CN114368254A

CN114368254A - Multi-purpose robot capable of realizing jumping and flying motion

Info

Publication number: CN114368254A
Application number: CN202011093581.XA
Authority: CN
Inventors: 钟国梁; 柴析迎; 曹菁林
Original assignee: Central South University
Current assignee: Central South University
Priority date: 2020-10-14
Filing date: 2020-10-14
Publication date: 2022-04-19
Anticipated expiration: 2040-10-14
Also published as: CN114368254B

Abstract

The invention discloses a multi-purpose robot capable of realizing jumping and flying motion, which comprises a jumping motion unit, a steerable flying unit, a robot body and a driving and controlling system. Wherein, the jumping unit is composed of two reversely bent three-joint mechanical legs. The steerable flying unit main body consists of four rotors, wherein the mounting brackets of two rotors at one side are fixed and directly connected with the body; the rotor installing support on the other side can move, and the direction of power provided by the rotor is changed. The rotor wing installation frame range of motion is no more than 90 degrees, and the same installation stop device is spacing. Through the combination of the jumping motion and the four-rotor flight motion, the multi-habitat robot can autonomously realize the conversion of the multi-habitat motion state from the land state to the air flight state.

Description

Multi-purpose robot capable of realizing jumping and flying motion

Technical Field

The invention relates to a multi-purpose robot which can realize flying motion and jumping motion on land.

Background

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

It is an object of the present invention to provide a robot that can move in different environments, in view of the prior art and research. The robot can realize flying motion of different motion postures and can also realize jumping motion on land.

The invention discloses a multi-purpose robot capable of realizing jumping movement, which comprises a jumping movement unit, a steerable flying unit, a machine body and a driving and controlling system. The jumping unit is composed of two reversely-bent three-joint mechanical legs, the two legs are distributed in a bilateral symmetry mode, different joints are connected through a steering engine, and power for rotating the joints is provided. Different joints are limited by installing a limiting device. The leg is designed into a plane shape, so that the folding of the crus joint and the contact of the sole joint with the ground are facilitated. The steerable flying unit main body consists of four rotors, a direct-current brushless motor is used for providing power, and mounting brackets of two rotors on one side are fixed and directly connected with the body; the rotor installing support on the other side can move, and the direction of power provided by the rotor is changed. Rotor mounting bracket home range is no longer than 90 degrees, installs stop device equally and carries on spacingly, and when the mounting bracket was rotatory to horizontal position, four rotors were in same horizontal plane, presented central rotational symmetry. The outer side of the motor mounting bracket is provided with a protective outer ring, and the diameter of the protective outer ring is slightly larger than that of the rotor wing. The driving and controlling 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 motion instructions of the robot. The driving device mainly adopts a steering engine and a direct current brushless motor. The whole machine body and the shell are made of light materials, and the whole machine body is in central rotational symmetry.

When the invention is used, the invention has two postures when flying in the air. Fig. 2 shows a first flight attitude, which is relatively flexible. All leg joints are folded and contracted to be tightly attached to the airframe during flying, and can be turned to the rotor wing mounting bracket to be fixed, so that the lifting force generated by the rotor wing is vertically upward. The position and the posture of the movement 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 movement 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 movement (left-right steering) of the robot is realized by controlling the rotating speeds of two non-adjacent spiral wings to be reduced and the rotating speeds to be the same, so that the rotating speeds are smaller than those of the other two rotary wings with the same rotating speed.

As shown in fig. 4, this flight state linear motion has a fast flight speed. Unlike the first attitude, the steerable rotor mounting bracket in the robot is rotated through an angle such that thrust from the upper rotor produces thrust in both the horizontal and vertical directions. The two rotors need to rotate at a higher speed to generate the same lift force in the vertical direction as the fixed rotor, and the forward separation can improve the flying speed of the robot. At this time, the robot can only realize linear flight.

When the robot makes jumping movement, the movement posture is as shown in fig. 1, the steerable rotor wing mounting bracket rotates for a certain angle, and the rotation range is between 90 degrees. The rotor provides upward and forward thrust. The leg joint is unfolded, and the steering wheel is mutually matched to drive the leg joint to move, so that the leg strength is developed, and the robot is driven to complete the forward jumping motion. In the jumping motion process, four rotor wings of the robot can work simultaneously, so that the robot jumping motion is assisted and the stability of the posture of the robot in the air is maintained. When the jumping motion is finished, when the robot falls to the ground, the lifting force provided by the rotor wing can realize the effects of buffering and shock absorption.

Description of the drawings:

fig. 1 is a schematic diagram of the posture of the robot during jumping.

