CN113119670A

CN113119670A - Amphibious robot

Info

Publication number: CN113119670A
Application number: CN202110570989.XA
Authority: CN
Inventors: 汤奇荣; 钟楼; 刘聪颖; 崔远哲; 李康昊; 李明清洋; 邵良靖; 徐立伟
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2021-07-16

Abstract

The invention relates to an amphibious robot which comprises a flying mechanism and a traveling mechanism. Flight mechanism includes the mounting panel, two sets of rotors, linkage portion and steering wheel, two sets of rotors rotate respectively and install in the prelude and the afterbody of mounting panel, the rotor includes the spiral arm, screw and rotor motor, the one end of spiral arm is rotated and is installed on the mounting panel, the rotor motor is installed to the other end, the screw is installed on rotor motor's output shaft, the steering wheel is installed in the below of mounting panel, the output shaft of steering wheel passes through linkage portion and the linkage of spiral arm, the spiral arm that lies in the rotor of mounting panel prelude and afterbody respectively is not coplane, the mounting panel bears on running gear. Above-mentioned amphibious robot can realize air flight also can ground walking to ground walking is leading, can fly when having great barrier to be difficult to pass through when ground walking, and when the space is narrow, the rotor is collapsible to reduce the motion space, guarantees that the robot walks and passes through, adaptable more complex environment.

Description

Amphibious robot

Technical Field

The invention relates to the technical field of robots, in particular to an amphibious robot.

Background

With the fusion development of multiple disciplines and professions, the application field of the robot technology is continuously expanded. From an industrial automatic production line to a household service robot, from ocean resource and coal mine resource development to space exploration, and from field reconnaissance to disaster rescue, the robot is almost everywhere visible. The exploration of unknown environment is full of unstable factors, the artificial exploration is dangerous and careless, and even the life cost is paid. Therefore, robots play an important role in the search and development of unknown environments as well.

Unmanned aerial vehicle has the characteristics of flexible movement, high movement speed and wide visual field, but can only fly in a wide environment and is difficult to fly in a narrow and small complex space. Although the mobile robot can move in a small space on the ground, the mobile robot can only pass through slowly and is difficult to move forwards, and the mobile robot cannot pass through when meeting lakes or large obstacles. Therefore, the single-dwelling robot is more suitable for the working environment of a single scene and is difficult to adapt to the complex environment.

Disclosure of Invention

Therefore, it is necessary to provide an amphibious robot adaptable to a complex environment, aiming at the problem that a monokinetic robot is difficult to adapt to the complex environment.

The utility model provides an amphibious robot, includes flight mechanism and running gear, flight mechanism includes mounting panel, two sets of rotors, linkage portion and steering wheel, two sets of rotors rotate respectively install in the prelude and the afterbody of mounting panel, the rotor includes spiral arm, screw and rotor motor, the one end of spiral arm rotate install in on the mounting panel, the other end is installed rotor motor, the screw install in on rotor motor's the output shaft, the steering wheel install in the below of mounting panel, the output shaft of steering wheel passes through linkage portion with the linkage of spiral arm, the spiral arm that is located the rotor of mounting panel prelude and afterbody respectively is not coplane, the mounting panel bear in running gear is last.

Further, the mounting panel includes roof and bottom plate, the linkage portion install in between roof and the bottom plate, the spiral arm of the rotor of prelude and afterbody is located respectively roof and bottom plate are kept away from one side of linkage portion.

Furthermore, the linkage part comprises a synchronous belt, a steering wheel, an auxiliary wheel, two rotating arm wheels and two rotating arm wheel shafts, one end of each rotating arm wheel shaft is in interference fit with the wheel holes of the two rotating arm wheels, the other end of each rotating arm wheel shaft penetrates through the top plate and the bottom plate respectively and is fixed on the rotating arms of the rotor wings at the head part and the tail part respectively, the auxiliary wheel and one rotating arm wheel are connected through the synchronous belt in a transmission mode and are located on the inner side of the synchronous belt, and the other rotating arm wheel and the steering wheel are closely connected with the synchronous belt respectively and are located on the outer side of the synchronous belt respectively.

