CN114368254B - Amphibious robot capable of realizing jumping and flying movement - Google Patents
Amphibious robot capable of realizing jumping and flying movement Download PDFInfo
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- CN114368254B CN114368254B CN202011093581.XA CN202011093581A CN114368254B CN 114368254 B CN114368254 B CN 114368254B CN 202011093581 A CN202011093581 A CN 202011093581A CN 114368254 B CN114368254 B CN 114368254B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 41
- 230000009191 jumping Effects 0.000 title claims abstract description 31
- 210000002414 leg Anatomy 0.000 claims description 12
- 210000000689 upper leg Anatomy 0.000 claims description 10
- 210000003108 foot joint Anatomy 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 2
- 238000013016 damping Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 230000007704 transition Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 230000036544 posture Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000001816 cooling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a amphibious robot capable of realizing jumping and flying movements, 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 reverse-bent three-joint mechanical legs. The steering flying unit main body consists of four rotary wings, wherein the mounting brackets of two rotary wings at one side are fixed and are directly connected with the machine body; the rotor wing mounting bracket on the other side can move, and the direction of the power provided by the rotor wing is changed. The rotor mounting frame has a movable range not exceeding 90 degrees, and is also provided with a limiting device for limiting. Through the combination of jumping motion and four-rotor flying motion, the amphibious robot can autonomously realize the transition from a land state to a amphibious motion state of an air flying state.
Description
Technical Field
The invention relates to a amphibious robot which can realize flying movement and jumping movement on land.
Background
The continuous development and progress of the robot technology progress towards the professional and intelligent direction of the field. The robot has more and more functions for meeting different requirements, and the action is more and more rapid and safe. The application of robots in the fields of life service, industrial production practice, military, medical service and the like is becoming more and more important. In general, robots operating in the air are greatly limited on land, while robots moving on the ground are often unable to move in the air because the general robots replace an environment with a lack of corresponding structure to effect movement, i.e., movement in only one environment is possible instead of the operation in a complex environment. Therefore, if the environment around which the robots work is a multi-dwelling environment intersection effect, and if the robots cannot adapt to the environment for working state switching, the robots often cannot meet the demands of people in production practice. The amphibious robot can work in a single environment, can transfer working conditions from one working environment to another or multiple environments, greatly improves the moving range of the robot, and has more advantages than a single-movement-space robot, more outstanding performance and higher efficiency. Therefore, research on the amphibious robot has great significance.
At present, a great deal of research on amphibious robots is carried out at home and abroad. For example, the bionic mechanical crab studied in Harmonious industry in China has the appearance similar to that of a crab, the motion gesture is mainly controlled by four thin limbs on two sides of a main body part, the bionic mechanical crab can translate towards the crab in a flat ground, and the forward and backward motion and rotation of the crab can be realized. After the customized waterproof protection rubber treatment, the mechanical crab can move in water, so that it is an amphibious robot.
The American university of Okland development robot Loon Copter is an amphibious unmanned aerial vehicle that can fly and dive. The Loon Copter looks just a little longer than the general four-axis aircraft fuselage, but can work under three different conditions, and it can not only have the ability of ordinary unmanned aerial vehicle to fly in the air, but also the ability of traveling on the surface of the water like a ship, even can submerge underwater operation like a submarine. After the air falls to the water surface easily, the air-cooling device can keep stable in the water by leaning against the bracket and the rotor on the machine body, and can adjust the advancing direction at will. But the focus of development may be not to let it become a ship, the killer of the loonocompter being the underwater cruising ability, but the ballast system below the fuselage, which is the key to its submergence. When the unmanned aerial vehicle is ready to submerge under water, the four rotary wings of the Loon coupler stop working and begin pumping water into the cylindrical floating barrel, so that the body slowly sinks to one side, the direction of the helical 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 a preset route as long as the GPS coordinates and the water depth of a destination are input in advance. If the air is to return to the air, only the water in the buoyancy tank needs to be emptied.
Disclosure of Invention
The object of the present invention is to provide a robot that is capable of moving in different environments than in the prior art and research. The robot can realize flying motions with different motion postures and can realize jumping motions on land.
