CN116945827A - Variable-posture medium-crossing amphibious robot - Google Patents
Variable-posture medium-crossing amphibious robot Download PDFInfo
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- CN116945827A CN116945827A CN202310717160.7A CN202310717160A CN116945827A CN 116945827 A CN116945827 A CN 116945827A CN 202310717160 A CN202310717160 A CN 202310717160A CN 116945827 A CN116945827 A CN 116945827A
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- 230000007246 mechanism Effects 0.000 claims abstract description 151
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 238000013016 damping Methods 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 241000269799 Perca fluviatilis Species 0.000 claims 2
- 230000036544 posture Effects 0.000 abstract description 10
- 230000010354 integration Effects 0.000 abstract description 3
- 239000002609 medium Substances 0.000 description 14
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- 239000012736 aqueous medium Substances 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000009189 diving Effects 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
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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
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/70—Convertible aircraft, e.g. convertible into land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a gesture-variable medium-crossing amphibious robot, and belongs to the technical field of robots. The gesture-variable medium-crossing amphibious robot comprises a bracket and two groups of driving assemblies symmetrically arranged on two sides of the bracket, each group of driving assemblies comprises a amphibious motion mechanism and a gesture switching mechanism, the amphibious motion mechanism can rotate in a vertical plane relative to the bracket, and the gesture switching mechanism is used for driving the amphibious motion mechanism to rotate relative to the bracket so as to enable the robot to switch among a plurality of driving gestures corresponding to a plurality of medium motion modes respectively. The invention realizes the movement in various media by using the same group of driving motors through the triphibian movement mechanism with variable postures, and can realize the switching of movement modes by adopting the posture switching mechanism, thereby having high integral integration level and relatively smaller volume and weight.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a gesture-variable medium-crossing amphibious robot.
Background
The existing amphibious robots for cross-medium amphibious, air-land amphibious and air-ground amphibious have more development results and various product forms, the development and domestic results of the triphibian robots for the three mediums of the water, the air and the ground are less, and along with the development of science and technology and subdivision and deep development of the robot development field, the triphibian robots have more and more requirements on the triphibian robots and play an important role in more scenes.
Existing amphibious aircrafts, unmanned planes and the like solve the problems of water inlet and outlet capacity and multi-medium movement of the traditional medium-crossing aircrafts, but most of the existing amphibious aircrafts and unmanned planes adopt a plurality of independent movement mechanisms for air and underwater movement, are designed in a manner similar to building block splicing, and are relatively weak in system integrity and integration degree. The scheme reduces the underwater power efficiency, increases the load weight of flying in the air, simultaneously has more power components and increases the body volume. Meanwhile, the existing scheme focuses on the amphibious motion aspect more, and can not realize the cross-medium work of all three media.
Disclosure of Invention
The invention discloses a gesture-variable medium-crossing amphibious robot, which aims to solve the problem of poor environmental adaptability of the traditional single-medium or amphibious robot.
According to the embodiment of the invention, the gesture-variable medium-crossing amphibious robot comprises a bracket and two groups of driving components symmetrically arranged on two sides of the bracket, wherein each group of driving components comprises a amphibious motion mechanism and a gesture switching mechanism, the amphibious motion mechanism can rotate in a vertical plane relative to the bracket, and the gesture switching mechanism is used for driving the amphibious motion mechanism to rotate relative to the bracket so as to enable the robot to switch among a plurality of driving gestures corresponding to a plurality of medium motion modes respectively; the amphibious movement mechanism comprises a power mechanism and a power switching mechanism, wherein the power mechanism comprises a driving motor, a driving shaft assembly, a first propeller and a second propeller, the driving shaft assembly comprises a hollow shaft and a mandrel penetrating through the hollow shaft, the proximal end of the mandrel is connected with an output shaft of the driving motor, the distal end of the mandrel is connected with the first propeller, and the distal end of the hollow shaft is connected with the second propeller; the hollow shaft is also provided with a movable joint part which is fixed relative to the mandrel along the circumferential direction and sleeved on the hollow shaft in a sliding way along the axial direction relative to the hollow shaft, and the mandrel is also provided with a fixed joint part; when the gesture switching mechanism drives the amphibious motion mechanism to rotate relative to the bracket, the power switching mechanism is driven to move, and then the movable joint part is driven to slide along the hollow shaft, so that the movable joint part is meshed with or separated from the fixed joint part; wherein when the movable engagement member is engaged with the fixed engagement member, the spindle transmits power from the drive motor output shaft to the hollow shaft via the fixed engagement member, the movable engagement member, to simultaneously drive the first propeller and the second propeller; when the movable engagement member is separated from the fixed engagement member, the power of the output shaft of the drive motor is used only to drive the first propeller through the spindle.