Furthermore, the steering wheel, the auxiliary wheel and the two swing arm wheels are all gears, the synchronous belt is a double-sided toothed belt, and the synchronous belt is clamped and meshed between the auxiliary wheel and the other swing arm wheel.

Furthermore, the traveling mechanism comprises a bottom plate, wheels and a wheel motor, the wheel motor is mounted on the chassis, and the wheels are connected with an output shaft of the wheel motor.

Further, still include the camera, the camera install in on the mounting panel and be located the front end of robot.

Furthermore, the robot further comprises an ultrasonic sensor, wherein the ultrasonic sensor is arranged on the walking mechanism and is positioned at the front end of the robot.

Further, the robot further comprises a control module, the control module comprises a raspberry group, a flight controller and a single chip microcomputer, the raspberry group is electrically connected with the flight controller and the single chip microcomputer respectively, the raspberry group is electrically connected with a camera, the flight controller is electrically connected with a rotor motor, and the single chip microcomputer is electrically connected with a steering engine, a wheel motor and an ultrasonic sensor respectively.

Furthermore, the robot further comprises a power module, and the power module supplies power to the flight mechanism, the walking mechanism and the control module.

Above-mentioned amphibious robot can realize air flight also can ground walking to ground walking is leading, can fly when having great barrier to be difficult to pass through when ground walking, and when the space is narrow, the rotor is collapsible to reduce the motion space, guarantees that the robot walks and passes through, adaptable more complex environment.

Drawings

Fig. 1 is a mechanism diagram of an amphibious robot according to an embodiment;

fig. 2 is a schematic view of the amphibious robot in fig. 1 from another angle;

fig. 3 is a side view of the amphibious robot of fig. 1;

fig. 4 is a top view of the amphibious robot with the top plate removed in fig. 1;

fig. 5 is a schematic view of the amphibious robot in fig. 1 in a rotor wing contraction state;

fig. 6 is an electrical connection diagram of the amphibious robot control module in fig. 1.

In the figure: 100. a flying mechanism; 110. mounting a plate; 111. a top plate; 112. a base plate; 120. a rotor; 121. a swing arm; 122. a propeller; 123. a rotor motor; 1201. a head rotor; 1202. a tail rotor; 130. a linkage section; 131. a synchronous belt; 132. a rudder wheel; 133. an auxiliary wheel; 134. a swing arm wheel; 1341. a head swing arm wheel; 1342. a tail swing arm wheel; 135. a swing arm wheel shaft; 140. a steering engine; 200. a traveling mechanism; 210. a chassis; 220. a wheel; 230. a wheel motor; 300. a camera; 400. an ultrasonic sensor; 500. a control module; 510. a raspberry pie; 520. a flight controller; 530. a single chip microcomputer; 600. and a power supply module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 5, in one embodiment, an amphibious robot includes a flying mechanism 100 and a traveling mechanism 200. The flight mechanism 100 includes a mounting plate 110, two sets of rotors 120, a linkage 130, and a steering engine 140. Two sets of rotors 120 rotate respectively and install in the prelude and the afterbody of mounting panel 110, and specifically, every rotor 120 of group comprises two rotors, and what mounting panel 110 prelude was head rotor 1201, and what the afterbody was tail rotor 1202. Rotor 120 includes radial arm 121, screw 122 and rotor motor 123, and one end of radial arm 121 is rotated and is installed on mounting panel 110, and the other end installation rotor motor 123, and screw 122 is installed on the output shaft of rotor motor 123. The steering engine 140 is mounted below the mounting plate 110. The output shaft of the steering engine 140 is linked with the radial arm 121 through the linkage part 130, and the radial arms of the front and rear rotors 120 respectively located on the mounting plate 110 are not coplanar, that is, the front rotor 1201 and the rear rotor 1202 are located on different planes, so as to ensure that the rotors 120 are contracted to the maximum extent and do not collide with each other when being contracted. The mounting plate 110 is supported on the traveling mechanism 200.

Above-mentioned amphibious robot can realize air flight also can ground walking to ground walking is leading, can fly when there is great barrier in the ground to be difficult to pass through and pass through, and when the space is narrow, rotor 120 is collapsible to reduce the motion space, guarantees that the robot walks to pass through, adaptable more complex environment.

