop evenly distributed on the flying robot frame.
Further, every rotor subassembly includes arm component, motor cabinet, electricity accent, motor and folding paddle, the one end of arm component with the flying robot frame is connected, the other end with the motor cabinet is connected, the motor cabinet embeds there is the electricity accent, the motor set up in on the motor cabinet and with electricity is transferred and is connected, the output of motor with folding paddle is connected, electricity transfer with the controller unit is connected.
Furthermore, the flying robot frame is provided with a circumferential hole corresponding to the arm component, and one end of the arm component is connected with the circumferential hole arranged on the flying robot frame through a connecting piece.
Furthermore, the folding paddle is provided with a mounting hole, and the output end of the motor is connected with the folding paddle through the mounting hole.
Further, the types of the folding blades include a forward folding blade and a reverse folding blade.
Further, the ground robot body assembly further comprises a laser radar and a plurality of ground robot arm modules, the laser radar is arranged at the position of the surface of the top end inside the ground robot rack and connected with the controller unit, and the ground robot arm modules are arranged at the position of the surface of the side outside the ground robot rack and connected with the controller unit.
Further, every ground robot arm module includes interconnect's spherical module I, spherical module II and spherical module III, every ground robot arm module passes through spherical module I's stator hemisphere face sets up respectively in left front, right front, left back and right back position department on the surface of ground robot frame outside side.
Further, the rotor hemisphere face of spherical module I with the stator hemisphere face fixed connection of spherical module II, the rotor hemisphere face of spherical module II with the stator hemisphere face fixed connection of spherical module III, the rotor hemisphere face of spherical module III contacts with ground.
Further, the spherical module I, the spherical module II and the spherical module III are the same as each other and respectively comprise a stator hemispherical surface, a rotor hemispherical surface, a stepping motor and a connecting plate I, the stator hemispherical surface is fixedly connected with the stepping motor through the connecting plate I, an output shaft of the stepping motor is fixedly connected with the rotor hemispherical surface, and the rotor hemispherical surface is also fixedly connected with the connecting plate II.
Compared with the prior art, the invention has the following advantages:
(1) the air-ground amphibious robot adopts a mode of combining a multi-rotor wing robot and a quadruped robot, so that the air-ground amphibious robot can work in the air and also can work on the ground;
(2) the ground robot arm module adopted by the air-ground amphibious robot can realize multi-legged movement, and can realize a ground wheel-walking mode due to the adoption of a mode of two-hemisphere movement, so that the operation of multiple modes is realized by one set of power equipment.
Drawings
Fig. 1 is a side view of the whole structure of the amphibious robot of the invention;
FIG. 2 is a perspective view of the overall structure of the amphibious robot of the invention;
fig. 3 is a schematic connection diagram of an internal electronic system of the amphibious robot of the invention;
FIG. 4 is a perspective view of the overall structure of a flying robot body assembly of the amphibious robot;
fig. 5 is a perspective view of the overall structure of the ground robot body assembly of the amphibious robot of the invention;
fig. 6 is a bottom view of the whole structure of the ground robot body assembly of the amphibious robot;
FIG. 7 is a perspective view of the overall structure of a ground robot arm module of the amphibious robot of the present invention;
FIG. 8 is a perspective view of the overall structure of a spherical module of the amphibious robot of the present invention;
fig. 9 is a perspective view of the internal structure of the spherical module of the amphibious robot of the invention;
in the figure, A is a flying robot body component; b is a ground robot body component; c is a GPS positioning component; d is a power supply component; e is a video pod; f is a controller unit; 1 is an aircraft robot frame; 2 is an arm component; 3 is a motor base; 4, electric regulation; 5 is a motor; 6 is a folding paddle; 7 is a ground robot frame; 8 is a ground robot arm module; 9 is laser radar; 10 is a spherical module I; 11 is a spherical module II; 12 is a ball module III; 13 is a semi-spherical surface of the stator; 14 is a rotor hemispherical surface; 15 is a stepping motor; 16 is a connecting plate I; and 17 is a connecting plate II.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The invention relates to an air-ground amphibious robot, which consists of a flying robot body component A, a ground robot body component B, GPS positioning component C, a power supply component D, a video pod E and a controller unit F, wherein the lower part of the flying robot body component A is fixedly connected with the upper part of a ground robot frame 7 of the ground robot body component B, the rear end of the flying robot body component A is fixedly connected with the GPS positioning component C, and the middle groove position of the flying robot body component A is fixedly connected with a replaceable power supply component D; the front end of the ground robot body component B is fixedly connected with a video pod E; the front part of the flying robot body component A is fixedly connected with a controller unit F; as shown in fig. 1, 2 and 3.