In some other embodiments, the first propeller is a propeller for providing flight power; the second propeller is a wheel-pulp integrated propeller, the outer circumference of the second propeller is of a wheel type structure for providing a ground walking function, and the inner hub is provided with a plurality of paddles for providing water power.
In other embodiments, the stationary engagement member is a spline slot disposed near the proximal end of the mandrel; the hollow shaft proximal end forms the polyhedron structure, remove the joint component for the cover establish the spline cardboard on the polyhedron structure, the latch of spline cardboard with the spline draw-in groove corresponds the setting.
In other embodiments, each set of drive assemblies includes a mechanism-connecting base fixedly connected to the bracket, the proximal end of the power mechanism being connected to the mechanism-connecting base by a first hinge; the power switching mechanism comprises a connecting rod and a shifting fork, wherein the proximal end of the connecting rod is connected to the mechanism connecting base through a second hinge, the shifting fork is arranged at the distal end of the connecting rod and is coupled with the movable joint component, and when the power mechanism rotates around the first hinge relative to the bracket, the connecting rod rotates around the second hinge so as to drive the movable joint component to slide towards the distal end or the proximal end of the hollow shaft through the shifting fork.
In other embodiments, the mechanism connecting base comprises a middle support arm and side support arms respectively positioned at two sides of the middle support arm, the proximal end of the power mechanism is connected to the middle support arm through the first hinge, the two side support arms are respectively connected to the connecting rod through the second hinge, and two shifting forks arranged at the distal ends of the two connecting rods are respectively coupled with the movable joint part from two sides.
In some other embodiments, the first hinge is a damped hinge with an adjustable damping value.
In other embodiments, each set of driving assemblies includes two amphibious motion mechanisms and a gesture switching mechanism, the gesture switching mechanism is disposed in the middle of one side of the support, the two amphibious motion mechanisms are disposed on two sides of the gesture switching mechanism, the gesture switching mechanism includes a steering engine and a rotating connecting rod driven by the steering engine to rotate relative to the support in a vertical plane, and the rotating connecting rod is connected with the two amphibious motion mechanisms respectively.
In other embodiments, the gesture switching mechanism is disposed in the middle of one side of the bracket through a fixing frame, and the lower end of the fixing frame extends out of the bottom surface of the bracket by a predetermined distance.
In some other embodiments, the plurality of driving gestures includes: the gesture switching mechanism drives the amphibious motion mechanism to rotate to a +90 DEG position relative to the bracket; the gesture switching mechanism drives the amphibious motion mechanism to rotate to a 0-degree position relative to the bracket; and the third driving gesture corresponds to the underwater movement mode, when the gesture switching mechanism drives the amphibious movement mechanism to rotate to a 0-degree position relative to the bracket, the driving gesture is provided in a horizontal direction, and when the gesture switching mechanism drives the amphibious movement mechanism to rotate to an inclined position of a preset angle relative to the bracket, the driving gesture is provided in a vertical direction.
In other embodiments, the support comprises an upper frame, a lower frame, and support columns for connecting the upper frame and the lower frame, wherein the upper frame and the lower frame are integrally formed carbon fiber plates.
The invention realizes the movement in various media by using the same group of driving motors through the triphibian movement mechanism with variable postures, and can realize the switching of movement modes by adopting the posture switching mechanism, thereby having high integral integration level and relatively smaller volume and weight.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention.
