CN114368253A - Multi-motion-mode reconfigurable water, land and air robot - Google Patents
Multi-motion-mode reconfigurable water, land and air robot Download PDFInfo
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- CN114368253A CN114368253A CN202011093491.0A CN202011093491A CN114368253A CN 114368253 A CN114368253 A CN 114368253A CN 202011093491 A CN202011093491 A CN 202011093491A CN 114368253 A CN114368253 A CN 114368253A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 210000002414 leg Anatomy 0.000 claims abstract description 30
- 210000000689 upper leg Anatomy 0.000 claims abstract description 17
- 244000309466 calf Species 0.000 claims abstract description 4
- 210000001699 lower leg Anatomy 0.000 claims description 15
- 230000008093 supporting effect Effects 0.000 claims description 10
- 238000013461 design Methods 0.000 claims description 5
- 239000012530 fluid Substances 0.000 claims description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 2
- 229910001416 lithium ion Inorganic materials 0.000 claims description 2
- 239000010410 layer Substances 0.000 claims 5
- 229920000049 Carbon (fiber) Polymers 0.000 claims 3
- 239000004917 carbon fiber Substances 0.000 claims 3
- 239000011229 interlayer Substances 0.000 claims 3
- 239000000463 material Substances 0.000 claims 3
- 238000001179 sorption measurement Methods 0.000 claims 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims 2
- 239000002131 composite material Substances 0.000 claims 1
- 210000001503 joint Anatomy 0.000 description 4
- 239000011664 nicotinic acid Substances 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 235000009421 Myristica fragrans Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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
- B62D57/028—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 having wheels and mechanical legs
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-motion-mode reconfigurable amphibious robot which comprises a control unit, a four-foot walking unit and a four-rotor flight unit. The walking four-foot walking unit comprises four mechanical legs capable of realizing walking movement, and each leg is provided with two joints: the thigh and the calf joint. The legs can be folded through the connection and the control of the steering engine. In addition, the joint is provided with a roller, and the wheels can land to move after the legs are folded; the four-rotor flying unit comprises a front rotor and a rear rotor which are fixedly arranged in a machine body and are called fixed rotors. The mounting brackets of the left rotor and the right rotor can realize 90-degree rotation along the axis, and the rotor is called a steering rotor. When the robot moves in water and in the air, the fixed rotor provides upward power, the steering rotor provides forward power of the robot, and the forward direction is controlled. When the legs are folded on the land, the wheels are used for contacting the ground to move, power is provided by the steerable rotor wings, and when the legs are not folded, the robot can walk by utilizing the legs.
Description
Technical Field
The invention relates to a multi-purpose robot, in particular to a water, land and air robot with multiple motion modes and capability of reconstructing a mechanical structure.
Technical Field
The continuous development and progress of the current robot technology continuously advances towards the direction of field specialization and intellectualization. The robot has more and more abundant functions for meeting different requirements, and acts more and more quickly and safely. The application of the robot in the fields of life service, industrial production practice, military, medical service and the like is more and more important. Generally, a robot working in the air is greatly limited on the land, and a robot moving on the ground cannot move in the air, because a general robot changes an environment and lacks a corresponding structure to realize the movement, namely, the robot can only move in one environment and not realize the work of a complex environment. Therefore, if the environment around the robot works is a multi-dwelling environment intersection influence, and if the robot cannot adapt to the environment for switching the working state, the robots often cannot meet the requirements of people in production practice. The multi-dwelling robot can work in a single environment, can realize the transfer of working conditions from one working environment to another or multiple environments, greatly improves the moving range of the robot, and has the advantages of more superiority, more outstanding performance and higher efficiency compared with a single motion space robot. Therefore, the research on the multi-dwelling robot has great significance.