Flying robot body subassembly A comprises the rotor subassembly of flying robot frame 1 and 4 hoop equipartitions, every rotor subassembly is by identical arm component 2, motor cabinet 3, electricity is transferred 4, motor 5 and folding paddle 6 constitutes, wherein the hoop hole rigid coupling of 4 equipartitions of arm component 2 of every rotor subassembly through connecting piece and flying robot frame 1, another and the 3 rigid couplings of motor cabinet of arm component 2, install electricity in the motor cabinet 3 and transfer 4, the upper surface and the 5 rigid couplings of motor cabinet 3, the mounting hole rigid coupling of motor 5 and folding paddle 6. The folding blades 6 are of two types, forward and reverse, to balance the reaction torque. As shown in fig. 4.
The ground robot body component B consists of a ground robot rack 7, a laser radar 9 and four same ground robot arm modules 8, wherein each ground robot arm module 8 consists of three identical spherical modules I10, II 11 and III 12; the left front, the right front, the left back and the right back of the ground robot rack 7 are fixedly connected with one side plane of a stator hemispherical surface 13 of a spherical module I10 of the ground robot arm module 8 respectively, a rotor hemispherical surface 14 of the spherical module I10 of the ground robot arm module 8 is fixedly connected with a stator hemispherical surface 13 of a spherical module II 11 of the ground robot arm module 8, a rotor hemispherical surface 14 of the spherical module II 11 of the ground robot arm module 8 is fixedly connected with a stator hemispherical surface 13 of a spherical module III 12 of the ground robot arm module 8, and the rotor hemispherical surface 14 of the spherical module III 12 of the ground robot arm module 8 can be contacted with the ground; the lower part of the ground robot frame 7 is fixedly connected with a laser radar 9. As shown in fig. 5, 6 and 7.
The spherical module I10, the spherical module II 11 and the spherical module III 12 are completely the same, and two hemispheres are formed by a stator hemispherical surface 13, a rotor hemispherical surface 14, a stepping motor 15 and a connecting plate I16; the stator hemispherical surface 13 is fixedly connected with a stepping motor 15 through a connecting plate I16, an output shaft of the stepping motor 15 is fixedly connected with a rotor hemispherical surface 14, and the rotor hemispherical surface 14 is fixedly connected with a connecting plate II 17. As shown in fig. 8 and 9.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An amphibious robot is characterized by comprising a flying robot body component (A), the bottom of the flying robot body component (A) is fixedly connected with the top of the ground robot body component (B), the flying robot body component (A) comprises a flying robot frame (1), the flying robot frame (1) is of a hollow structure, a power supply component (D) and a controller unit (F) which are connected with each other are arranged in the power supply component, a GPS positioning component (C) is also arranged at one end of the flying robot frame (1), the ground robot body component (B) comprises a ground robot frame (7), a video pod (E) is arranged in the ground robot rack (7), and the GPS positioning component (C) and the video pod (E) are both connected with the controller unit (F).
2. An amphibious robot according to claim 1, characterised in that said flying robot body assembly (a) further comprises a plurality of rotor assemblies arranged circumferentially and uniformly on said flying robot frame (1).
3. An amphibious robot according to claim 2, where each rotor assembly comprises an arm assembly (2), a motor base (3), an electric governor (4), a motor (5) and a folding paddle (6), where one end of the arm assembly (2) is connected to the flying robot frame (1), the other end is connected to the motor base (3), the electric governor (4) is built in the motor base (3), the motor (5) is disposed on the motor base (3) and connected to the electric governor (4), an output end of the motor (5) is connected to the folding paddle (6), and the electric governor (4) is connected to the controller unit (F).
4. An amphibious robot according to claim 3, characterised in that the flying robot frame (1) is provided with a circumferential hole corresponding to the arm assembly (2), and one end of the arm assembly (2) is connected to the circumferential hole provided in the flying robot frame (1) by a connecting piece.