In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a medium-crossing multi-dwelling (triphibian) robot with a variable gesture according to an embodiment of the present invention;
FIG. 2 is a schematic view of a bracket structure according to an embodiment of the present invention;
fig. 3 is a schematic view of a posture switching mechanism (one-sided) structure according to an embodiment of the present invention;
FIGS. 4 and 5 are schematic structural views of a amphibious motion mechanism according to embodiments of the present invention;
FIG. 6 is a schematic diagram of the working principle of the gesture switching mechanism;
FIG. 7 is a schematic view of a flight motion pattern of a robot;
FIG. 8 is a schematic view of a ground movement pattern of a robot;
fig. 9 is a schematic view of a movement pattern in water of the robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Aiming at the defects of the prior proposal, the invention provides a robot capable of moving in three mediums of water, land and air, which further expands the application range so as to cope with the situation of various terrains in natural environment areas. Therefore, the invention provides a novel structure, realizes gesture change and power switching, and realizes the purpose that a group of power can drive different tail end moving parts to move under different medium conditions. Compared with the traditional scheme, the invention has the advantages of smaller volume and weight, relatively fewer motion control variables and higher system reliability.
Fig. 1 is a schematic diagram of the overall structure of a medium-crossing multi-dwelling (triphibian) robot with a variable posture according to an embodiment of the present invention. As shown in fig. 1, the posture-variable medium-crossing amphibious robot comprises a bracket 3 and two groups of driving components symmetrically arranged on two sides of the bracket. Each group of driving components comprises a multi-dwelling moving mechanism 1 and a gesture switching mechanism 2, wherein the multi-dwelling moving mechanism can rotate in a vertical plane relative to the support, and the gesture switching mechanism is used for driving the multi-dwelling moving mechanism to rotate relative to the support so as to enable the robot to switch among a plurality of driving gestures corresponding to a plurality of medium movement modes respectively.
Fig. 2 is a schematic view of a stent structure according to an embodiment of the present invention. As shown in fig. 2, the bracket 3 includes an upper frame 31, a lower frame, and a support column 34 for connecting the upper frame and the lower frame, both of which are integrally formed carbon fiber plates.
In the invention, the robot bracket adopts a carbon fiber plate as a frame part, an upper frame 31 and a lower frame of the bracket are integrally formed by adopting a carbon fiber plate, and a support column 34 is adopted between the upper frame and the lower frame as a connecting piece to connect the upper frame and the lower frame into an integral structure, and meanwhile, the strength and the stability of the frame are improved.
And fixing frames 32 fixing plates for installing two groups of gesture switching mechanisms are symmetrically arranged at the middle positions of two sides of the double-layer carbon fiber plate and are used for installing steering engines for fixing the gesture switching mechanisms. In one example, the lower end of the posture switching mechanism fixing frame 32 protrudes from the bottom surface of the bracket 3 by a predetermined distance, so as to be used as a support for taking off and landing in the flying state of the robot.
Fig. 3 is a schematic top view of a gesture-variable medium-crossing multi-purpose robot according to an embodiment of the present invention. In this embodiment, as shown in fig. 1 and 3, each group of driving components includes two amphibious motion mechanisms 1 and one gesture switching mechanism 2, the gesture switching mechanism is arranged in the middle of one side of the support, the two amphibious motion mechanisms are positioned at two sides of the gesture switching mechanism, the gesture switching mechanism includes a steering engine 21 and a rotating connecting rod 23 driven by the steering engine to rotate relative to the support in a vertical plane, and the rotating connecting rod 23 is respectively connected with the two amphibious motion mechanisms 1. The steering engine 21 is arranged on the bracket 1 through a steering engine fixing plate 22.
Fig. 4 and 5 are schematic structural views of a amphibious motion mechanism according to an embodiment of the invention. As shown, the amphibious motion mechanism comprises a power mechanism and a power switching mechanism. The power mechanism includes a drive motor 19, a drive shaft assembly, a first propeller 11, and a second propeller 12. The drive shaft assembly comprises a hollow shaft 118 and a mandrel 112 penetrating the hollow shaft, wherein the proximal end of the mandrel is connected with the output shaft of the drive motor 19, the distal end of the mandrel is connected with the first propeller 11, and the distal end of the hollow shaft is connected with the second propeller 12.