At present, a great deal of research on multi-dwelling robots is carried out at home and abroad. For example, the shape of the bionic mechanical crab studied in Harbour of China is like the name, the structure of the bionic mechanical crab is similar to that of a crab, the motion posture is mainly controlled by four thin limbs on two sides of the main body part, the bionic mechanical crab can translate in the flat ground in the same way as the crab, and certainly, the bionic mechanical crab can also realize the forward and backward motion and rotation which cannot be performed by the crab. After treatment with the custom water-proof protective rubber, the mechanical crab can move in the water, so it is an amphibious robot.
The research and development robot Loon Copter of Oakland university in America is an amphibious unmanned aerial vehicle which can fly and dive. The Loon Copter looks that the unmanned plane is only slightly longer than a general four-shaft aircraft body, but can work under three different conditions, and the unmanned plane can not only have the capability of flying in the air of a common unmanned plane, but also have the capability of driving on the water surface like a ship, and even can be submerged for underwater operation like a submarine. After the water falls to the water surface from the air easily, the water-saving control device can be kept stable in water by the rotary wings on the bracket and the fuselage, and the advancing direction can be adjusted freely. However, the development may be focused on not turning it into a ship, the killer mace of lon Copter being the underwater cruise capability, and the ballast system located below the fuselage, being the key to its submergence. When the unmanned aerial vehicle is ready to submerge, the four rotary wings of the Loon Copter stop working, water is pumped into the cylindrical floating barrel, then the vehicle body slowly sinks towards one side, so that the direction of the spiral wings is changed from upward to backward, the unmanned aerial vehicle is pushed to move, and the unmanned aerial vehicle can collect data and shoot images along with a preset air route as long as GPS coordinates and water depth of a destination are input in advance. If the floating box wants to return to the air again, only the water in the floating box needs to be drained.
Disclosure of Invention
The invention aims to provide a multi-motion-mode reconfigurable water, land and air robot aiming at the prior art and research, so that the robot can work autonomously under the influence of various environments.
The invention discloses a multi-motion-mode reconfigurable amphibious robot which comprises four parts, namely a body support shell, a control unit, four-foot walking units and four-rotor flight units. The four-foot walking unit comprises four mechanical legs capable of realizing walking movement and is arranged below the machine body supporting shell. Each leg has two joints: the thigh and the calf joint. Realize lug connection and control through the steering wheel, the shank can realize with thigh folding in mechanical structure, the shank is as an organic whole with the thigh parallel and level after folding. In addition, the joint is provided with a roller, and the wheels can land to move after the legs are folded; the four-rotor flight unit main body is similar to a four-rotor unmanned flight system, the rotors are distributed in a cross shape, and the front rotor and the rear rotor are fixedly installed in the aircraft body and are called as fixed rotors. The mounting brackets of the left rotor and the right rotor can realize 90-degree rotation along the axis, and the rotor is called a steering rotor. The whole body supporting shell is streamline, and the mounting brackets of the left rotor wing and the right rotor wing can rotate to change directions. The whole machine body adopts a sealed waterproof design, and the side wing is arranged at the rear side of the machine body, so that the stability of the motion posture is maintained when the multi-purpose robot moves forwards in fluid. The control unit is used as a control center of the whole robot and is responsible for providing power required by the robot and giving instructions to the motor and the steering engine. The type selection of the motor and the steering engine adopts a waterproof design, and the whole machine body adopts a lithium ion battery for power supply. When the robot moves in water and in the air, the fixed rotor provides stable upward power, the steering rotor provides advancing power of the robot, and the advancing direction of the robot is controlled. When the legs are folded on the land, the wheels are used for contacting the ground to move, power is provided by the steerable rotor wings, and when the legs are not folded, the robot can walk by utilizing the legs.
The present invention has different motion modes when in use.