In the present embodiment, the mounting plate 110 includes a top plate 111 and a bottom plate 112. Linkage 130 is mounted between top plate 111 and bottom plate 112, and arms 121 of leading and trailing rotors 120 are located on the sides of top plate 111 and bottom plate 112 away from linkage 130, respectively. Specifically, the two nose rotors 1201 are located above the top plate 111, and the two tail rotors 1202 are located below the bottom plate 112, so that they do not collide or frictionally interfere with each other when retracted or extended.

In the present embodiment, the linkage portion 130 includes a timing belt 131, a steering wheel 132, an auxiliary wheel 133, two swing arm wheels 134, and two swing arm wheel shafts 135. One end of each of the two swing arm wheel shafts 135 is in interference fit with the wheel holes of the two swing arm wheels 134, and the other end thereof passes through the top plate 111 and the bottom plate 112 and is fixed to the swing arms 121 of the leading and trailing rotors 120, respectively. The auxiliary wheel 133 is connected with one arm rotating wheel 134 through a synchronous belt 131 in a transmission manner and is positioned on the inner side of the synchronous belt 131, and the other arm rotating wheel 134 and the steering wheel 132 are respectively connected with the synchronous belt 131 in a tight fit manner and are respectively positioned on the outer side of the synchronous belt 131. Specifically, the linkage unit 130 includes two timing belts 131, one rudder wheel 132, two auxiliary wheels 133, four swing arm wheels 134, and four swing arm wheel shafts 135. The four arm wheels 134 include two head arm wheels 1341 and two tail arm wheels 1342. One leading arm wheel 1341 and one auxiliary wheel 133 are connected by a timing belt 131, and one trailing arm wheel 1342 is closely attached to the outside of the timing belt 131. The other trailing arm wheel 1342 is connected to the other auxiliary wheel 133 via the other timing belt 131, and the other leading arm wheel 1341 is closely attached to the outer side of the other timing belt 131. The rudder wheel 132 is positioned between the two timing belts 131 and closely attached (closely contacted) to the outer sides of the two timing belts 131.

In this embodiment, the steering wheel 132, the auxiliary wheel 133 and the two arm rotating wheels 134 are all gears, the synchronous belt 131 is a double-sided toothed belt, and the synchronous belt 131 is sandwiched and meshed between the auxiliary wheel 133 and the other arm rotating wheel 134.

In the present embodiment, the traveling mechanism 200 includes a chassis 210, wheels 220, and a wheel motor 230. The wheel motor 230 is mounted on the chassis 210, and the wheel 220 is connected to an output shaft of the wheel motor 230.

In this embodiment, the amphibious robot further includes a camera 300, an ultrasonic sensor 400 and a power module 600, and the camera 300 is mounted on the mounting plate 110 and located at the front end of the robot. The ultrasonic sensor 400 is mounted on the chassis 210 and is located at the front end of the robot. The power module 600 is installed below the chassis 210 to supply power to the flying mechanism 100, the traveling mechanism 200, the camera 300, and the ultrasonic sensor 400.

As shown in fig. 6, the robot further includes a control module 500. The control module 500 comprises a raspberry pi 510, a flight controller 520 and a single chip microcomputer 530. The raspberry pi 510 is electrically connected with the flight controller 520 and the single chip 530 respectively, and the raspberry pi 510 is electrically connected with the camera 300. Flight controller 520 is electrically connected to rotor motor 123. The single chip microcomputer 530 is electrically connected with the steering engine 140, the wheel motor 230 and the ultrasonic sensor 400 respectively. The power module 600 supplies power to the control module 500. The camera 300 is used for shooting road information in front of the robot and processing images with the raspberry group 510, and the raspberry group 510 is connected with the single chip microcomputer 530, and transmits selected motion modes and position information to the single chip microcomputer 530. The single chip microcomputer 530 is used for controlling the steering engine 140 to further control the retraction or the expansion of the rotor wing. And the single chip microcomputer 530 is used for controlling the wheel motor to control the robot to advance and turn. In the process of advancing on the ground, the ultrasonic sensor 400 detects whether an obstacle exists in front of the robot and transmits information to the single chip microcomputer 530, the single chip microcomputer 530 controls the robot to turn, and the flight controller 520 is used for controlling the rotor motor 123 to control the advancing and turning of the robot.