The hollow shaft is also provided with a movable joint part which is fixed relative to the hollow shaft along the circumferential direction and sleeved on the hollow shaft in a sliding way along the axial direction relative to the hollow shaft. The mandrel 112 is also provided with a fixed engagement member. When the gesture switching mechanism drives the amphibious motion mechanism to rotate relative to the bracket, the power switching mechanism is driven to move, and then the movable joint part is driven to slide along the hollow shaft, so that the movable joint part is meshed with or separated from the fixed joint part. Wherein when the movable engagement member is engaged with the fixed engagement member, the spindle transmits power from the output shaft of the drive motor to the hollow shaft via the fixed engagement member, the movable engagement member, to simultaneously drive the first propeller and the second propeller 12. When the movable engagement member is separated from the fixed engagement member, the power of the output shaft of the drive motor is used only to drive the first propeller 11 through the spindle.
In one embodiment, the fixed engagement component is a spline detent 113 disposed near the proximal end of the mandrel. The proximal end of the hollow shaft forms a polyhedral structure, the movable joint part is a spline clamping plate 116 sleeved on the polyhedral structure, and the clamping teeth of the spline clamping plate are correspondingly arranged with the spline clamping grooves.
In the present invention, the first propeller is a propeller for providing flight power. The second propeller is a wheel-pulp integrated propeller, the outer circumference of the second propeller is of a wheel type structure for providing a ground walking function, and the inner hub is provided with a plurality of paddles for providing water power. The rotor wing movement assembly of the robot is a main power source for the body to fly, the motor drives the rotor wing to rotate at a high speed, the air pressure difference around the unmanned aerial vehicle body is changed, and ascending or moving power is provided for the unmanned aerial vehicle. The underwater screw propeller of the robot provides power for the unmanned aerial vehicle to move underwater, and the water pressure difference around the body is changed through the rotation of the underwater screw propeller to provide power for the unmanned aerial vehicle to navigate underwater. The outer ring of the underwater propeller is of a wheel type structure, so that the function of land walking can be realized.
In the invention, the amphibious movement mechanism designs two sets of propeller devices of the flying propeller and the wheel propeller integrated propeller so as to adapt to different movement mediums. The flight propeller is used for providing flight power for the unmanned aerial vehicle when the unmanned aerial vehicle works in flight. The wheel pulp integrated propeller has the structure that the outer circumference is of a wheel type structure, and the blades of a plurality of propellers are distributed and designed on the inner hub, so that the wheel pulp integrated propeller can realize a land walking function and can provide power for movement in water.
The flying screw propeller and the wheel pulp integrated screw propeller are arranged on the same axis, the rotation centers are collinear, the flying screw propeller and the wheel pulp integrated screw propeller are respectively fixedly connected to an inner shaft and an outer shaft (a core shaft and a hollow shaft), the hollow shaft is of an inner hollow structure, and the core shaft extends out of the inner hollow structure of the hollow shaft.
The flight propeller is fixedly installed at the end (distal end) of the mandrel 112, and the other end (proximal end) of the mandrel 112 is connected with the driving motor through the coupling 110. The wheel pulp integrated propeller is fixedly arranged at the tail end (distal end) of the hollow shaft 118, and a movable spline clamping plate is arranged at the other end (proximal end) of the hollow shaft and can rotate synchronously with the hollow shaft. One end of the mandrel is fixed with a spline clamping groove 113. One end of the hollow shaft is designed into a polyhedron (such as hexahedron) rotary structure, a movable spline clamping plate 116 is arranged on the rotary structure, the movable spline clamping plate and the hollow shaft can synchronously rotate, and meanwhile, the movable spline clamping plate can move along the hexahedron rotary structure under the driving force of external force. After the latch of the key clamping plate is clamped at the corresponding position of the spline clamping groove, the spline clamping plate and the spline clamping groove are meshed together, and the mandrel transmits motion and power to the hollow shaft.
In one embodiment, each set of drive assemblies includes a mechanism connection base 13 fixedly connected to the frame 3, the proximal end of the power mechanism being connected to the mechanism connection base 13 by a first hinge 15. The power switching mechanism includes a link 18, a fork 114, the proximal end of the link 18 being connected to the mechanism connection base 13 by a second hinge 14, the fork 114 being provided at the distal end of the link 18 and coupled to a movable engagement member (spline clip 116). When the power mechanism rotates about the first hinge 15 relative to the bracket 3, the link 18 rotates about the second hinge 14 to slide the movable engagement member distally or proximally of the hollow shaft 118 by the fork drive.