When the robot is in the air flight motion mode, as shown in fig. 1 and fig. 2, the position and the posture of the motion are adjusted by controlling the rotating speed of the four rotors, so that the rotating speed in any range can be obtained, and the vertical motion of the robot is realized; the pitching motion (forward and backward flight) of the robot is realized by controlling the rotating speed of the adjacent pair of spiral wings to increase or decrease; increasing or decreasing the rotational speed of a pair of adjacent rotors to achieve a rolling motion (left and right flight); the yaw motion (left-right steering) of the robot is realized by reducing the rotating speed of two non-adjacent spiral wings to be smaller than the other remaining spiral wings.
When the robot is in the underwater motion mode, as shown in fig. 3 and fig. 4, the buoyancy required for the robot to move in water is continuously provided by the fixed rotor in the robot body, and the sinking and floating motions of the robot in water can be controlled by adjusting the rotating speed of the motor when the steering rotors on the two sides are vertically upward. After the rotor supporting mechanism deflects by 90 degrees around the axis, the robot can be pushed to advance in water, and the steering motion of the robot in water can be realized through the regulation of the rotating speeds of the motors on the two sides.
In the land movement mode, the robot has two movement modes, as shown in fig. 5 and 6. The robot can use four feet to do land movement, at the moment, the complete expansion of the lower leg of the robot, the tail end supports the ground, the four feet alternately advance, and the rotary wing of the robot can completely stop rotating. The robot can also roll by using the wheels to advance, at the moment, the lower leg of the robot is folded to be flush with the thigh, and the wheels positioned at the joint of the thigh and the lower leg are grounded to support the ground. The rotor wing supporting structure deflects by 90 degrees around the axis, so that the robot can be pushed to advance on the land, and the steering motion of the robot on the land can be realized through the regulation of the rotating speeds of the motors on the two sides. The fixed rotor wing can generate lift force to offset part of the gravity of the robot, and the advancing movement speed of the robot is improved.
When the flying motion mode is converted into the land motion mode, the robot gradually decelerates to approach the ground, and thigh joints at the bottom of the main body gradually swing out to be in contact with the ground for supporting. After falling to the ground, the four-foot walking or wheel rolling motion mode can be selected.
When the robot is converted into a flight operation mode from a land motion mode, the robot folds the leg structure to be completely retracted into the body, the rotor wing supporting mechanism deflects to 0 degree around the axis, and the rotor wing is started to realize flight motion.
The robot can be switched between a flight motion mode and an underwater motion mode, can submerge underwater like a submarine and hover at a certain position in the water, and can also freely move left and right up and down. The robot can realize ascending and descending, hovering in the air, rolling, yawing and other movements in the flight mode.
Description of the drawings:
fig. 1 is a perspective view of a preferred embodiment of the present invention.
FIG. 2 is a schematic top view of a robot
FIG. 3 is a schematic view showing the state of the robot in the present embodiment when it ascends in water
FIG. 4 is a schematic diagram of the state of the robot moving forward in water in this embodiment
FIG. 5 is a schematic view showing the state of the robot moving on wheels on land in this embodiment
FIG. 6 is a schematic view showing the robot walking on the ground with legs in this embodiment
Sequence numbers of the drawings:
1-rotor, 2-engine body shell, 3-brushless direct current motor, 4-idler wheel, 5-thigh joint, 6-leg steering engine 1, 7-leg steering engine 2, 8-shank joint, 9-rotary wing steering engine
Detailed Description
When being in the aerial flight motion mode, brushless DC motor 3 drives control rotor 1 and other three the same rotors are rotatory, through the rotational speed of control brushless DC motor 3, can realize the control to robot position and gesture. The vertical motion of the robot is realized by simultaneously controlling the synchronous change of the rotating speeds of the four brushless direct current motors 3; the pitching motion (front and back flying) and the rolling motion (left and right flying) of the robot are realized by controlling the increase or decrease of the rotating speed of the adjacent pair of brushless direct current motors 3; the yaw movement (left-right steering) of the robot is realized by reducing or increasing the rotation speed of a pair of non-adjacent brushless dc motors 3 to be different from the other remaining brushless dc motors.