The invention discloses a amphibious robot capable of realizing jumping motion and flying motion, which comprises four parts, namely a jumping unit, a steerable flying unit, a machine body and a driving and controlling system, wherein the jumping unit and the steerable flying unit are arranged on the machine body, and the robot comprises the following components:
the jumping unit is composed of two reverse three-joint mechanical legs, the two mechanical legs are symmetrically distributed left and right, each mechanical leg comprises thigh joints, shank joints and foot joints, different joints are connected through a steering engine, power for joint rotation is provided, different joints are limited through a limiting device, the shank joints are designed into a plane shape, the shank joints are convenient to fold and the foot joints contact the ground, the joint parts of the thigh joints are designed into hollow structures, the hollow structures are used for reserving positions for shank joint folding, the rotation angle of the thigh joints and the shank joints is approximately equal to 360 degrees, and the rotation angle between the shank joints and the foot joints is 90 degrees;
the steering flying unit main body consists of four rotors, a direct current brushless motor is used for providing power, wherein two rotors at one side are fixedly connected with the machine body through a mounting bracket to generate upward lifting force, and the lifting force direction is fixed; the two rotary wings on the other side are connected with the machine body through a steering engine, the steering engine is used for controlling the rotation angle of the steering engine, the direction of power provided by the rotary wings is changed through the steering engine mounting bracket, the movable range of the steering engine mounting bracket is 0-90 degrees, the steering engine mounting bracket can rotate from a horizontal position to a vertical position, and a limiting device is also arranged for limiting, when the steering engine mounting bracket rotates to the horizontal position, the four rotary wings are positioned in the same horizontal plane and are in central rotation symmetry, a rotary wing protection ring is arranged on the outer side of the rotary wing mounting bracket, and the diameter of the rotary wing protection ring is slightly larger than that of the rotary wings;
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 a designed limit position, and the plastic block is fixed by adopting a smaller screw, so that the steering engine cannot continue to move after moving to a certain position, and the limiting function of the joint is realized;
the driving and controlling system is used as the control center of the whole robot to provide the power required by the robot and send out instructions to the motor and the steering engine, so as to finish the action and movement instructions of the robot, the whole body and the shell are made of light materials, the whole robot is symmetrical left and right, and the mass center and the center are on the same vertical straight line.
Further, the front-back shape of the thigh joint is different from that of the shank joint, the shape of the same side with the advancing direction is similar to a cylindrical surface, the rigidity of the joint is improved, and the shape of the opposite side with the advancing direction is a plane.
Further, the rotor wing protecting ring is directly connected with the mounting bracket and the steerable rotor wing mounting bracket, and the rotor wing protecting ring is made of the same material as the machine body.
Furthermore, each mechanical leg consists of three joints, and the middle parts of the mechanical legs are connected through a double-shaft steering engine.
Further, in the driving and controlling system, the driving system mainly comprises a direct current brushless motor and a double-shaft steering engine; the control system adopts a control board to control the current of the direct current brushless motor and the double-shaft steering engine.
The robot of the invention has two postures when flying in the air. Fig. 2 shows a first flight attitude, which is flexible. All leg joints fold and shrink to cling to the machine body during flying, and the steerable rotor mounting bracket is fixed, so that the lift force generated by the rotor is vertically upwards. The rotation speed in any range can be obtained by controlling the rotation speed of the four rotors to adjust the position and the gesture of the motion, so that the vertical motion of the robot is realized; the pitching motion (forward and backward flight) of the robot is realized by controlling the rotation speed of the adjacent pair of spiral wings to increase or decrease in the forward and backward direction; the rolling motion (left-right flight) is realized by controlling the rotation speed of the adjacent rotor wings to increase or decrease in the left-right direction; yaw movement (left-right steering) of the robot is achieved by controlling the rotational speed of the two helical wings at diagonal positions to be reduced and to keep the rotational speed the same.
As shown in fig. 4, this flight state linear motion has a relatively high flight speed. Unlike the first flight attitude, the steerable rotor mounting bracket in the robot is rotated through an angle such that the thrust generated by the upper mounted rotor generates thrust in both horizontal and vertical directions. At this time, the two rotors need to rotate at a faster speed so that the lift force generated in the vertical direction is the same as that of the fixed rotor, and the forward separation can improve the flying speed of the robot. At this time, the robot can only realize straight flight.
When the robot performs jumping movement, the movement gesture is as shown in figure 1, the steerable rotor mounting bracket rotates by a certain angle, and the rotation range is 0-90 degrees. The rotor provides upward and forward thrust. The leg joints are unfolded, the steering engines are matched with each other to drive the leg joints to move, the burst of leg strength is realized, and the robot is driven to finish forward bouncing movement. In the jumping movement process, four rotors of the robot can work simultaneously, and assist the jumping movement of the robot and maintain the stability of the robot in the air posture. When the jumping movement is finished and the robot lands, the lift force provided by the rotor wing can realize the effects of buffering and damping.
Drawings
Fig. 1 is a schematic diagram of a robot in jumping motion
Fig. 2 is a schematic view of a first flight attitude of a robot
FIG. 3 is a schematic illustration of a first flight attitude of a robot in elevation
Fig. 4 is a schematic view of a second flight attitude of a robot
FIG. 5 is a schematic diagram of a second flight attitude of a robot in elevation
Number of drawings:
1-rotor, 2-rotor protection ring, 3-body, 4-DC brushless motor, 5-thigh joint, 6-shank joint 7-foot joint, 8-steerable rotor installing support
Detailed Description
As shown in fig. 2, when the robot performs flying movement in the first posture, the thigh joint 5, the shank joint 6 and the foot joint 7 are folded up to be closely attached to the body 3, thereby reducing the resistance during flying. The steerable rotor mounting bracket 8 is rotated to a horizontal position and fixed. At this time, four rotors are in the same horizontal plane and present central rotational symmetry, and the flight state of robot is controlled through the different rotational speeds of control four rotors. When the steerable rotor mounting bracket 8 is rotated a certain angle, as shown in fig. 4, the horizontal force component can increase the flying speed of the robot.