As shown in fig. 4 and 5, the mechanism connecting base 13 includes a middle arm and side arms respectively located at both sides of the middle arm, the proximal end of the power mechanism is connected to the middle arm by a first hinge 15, the two side arms are respectively connected to a link by a second hinge 14, and two shift forks 114 provided at the distal ends of the two links 18 are respectively coupled to the movable engagement members (spline clips 116) from both sides.
Further, the mechanism connecting base 13 is fixedly connected to the robot frame, the power mechanism further comprises a shell for bearing each part, the power mechanism consists of a lower shell 16 and an upper shell 17, and the power mechanism shell is hinged with the mechanism connecting base 13 through a damping hinge 15. The driving motor 19 is arranged inside the housing of the amphibious motion mechanism, and different paddles are driven to rotate at different speeds in different media through the gesture switching mechanism.
In the present invention, the first hinge 15 is a damping hinge with an adjustable damping value. In the posture changing process, a rotary shaft of the amphibious motion mechanism adopts a damping hinge as a rotary part, the damping value of the damping hinge is adjusted in a mechanical mode, and the damping value can be adjusted at will in a certain range. The damping hinge is adopted, so that stability in the motion process is guaranteed, the rotation precision is high, the damping hinge can be stopped at any position, and certain anti-rotation damping is provided.
In the present invention, the second hinge 14 may be, for example, a pin mechanism. Specifically, the link 18 is hinged to the mechanism connection base 13 through a pin 14.
In the invention, the gesture switching mechanism 2 is adopted as an executing component for switching the gesture, and the power switching is carried out on two sets of coaxially arranged propeller devices of the robot. As shown in fig. 6, the attitude switching mechanism adopts a steering engine 21 as a driving member based on the principle of a slider-crank mechanism, and drives a rotary link 23 to drive the amphibious motion mechanism to rotate about the rotation center of a damping hinge 15 (first hinge). In the rotation process of the amphibious movement mechanism, the connecting rod 18 rotates around the pin shaft 14 (the second hinge), and in the rotation process, the other end of the connecting rod 18 drives the shifting fork 114 to move in the linear direction, the shifting fork 114 drives the movable spline clamping plate 116 to move in the linear direction, separation or engagement with the spline clamping groove 113 is achieved, and therefore switching of different movement modes is achieved, only the flying propeller moves in the flying process of the robot, and the flying propeller and the wheel propeller integrally rotate simultaneously when the robot moves underwater and on land.
Based on the mechanism, the cross-medium triphibian robot provided by the invention has a plurality of driving postures, and comprises: corresponding to a first driving gesture of an air flight movement mode, the gesture switching mechanism drives the amphibious movement mechanism to rotate to a +90 DEG position relative to the bracket; corresponding to the second driving gesture of the ground walking movement mode, the gesture switching mechanism drives the amphibious movement mechanism to rotate to a 0-degree position relative to the bracket; and a third driving gesture corresponding to the underwater movement mode, wherein the gesture switching mechanism provides a driving force in the horizontal direction when the gesture switching mechanism drives the amphibious movement mechanism to rotate to a position of 0 degrees relative to the bracket, and provides a driving force in the vertical direction when the gesture switching mechanism drives the amphibious movement mechanism to rotate to an inclined position of a preset angle relative to the bracket.
As shown in fig. 7, when the gesture switching mechanism drives the triphibian moving mechanism to rotate to the +90° position, the housing of the triphibian moving mechanism rotates to a limiting point, and the limiting mode is mechanical limiting, and the robot is in an air flight mode. At the moment, the motor is connected with the flight propeller through the small shaft, and when the motor rotates, the motor only drives the flight propeller to rotate, and the motor at the moment is high in efficiency. The flying screw propeller rotates to drive the robot to take off and land, and the rotation and the height adjustment of the robot are realized through the steering and the rotating speed of the motor during the air movement.