The amphibious robot is compact in structure and small in size, the road condition can be automatically recognized, the analysis result can be automatically selected to be in a flight mode and a walking mode, the whole stability of the rotor wing contraction structure during walking can be improved, and the amphibious robot can work in a complex environment. The ground motion power of the amphibious robot is much smaller than the power consumption power during flight, the robot increases the ground walking time ratio, and the cruising ability of the robot can be improved to a certain extent.

The amphibious robot may also be used for patrol tasks in buildings, for example. The robot is placed in a building, a path is planned through a path algorithm built in a raspberry pie according to a set patrol point, and the single chip microcomputer drives wheel motors so as to drive the robot to walk on the ground. During working, the camera identifies road conditions and carries out obstacle avoidance or switching motion modes. When the obstacle is avoided, the raspberry group replans a path, transmits path point information to the single chip microcomputer, and controls the rotating speed and the steering of a wheel motor so as to control the advancing direction of the robot to complete obstacle avoidance; when switching into flight mode, the raspberry group gives the singlechip with information transfer, and the control steering wheel rotates, and rotor book exhibition mechanism expandes, and flight controller control rotor motor rotates, realizes flight mode.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides an amphibious robot, its characterized in that, includes flight mechanism and running gear, flight mechanism includes mounting panel, two sets of rotors, linkage portion and steering wheel, two sets of rotors rotate respectively install in the prelude and the afterbody of mounting panel, the rotor includes spiral arm, screw and rotor motor, the one end of spiral arm rotate install in on the mounting panel, the other end is installed rotor motor, the screw install in on rotor motor's the output shaft, the steering wheel install in the below of mounting panel, the output shaft of steering wheel passes through linkage portion with the linkage of spiral arm, the spiral arm that is located the rotor of mounting panel prelude and afterbody respectively is not coplane, the mounting panel bear in running gear is last.

2. The amphibious robot of claim 1, wherein the mounting plate comprises a top plate and a bottom plate, the linkage part is mounted between the top plate and the bottom plate, and the swing arms of the rotors at the head part and the tail part are respectively located at one sides of the top plate and the bottom plate far away from the linkage part.

3. An amphibious robot according to claim 2, wherein the linkage part comprises a synchronous belt, a rudder wheel, an auxiliary wheel, two swing arm wheels and two swing arm wheel shafts, one end of each of the two swing arm wheel shafts is in interference fit with wheel holes of the two swing arm wheels, the other end of each of the two swing arm wheel shafts penetrates through the top plate and the bottom plate and is fixed to the swing arms of the rotors at the head part and the tail part respectively, the auxiliary wheel and one swing arm wheel are in transmission connection through the synchronous belt and are located on the inner side of the synchronous belt, and the other swing arm wheel and the steering wheel are in tight joint with the synchronous belt and are located on the outer side of the synchronous belt respectively.

4. An amphibious robot according to claim 3, wherein the rudder wheel, the auxiliary wheel and the two swing arm wheels are all gears, the synchronous belt is a double-sided toothed belt, and the synchronous belt is clamped and meshed between the auxiliary wheel and the other swing arm wheel.

5. The amphibious robot of claim 1, wherein the traveling mechanism comprises a base plate, wheels and wheel motors, the wheel motors are mounted on the chassis, and the wheels are connected with output shafts of the wheel motors.

6. An amphibious robot according to claim 1, further comprising a camera mounted on the mounting plate and located at the front end of the robot.

7. An amphibious robot according to claim 1, further comprising an ultrasonic sensor mounted on the walking mechanism and located at the front end of the robot.

8. An amphibious robot according to any one of claims 1-7, wherein the robot further comprises a control module, the control module comprises a raspberry pi, a flight controller and a single chip microcomputer, the raspberry pi is electrically connected with the flight controller and the single chip microcomputer respectively, the raspberry pi is electrically connected with a camera, the flight controller is electrically connected with a rotor motor, and the single chip microcomputer is electrically connected with a steering engine, a wheel motor and an ultrasonic sensor respectively.

9. An amphibious robot according to claim 1, further comprising a power module for powering the flying mechanism, the walking mechanism and the control module.