When being in aquatic motion mode, the robot continues to provide the required buoyancy of motion in the aquatic by fixed rotor 1 in the organism, and when rotatory wing steering wheel 9 control rotor support mechanism deflected to 0 degree around the axis, the accessible was adjusted the motor rotational speed and is controlled the robot and sink and float in the aquatic. When the rotary wing steering engine 9 controls the rotary wing supporting mechanism to deflect to 90 degrees around the axis, the robot can be pushed to advance in water, and the steering motion of the robot in water can be realized through the regulation of the rotating speeds of the motors on the two sides.
When the robot is in a land movement mode, the robot can use four feet to perform land movement, at the moment, the lower leg joint 8 of the robot is completely unfolded by the steering engine 2, the tail end of the lower leg joint supports the ground, the four feet alternately advance under the driving of the steering engine 1 and the steering engine 2, and the rotor wings of the robot can completely stop rotating. The robot can also roll by using the roller 4 to advance, at the moment, the crus joint 8 of the robot is folded to be flush with the thigh joint 5, and the wheels at the positions of the thigh and the crus joint are grounded to support the ground. When the rotary wing steering engine 9 controls the rotor wing supporting mechanism to deflect to 90 degrees around the axis, the robot can be pushed to advance on the land, and the steering motion of the robot on the land can be realized through adjusting the rotating speeds of the motors on the two sides. The fixed rotor wing 1 can generate lift force to offset part of the gravity of the robot, and the advancing movement speed of the robot is improved.
Claims (8)
1. A multi-motion mode reconfigurable water, land and air robot is characterized in that: the multi-motion mode reconfigurable water, land and air robot consists of five parts, namely a machine body shell, a control unit, a walking leg unit, a four-rotor flight unit and an adsorption unit. Walking leg unit includes that four can realize walking motion's leg, installs in organism support housing's below, and every leg has two joints: the thigh and the calf joint. Realize lug connection and control through the steering wheel, the shank can be realized folding, and folding back shank closes as an organic whole with the thigh parallel and level. In addition, the joint is provided with a roller, and the wheels can land to move after the legs are folded; the four rotors flight unit main part is similar with four rotor unmanned vehicles, and the rotor is cross distribution, and two rotors around install among the organism, and the rotor is fixed, and the installing support of controlling two rotors can follow the axis rotation, and four rotors are in same horizontal plane, and four rotors are central symmetry and distribute. The adsorption unit consists of a vacuum generator, a guide pipe and a sucker. The vacuum generator generates negative pressure to generate suction at the sucker, so that the robot can adsorb a wall body when flying in the air, and can adsorb on the wall to hover under the support of the legs. The whole body supporting shell is streamline, and the mounting brackets of the left rotor wing and the right rotor wing can rotate to change directions. The whole machine body adopts a sealed waterproof design, and side wings are arranged on the rear two sides of the machine body. The control unit is used as a control center of the whole robot and is responsible for providing power required by the robot and sending instructions to the motor and the steering engine to complete the action and movement instructions of the robot. The motor type selection and the steering engine type selection both adopt waterproof designs, and the whole machine body adopts a lithium ion battery for power supply.
2. The multi-motion mode reconfigurable amphibious robot of claim 1, wherein: the walking legs are 4 in total, each leg comprises a thigh and a shank joint, the middle of each leg is connected through a double-shaft steering engine, one part of the tail end of the thigh protrudes to one side, the shape of each leg is similar to that of the L shape, the legs are connected, and the position is reserved for folding the shank. The angle of rotation between the thigh and the calf is 180 °. The inner part of the thigh is provided with a power mechanism, so the thigh is designed to be hollow. The thigh joint is 15cm long. The length of the crus joint is 10 cm.