As shown in FIG. 1, when the robot makes jumping motion, the steerable rotor mounting bracket rotates by a certain angle, the rotation range is between 0 and 90 degrees, the thigh joint 5, the shank joint 6 and the foot joint 7 move under the control of the steering engine to do rapid stretching motion, the jumping is completed, meanwhile, four rotors can simultaneously generate thrust, the robot is helped to jump and maintain the stable posture of the robot in the air, and meanwhile, the impact is relieved when the robot falls on the ground.
Claims (5)
1. A amphibious robot capable of realizing jumping and flying movements, which is characterized in that: the device comprises a jumping unit, a steerable flight unit, a machine body and a driving and controlling system, wherein the jumping unit and the steerable flight unit are arranged on the machine body, and the device comprises the following components:
the jumping unit is composed of two reverse three-joint mechanical legs, the two mechanical legs are symmetrically distributed left and right, each mechanical leg comprises a thigh joint, a shank joint and a foot joint, different joints are connected through a steering engine and provide power for joint rotation, different joints are limited through a limiting device, the joints of the thigh joints are designed to be hollow structures, the hollow structures are used for reserving positions for shank joint folding, the rotation angle of the thigh joint and the shank joint is approximately equal to 360 degrees, and the rotation angle of the shank joint and the foot joint is 90 degrees;
the steering flying unit main body consists of four rotors, a direct current brushless motor is used for providing power, wherein two rotors at one side are fixedly connected with the machine body through a mounting bracket to generate upward lifting force, and the lifting force direction is fixed; the two rotary wings on the other side are connected with the machine body through a steering wheel mounting bracket, the steering wheel mounting bracket controls the rotation angle through a steering engine, the rotary wings provide power through the steering wheel mounting bracket, the movable range of the steering wheel mounting bracket is 0-90 degrees, the steering wheel mounting bracket can rotate from a horizontal position to a vertical position, and a limiting device is also arranged for limiting, when the steering wheel mounting bracket rotates to the horizontal position, the four rotary wings are positioned in the same horizontal plane and are in central rotation symmetry, a rotary wing protection ring is arranged on the outer side of the rotary wing mounting bracket, and the diameter of the rotary wing protection ring is slightly larger than that of the rotary wings;
the driving and controlling system is used as a control center of the whole robot to provide power required by the robot and send instructions to the motor and the steering engine so as to finish the action movement instructions of the robot, the whole robot body is made of light materials, the whole robot body is bilaterally symmetrical, and the mass center and the center are on the same vertical straight line;
when the robot makes jumping motion, the steerable rotor mounting bracket rotates by a certain angle, the rotor provides upward and forward thrust, in the jumping motion process, four rotors of the robot work simultaneously, the jumping motion of the robot is assisted and the stability of the robot in the air posture is maintained, and when the jumping motion is finished and the robot lands, the lift force provided by the rotor can realize the effects of buffering and damping.
2. The amphibious robot capable of jumping and flying according to claim 1, 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 screw is adopted to fix the plastic block, so that the steering engine cannot continue to move after moving to a certain position.
3. The amphibious robot capable of jumping and flying according to claim 1, wherein: the thigh joint and the shank joint are different in front and back shape, the shape of the same side with the advancing direction is similar to a cylindrical surface, the joint rigidity is improved, and the shape of the opposite side with the advancing direction is a plane.
4. The amphibious robot capable of jumping and flying according to claim 1, wherein: the rotor wing protecting ring is directly connected with the mounting bracket and the steerable rotor wing mounting bracket, and the rotor wing protecting ring is made of the same material as the machine body.
5. The amphibious robot capable of jumping and flying according to claim 1, wherein: in the driving and controlling system, the driving system mainly comprises a direct current brushless motor and a double-shaft steering engine; the control system adopts a control board to control the current of the direct current brushless motor and the double-shaft steering engine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011093581.XA CN114368254B (en) | 2020-10-14 | 2020-10-14 | Amphibious robot capable of realizing jumping and flying movement |
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| CN202011093581.XA CN114368254B (en) | 2020-10-14 | 2020-10-14 | Amphibious robot capable of realizing jumping and flying movement |
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| CN114368254A CN114368254A (en) | 2022-04-19 |
| CN114368254B true CN114368254B (en) | 2024-03-15 |
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| CN114967719B (en) * | 2022-04-27 | 2024-09-20 | 余姚市浙江大学机器人研究中心 | Four-rotor unmanned aerial vehicle combined with single-foot bouncing robot and control method |
| CN115991253B (en) * | 2023-02-17 | 2024-09-13 | 北京理工大学 | Jumping and flying integrated device |
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