As shown in fig. 8, in the land mode, when the posture switching mechanism drives the triphibian movement mechanism to rotate to the 0-degree position, the wheel-pulp integrated propeller is used as an execution part of movement, the outer ring of the wheel-pulp integrated propeller is of a wheel type structure, and the wheel-pulp integrated propeller is driven by a motor to rotate with a land structure, so that walking, backing, turning and the like on land can be realized.
As shown in fig. 9, when the robot moves in water, the gesture switching mechanism drives the triphibian movement mechanism to rotate to a position of + -45 degrees, and at this time, the motor drives the wheel-pulp integrated propeller to move, and the middle form of the wheel-pulp integrated propeller is a propeller structure as a mechanism for driving an aqueous medium. In the 0 ° position (as shown in fig. 9 (a)), the robot can be provided with a driving force in the horizontal direction, and can move forward, backward, turn in water, and the like. When the position is within the range of +/-45 degrees and is not 0 degrees (as shown in fig. 9 (b)), the horizontal driving force is provided for the robot, and the lifting or submerging power can be provided for the robot.
The cross-medium triphibian robot provided by the invention can realize the movement of water, land and air across the medium. The robot adopts the same set of driving mechanism to realize different movement modes in different mediums. The triphibian movement mechanism of the robot moving across the medium has reusability of a power mechanism, reduces the overall dimension, the structural weight and the complexity of the system, is convenient for storage, transportation, defense arrangement and recovery, and improves the comprehensive endurance capacity of the machine body.
The cross-medium triphibian robot provided by the invention can provide multiple and rapid air, land and underwater support, has the shielding property of diving, can avoid the air threat of an electromagnetic anti-unmanned aerial vehicle weapon to a machine body, has the long cruising characteristic of ground vehicles and water surface vessels, and also has the advantage of the height of an aircraft.
Under the application scenes of inspection, monitoring, communication relay and the like, the cross-medium triphibian robot provided by the invention can replace the collaborative operation of various unmanned systems, and the reliability of operation and the success rate of tasks are improved.
The whole cross-medium triphibian robot provided by the invention adopts a central symmetry structure, can perform symmetrical deformation, avoids the problem of failure of the ship turning function of the traditional unmanned ship, and can finish the tasks of patrol, communication relay and the like under natural disaster conditions such as typhoons, tsunami and the like.
The above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (10)
1. The gesture-variable multi-medium-crossing multi-purpose robot comprises a bracket and two groups of driving assemblies symmetrically arranged on two sides of the bracket, wherein each group of driving assemblies comprises a multi-purpose moving mechanism and a gesture switching mechanism, the multi-purpose moving mechanism can rotate in a vertical plane relative to the bracket, and the gesture switching mechanism is used for driving the multi-purpose moving mechanism to rotate relative to the bracket so as to enable the robot to switch among a plurality of driving gestures corresponding to a plurality of medium movement modes respectively; it is characterized in that the method comprises the steps of,
the amphibious movement mechanism comprises a power mechanism and a power switching mechanism, wherein the power mechanism comprises a driving motor, a driving shaft assembly, a first propeller and a second propeller, the driving shaft assembly comprises a hollow shaft and a mandrel penetrating through the hollow shaft, the proximal end of the mandrel is connected with an output shaft of the driving motor, the distal end of the mandrel is connected with the first propeller, and the distal end of the hollow shaft is connected with the second propeller;
the hollow shaft is also provided with a movable joint part which is fixed relative to the mandrel along the circumferential direction and sleeved on the hollow shaft in a sliding way along the axial direction relative to the hollow shaft, and the mandrel is also provided with a fixed joint part;
when the gesture switching mechanism drives the amphibious motion mechanism to rotate relative to the bracket, the power switching mechanism is driven to move, and then the movable joint part is driven to slide along the hollow shaft, so that the movable joint part is meshed with or separated from the fixed joint part;
wherein when the movable engagement member is engaged with the fixed engagement member, the spindle transmits power from the drive motor output shaft to the hollow shaft via the fixed engagement member, the movable engagement member, to simultaneously drive the first propeller and the second propeller; when the movable engagement member is separated from the fixed engagement member, the power of the output shaft of the drive motor is used only to drive the first propeller through the spindle.