3. The multi-motion mode reconfigurable amphibious robot of claim 1, wherein: the four-rotor flight unit is characterized in that the fixed rotor is arranged inside the aircraft body and is directly driven by the brushless direct current motor to generate upward lift force, and the direction of the force cannot be changed. Two rotors capable of rotating around the axis are arranged on two sides of the body, and the orientation of the current rotor mounting body is controlled by a steering engine. The maximum active angle is 90 deg., turning from horizontal to vertical. The movable rotor is also directly driven by the brushless DC motor.
4. The multi-motion mode reconfigurable amphibious robot of claim 1, wherein: the whole machine body of the machine body shell adopts a sealed design, is in a shuttle shape, is in a fluid shape as a whole, is provided with a tail wing, is hollow inside, is used as a main body framework of the multi-purpose robot, has a supporting effect on the whole machine body, and is used for carrying structures such as a control system, a power supply and the like. The material is a composite structure material, the inner layer and the outer layer are made of carbon fiber materials, and a waterproof interlayer is arranged between the inner layer and the outer layer. The carbon fiber layer can be used as a machine body support, the strength of the machine body is guaranteed under the action of an external load, and the stability of internal components and waterproof interlayers is protected. The waterproof interlayer mainly plays a waterproof role, and the carbon fibers are loose and do not absorb water, so that the organism can be quickly dehydrated after being separated from a water environment.
5. The multi-motion mode reconfigurable amphibious robot of claim 4, wherein: the empennage installed on the multi-dwelling robot has the similar function and shape as a fin and is used for maintaining the stability of the body when the body moves rapidly in the fluid.
6. The multi-motion mode reconfigurable amphibious robot of claim 4, wherein: the organism downside makes sunken space, and the space of walking shank after accomodating folding as, the leg can be fully received inside the organism after folding, does not influence the holistic streamlined shape of robot.
7. The multi-motion mode reconfigurable amphibious robot of claim 2, wherein: the joint of the walking leg part and the whole machine body needs to ensure two degrees of freedom, so that the leg lifting action and the left-right steering action of the leg part are met. The joint is replaced by a mode that two steering engines are directly connected, and the two double-shaft steering engines are directly connected but the rotating directions are different.
8. The multi-motion mode reconfigurable amphibious robot of claim 1, wherein: the adsorption unit, the sucking disc is installed to roost robot one side, this sucking disc has a plurality of little sucking discs to constitute, when facing the wall surface of roughness, can guarantee to have partial sucking disc, successfully adsorb. The negative pressure of air is in a small vacuum generator in the machine body, and the vacuum generator is also directly controlled by the control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011093491.0A CN114368253A (en) | 2020-10-14 | 2020-10-14 | Multi-motion-mode reconfigurable water, land and air robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011093491.0A CN114368253A (en) | 2020-10-14 | 2020-10-14 | Multi-motion-mode reconfigurable water, land and air robot |
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| Publication Number | Publication Date |
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| CN114368253A true CN114368253A (en) | 2022-04-19 |
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| CN202011093491.0A Withdrawn CN114368253A (en) | 2020-10-14 | 2020-10-14 | Multi-motion-mode reconfigurable water, land and air robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN116142458A (en) * | 2023-04-11 | 2023-05-23 | 中国人民解放军国防科技大学 | Wheel-wing cooperative control system of amphibious robot |
| CN116238615A (en) * | 2023-04-12 | 2023-06-09 | 吉林大学 | Small-size collapsible wheel leg formula mobile robot |
-
2020
- 2020-10-14 CN CN202011093491.0A patent/CN114368253A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN116142458A (en) * | 2023-04-11 | 2023-05-23 | 中国人民解放军国防科技大学 | Wheel-wing cooperative control system of amphibious robot |
| CN116142458B (en) * | 2023-04-11 | 2024-01-26 | 中国人民解放军国防科技大学 | Wheel-wing cooperative control system of amphibious robot |
| CN116238615A (en) * | 2023-04-12 | 2023-06-09 | 吉林大学 | Small-size collapsible wheel leg formula mobile robot |
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Application publication date: 20220419 |
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