FIG. 2 is a schematic view of a first flight attitude of the robot

FIG. 3 is a schematic view of a first flight attitude of the robot in elevation

FIG. 4 is a schematic view of a second flying attitude of the robot

FIG. 5 is a schematic diagram of a second attitude of the robot

Sequence numbers of the drawings:

1-rotor, 2-rotor guard circle, 3-organism, 4-DC brushless motor, 5-thigh joint, 6-shank steering engine 7-foot joint, 8-steerable rotor mounting bracket

Detailed Description

As shown in fig. 2, when the robot performs a flying motion in the first posture, the thigh joint 5, the calf joint 6, and the foot joint 7 are folded and closely attached to the body 3, thereby reducing the resistance during flying. Steerable rotor mounting bracket 8 is rotated to the horizontal position and fixed. At the moment, the four rotors are in the same horizontal plane and have central rotational symmetry, and the flying state of the robot is controlled by controlling the different rotating speeds of the four rotors. When the steerable rotor mounting bracket 8 is rotated by a certain angle, as shown in fig. 4, the horizontal component can increase the flying speed of the robot.

As shown in figure 1, when the robot does jumping movement, thigh joints 5, shank joints 6 and foot joints 7 move under the control of a steering engine, and do rapid stretching movement to complete jumping, and meanwhile, four rotor wings can simultaneously generate thrust to help the robot jump and maintain the stable posture of the robot in the air, and meanwhile, impact is relieved when the robot falls to the ground.

Claims

1. A multi-purpose robot capable of realizing jumping and flying motion is characterized in that: the multi-purpose robot capable of realizing jumping motion comprises four parts, namely a jumping unit, a steerable flying unit, a machine body and a driving and controlling system. The jumping unit is composed of two reversely-bent three-joint mechanical legs, the two legs are distributed in a bilateral symmetry mode, different joints are connected through a steering engine, and power for rotating the joints is provided. Different joints are limited by installing a limiting device. The leg is designed into a plane shape, so that the folding of the crus joint and the contact of the sole joint with the ground are facilitated. The steerable flying unit main body consists of four rotors, a direct-current brushless motor is used for providing power, and mounting brackets of two rotors on one side are fixed and directly connected with the body; the rotor installing support on the other side can move, and the direction of power provided by the rotor is changed. Rotor mounting bracket home range is no longer than 90 degrees, installs stop device equally and carries on spacingly, and when the mounting bracket was rotatory to horizontal position, four rotors were in same horizontal plane, presented central rotational symmetry. The outer side of the motor mounting bracket is provided with a protective outer ring, and the diameter of the protective outer ring is slightly larger than that of the rotor wing. The driving and controlling 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 motion instructions of the robot. The driving device is mainly made of light materials by adopting a steering engine and a direct current brushless motor, the whole body and the shell of the robot are bilaterally symmetrical, and the center of mass is on the same vertical straight line with the center.

2. The multi-purpose robot capable of performing jumping and flying movements of claim 1, wherein: the jumping motion unit is composed of two reversely bent mechanical legs, each mechanical leg is composed of three joints, the middle of each mechanical leg is connected through a double-shaft steering engine, and the thigh joint is designed to be hollow and used for connecting the shank joint and reserving a position for folding the shank joint. The angle of rotation of the thigh joint and the calf joint is approximately equal to 360 °. The connection between the shank joint and the sole joint also adopts a double-shaft steering engine, the structure is similar, and the rotation angle is 90 degrees.

3. The multi-purpose robot capable of performing jumping and flying movements of claim 1, wherein: the two fixed rotor wings of the steerable flying unit are arranged on one side of the body and are directly driven by the DC brushless motor to generate upward lift force, so that the direction of the force cannot be changed. Two rotors on the other side are arranged on a mounting bracket which can rotate around the body, and the mounting bracket controls the rotating position through a steering engine. The maximum movable angle is 90 degrees and can rotate from the horizontal position to the vertical position.

4. The multi-purpose robot capable of performing jumping and flying movements of claim 2, wherein: the limiting device consists of a screw and a plastic block. The shape of the plastic block is matched with the shape of the machine body when the machine body moves to the designed limit position, and the plastic block is fixed by adopting a small screw, so that the steering engine cannot move continuously after moving to a certain position, and the function of limiting the joint is realized.

5. The multi-purpose robot capable of performing jumping and flying movements of claim 1, wherein: the shapes of the leg joints are different from the front and back shapes of the thigh joints and the shank joints, the shape in the advancing direction is more approximate to a cylindrical surface, the rigidity of the joints is improved, and the shape in the reverse advancing direction is a plane. When the crus joint and the thigh are folded, the plane can ensure that the thigh is in good contact with the crus. The ground of the foot joint is a plane, so that the robot can stand and jump conveniently.

6. The multi-purpose robot capable of performing jumping and flying movements of claim 1, wherein: the rotor wing guard circle, with motor support lug connection, the material chooses for use the same with the fuselage shell, because its itself does not receive any effort, so thickness can be less, but the maximum diameter should be greater than the diameter of rotor wing.

7. The multi-purpose robot capable of performing jumping and flying movements of claim 3, wherein: the steerable rotor installing support, whole shape presents "day" font, rotor fixed mounting is at support two angles, the centre is connected both sides through cylindrical connecting rod to install within the organism, connect through the steering wheel, guarantee that support both sides can the simultaneous movement, change the direction of thrust that the rotor produced simultaneously.

8. The multi-purpose robot capable of performing jumping and flying movements of claim 1, wherein: the driving and controlling unit mainly comprises a direct current brushless motor and a double-shaft steering engine. The control unit adopts a control panel to control the current of the motor and the steering engine.