2. The variable-attitude, medium-spanning, multi-dwelling robot of claim 1, wherein the first propeller is a propeller for providing flight power; the second propeller is a wheel-pulp integrated propeller, the outer circumference of the second propeller is of a wheel type structure for providing a ground walking function, and the inner hub is provided with a plurality of paddles for providing water power.
3. The variable-pose cross-media perch robot of claim 1, wherein the fixed engagement member is a spline slot disposed near the proximal end of the mandrel; the hollow shaft proximal end forms the polyhedron structure, remove the joint component for the cover establish the spline cardboard on the polyhedron structure, the latch of spline cardboard with the spline draw-in groove corresponds the setting.
4. The variable-pose cross-medium amphibious robot of claim 1, wherein each set of drive assemblies comprises a mechanism connection base fixedly connected to the support, the proximal end of the power mechanism being connected to the mechanism connection base by a first hinge; the power switching mechanism comprises a connecting rod and a shifting fork, wherein the proximal end of the connecting rod is connected to the mechanism connecting base through a second hinge, the shifting fork is arranged at the distal end of the connecting rod and is coupled with the movable joint component, and when the power mechanism rotates around the first hinge relative to the bracket, the connecting rod rotates around the second hinge so as to drive the movable joint component to slide towards the distal end or the proximal end of the hollow shaft through the shifting fork.
5. The attitude-variable, medium-crossing, multi-purpose robot according to claim 4, wherein the mechanism connection base comprises a middle support arm and side support arms respectively located on both sides of the middle support arm, the proximal end of the power mechanism is connected to the middle support arm through the first hinge, the two side support arms are respectively connected to the connecting rod through the second hinge, and two shifting forks disposed on the distal ends of the two connecting rods are respectively coupled to the movable joint member from both sides.
6. The variable-pose cross-medium amphibious robot of claim 4, wherein the first hinge is a damping hinge with an adjustable damping value.
7. The variable-attitude cross-medium amphibious robot according to claim 1, wherein each group of driving components comprises two amphibious moving mechanisms and one attitude switching mechanism, the attitude switching mechanisms are arranged in the middle of one side of the support, the two amphibious moving mechanisms are positioned on two sides of the attitude switching mechanisms, the attitude switching mechanisms comprise steering engines and rotating connecting rods driven by the steering engines to rotate relative to the support in a vertical plane, and the rotating connecting rods are respectively connected with the two amphibious moving mechanisms.
8. The gesture-variable multi-purpose robot of claim 7, wherein the gesture switching mechanism is disposed in the middle of one side of the support through a fixing frame, and the lower end of the fixing frame extends out of the bottom surface of the support by a predetermined distance.
9. The variable pose cross-media perch robot of claim 1, wherein the plurality of drive poses comprises: the gesture switching mechanism drives the amphibious motion mechanism to rotate to a +90 DEG position relative to the bracket; the gesture switching mechanism drives the amphibious motion mechanism to rotate to a 0-degree position relative to the bracket; and the third driving gesture corresponds to the underwater movement mode, when the gesture switching mechanism drives the amphibious movement mechanism to rotate to a 0-degree position relative to the bracket, the driving gesture is provided in a horizontal direction, and when the gesture switching mechanism drives the amphibious movement mechanism to rotate to an inclined position of a preset angle relative to the bracket, the driving gesture is provided in a vertical direction.
10. The variable-pose cross-medium amphibious robot of claim 1, wherein the support comprises an upper frame, a lower frame and a support column for connecting the upper frame and the lower frame, wherein the upper frame and the lower frame are integrally formed carbon fiber plates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310717160.7A CN116945827A (en) | 2023-06-15 | 2023-06-15 | Variable-posture medium-crossing amphibious robot |
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| CN202310717160.7A CN116945827A (en) | 2023-06-15 | 2023-06-15 | Variable-posture medium-crossing amphibious robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117549329A (en) * | 2024-01-10 | 2024-02-13 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117549329A (en) * | 2024-01-10 | 2024-02-13 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
| CN117549329B (en) * | 2024-01-10 | 2024-03-22 | 中国农业大学 | Environment information acquisition robot capable of moving across medium |
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