5. An amphibious robot according to claim 3, characterised in that said folding paddle (6) is provided with mounting holes, and the output of said motor (5) is connected to said folding paddle (6) through said mounting holes.
6. An amphibious robot according to claim 3, characterised in that the folding blades (6) are of the type comprising forward folding blades and reverse folding blades.
7. An amphibious robot according to claim 1, where the ground robot body assembly further comprises a lidar (9) and a number of ground robot arm modules (8), where the lidar (9) is arranged at an inner top surface position of the ground robot housing (7) and connected to the controller unit (F), and where the ground robot arm modules (8) are arranged at an outer side surface position of the ground robot housing (7) and connected to the controller unit (F).
8. An amphibious robot according to claim 7, characterised in that each said ground robot arm module (8) comprises a ball module I (10), a ball module II (11) and a ball module III (12) connected to each other, each said ground robot arm module (8) being arranged at a front left, a front right, a rear left and a rear right position respectively on the external side surface of said ground robot frame (7) through a stator hemisphere (13) of said ball module I (10).
9. An amphibious robot according to claim 8, characterised in that the rotor hemisphere (14) of spherical module I is fixedly connected with the stator hemisphere (13) of spherical module II (11), the rotor hemisphere (14) of spherical module II (11) is fixedly connected with the stator hemisphere (13) of spherical module III (12), and the rotor hemisphere (14) of spherical module III (12) is in contact with the ground.
10. An amphibious robot according to claim 9, characterised in that said spherical module i, said spherical module ii (11) and said spherical module iii (12) are identical to each other and comprise said stator hemisphere (13), said rotor hemisphere (14), a stepper motor (15) and a connection plate i (10), said stator hemisphere (13) is fixedly connected to said stepper motor (15) via said connection plate i (16), said output shaft of said stepper motor (15) is fixedly connected to said rotor hemisphere (14), and said rotor hemisphere (14) is also fixedly connected to a connection plate ii (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010531060.1A CN111746207A (en) | 2020-06-11 | 2020-06-11 | Amphibious robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010531060.1A CN111746207A (en) | 2020-06-11 | 2020-06-11 | Amphibious robot |
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| Publication Number | Publication Date |
|---|---|
| CN111746207A true CN111746207A (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010531060.1A Pending CN111746207A (en) | 2020-06-11 | 2020-06-11 | Amphibious robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040211603A1 (en) * | 2001-09-26 | 2004-10-28 | Takayuki Furuta | Bipedal humanoid |
| CN204688404U (en) * | 2015-05-22 | 2015-10-07 | 上海俏动智能化科技有限公司 | The collapsible screw propeller of a kind of unmanned plane |
| CN105172932A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Quadruped robot based on cell robot units |
| CN206242832U (en) * | 2016-11-03 | 2017-06-13 | 东北林业大学 | Land and air double-used quadrotor |
| CN109624626A (en) * | 2018-12-19 | 2019-04-16 | 中国人民解放军国防科技大学 | Coaxial double-paddle mechanism capable of realizing synchronous folding of paddles |
| WO2019207558A1 (en) * | 2018-04-25 | 2019-10-31 | 株式会社プロドローン | Unmanned aerial vehicle |
-
2020
- 2020-06-11 CN CN202010531060.1A patent/CN111746207A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040211603A1 (en) * | 2001-09-26 | 2004-10-28 | Takayuki Furuta | Bipedal humanoid |
| CN204688404U (en) * | 2015-05-22 | 2015-10-07 | 上海俏动智能化科技有限公司 | The collapsible screw propeller of a kind of unmanned plane |
| CN105172932A (en) * | 2015-10-12 | 2015-12-23 | 北京可以科技有限公司 | Quadruped robot based on cell robot units |
| CN206242832U (en) * | 2016-11-03 | 2017-06-13 | 东北林业大学 | Land and air double-used quadrotor |
| WO2019207558A1 (en) * | 2018-04-25 | 2019-10-31 | 株式会社プロドローン | Unmanned aerial vehicle |
| CN109624626A (en) * | 2018-12-19 | 2019-04-16 | 中国人民解放军国防科技大学 | Coaxial double-paddle mechanism capable of realizing synchronous folding of paddles |
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