CN201784421U - Robot with multiple movement modes - Google Patents
Robot with multiple movement modes Download PDFInfo
- Publication number
- CN201784421U CN201784421U CN2010202765908U CN201020276590U CN201784421U CN 201784421 U CN201784421 U CN 201784421U CN 2010202765908 U CN2010202765908 U CN 2010202765908U CN 201020276590 U CN201020276590 U CN 201020276590U CN 201784421 U CN201784421 U CN 201784421U
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- servomotor
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- crawling
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Abstract
The utility model relates to a robot with multiple movement modes and the movement modes of the robot, which belong to the technical field of robots. The robot with multiple movement modes comprises a frame (4) and flying rolling feet (13) connected with the frame by mode adjusters (12), each mode adjuster (12) sequentially consists of a first servo motor (5) mounted on the frame (4), a second servo motor (6) mounted on an output shaft of the first servo motor (5), a rocker arm (9) mounted on an output shaft of the second servo motor (6), and a third servo motor (8) mounted on the rocker arm (9), each flying rolling foot includes a crawling foot (7) and a duct wheel (2), the axis of each crawling foot (7) is coincident with that of the corresponding duct wheel (2), and the crawling feet (7) are mounted on output shafts of the third servo motors. The robot is simple in structure and movement mode switching, and can realize crawling, flying and wheel-type rolling to meet requirements on different movements.
Description
Technical field
The utility model relates to a kind of mode robot of doing more physical exercises, and belongs to the Robotics field.
Background technology
Robotics is one of the core technology that must strive in the national development strategy, plays important impetus and have great strategic importance in national economy and national security.
In recent years, the relevant mobile robot's in various countries research has entered the stage of a fast development.Having that at present research is maximum is wheeled, crawler type, bionic type, rod-type, flying robot's mobile system.But, existing mobile robot generally only has 1 operation mode, thus exploitation have multi-modal mobile robot will with the strong advantage of its compatible with environment in the changeable task of circumstance complications such as the disaster relief, security, bring into play more practical, act on widely.
The utility model content
The purpose of this utility model is to provide a kind of can creep, flight, wheeled rolling to be to adapt to do more physical exercises the mode robot and the mode of motion thereof of different motion condition.
A kind of mode robot of doing more physical exercises is characterized in that:
The flight that comprises frame, is connected in frame by the mode regulating control foot that rolls; Above-mentioned mode regulating control comprises first servomotor that is installed on the frame successively, be installed on second servomotor on the first servomotor output shaft, be installed on rocking arm on the second servomotor output shaft, be installed on the 3rd servomotor on the rocking arm, and wherein the output shaft of second servomotor output shaft vertical with the output shaft of first servomotor, the 3rd servomotor is vertical with the output shaft of second servomotor; Above-mentioned flight rolling foot comprises the crawling foot that is positioned at an end and is positioned at the duct wheel of the other end, and the dead in line of the axis of crawling foot and duct wheel, and crawling foot is installed on the output shaft of above-mentioned the 3rd servomotor; Also comprise ducted fan that is installed in the duct wheel and the brushless motor that is used to drive ducted fan; Comprise that also being used to drive the duct wheel does the DC machine that unitary rotation realizes that rolling is advanced; Above-mentioned mode regulating control is at least three groups with flight rolling foot.
The above-mentioned mode of motion of stating the mode robot of doing more physical exercises is characterized in that:
(a), the mobile mode of creeping
Initialization: by control axis normal that first servomotor and the 3rd servomotor make crawling foot in ground and rocking arm be parallel to ground; The control of creeping: make crawling foot break away from ground by controlling first servomotor and the 3rd servomotor, rotate rocking arm and crawling foot is striden forward or retreat by controlling second servomotor;
(b), flight mode
Initialization: by control axis normal that first servomotor and the 3rd servomotor make crawling foot in ground and rocking arm be parallel to ground; Flicon: drive brushless motor by electronic governor through sr and drive the ducted fan rotation, flight thrust is provided; Keep the first servomotor output shaft corner constant, change the pose of crawling foot by the output shaft corner of adjusting second servomotor and the 3rd servomotor, drive ducted fan and duct wheel change pose by crawling foot, the realization vector is jet, the actions such as forward-reverse of control robot under offline mode;
(c), wheeled mobile mode
Initialization: make the parallel axes of rocking arm and duct wheel in ground by controlling first servomotor and the 3rd servomotor; Wheeled control: drive duct wheel unitary rotation by the control DC machine, realize wheeled advancing; Drive rocking arm by the corner of adjusting second servomotor and planar rotate, drive the axis of duct wheel change duct wheel and the angle of robot working direction and realize the turning action of robot in wheeled moving process with this.
Beneficial effect: this robot architecture is simple, mode of motion switches simply, can realize creeping, flight, wheeled rolling to be to adapt to different motion requirements.The utlity model has multiple mode of motion.This robot is based on a kind of mode robot of doing more physical exercises that designs on the analytical investigation of existing mobile robot's principle and various task environments.It is with wheel, ducted fan and crawling foot triplicity, and ducted fan tail bone and crawling foot are fixed, and duct uses as wheel simultaneously, and the ducted fan motor is connected with electronic governor by sr.Single leg is designed to 3DOF, by driven by servomotor.Action by the joint realizes wheeled Move Mode, the no seam between the Move Mode of creeping, obstacle detouring offline mode and this three kinds of patterns is switched.This robot is implemented in moving on the level land by wheel, is implemented in passing through on the less obstacle by crawling foot, realizes obstacle detouring flight by ducted fan.The utlity model has byer force,, can significantly promote mobile robot's task adaptive capacity than the long-endurance outstanding advantage of flying robot than traditional land robot obstacle climbing ability.
Description of drawings
Fig. 1 is a constructional drawing of the present utility model.
Number in the figure title: 1, ducted fan; 2, duct wheel; 3, sr; 4, frame; 5, first servomotor; 6, second servomotor; 7, crawling foot; 8, the 3rd is servo; 9, rocking arm; 10, brushless motor; 11, DC machine; 12, mode regulating control; 13, flight is rolled sufficient.
The specific embodiment
Do below in conjunction with 1 pair of the utility model of accompanying drawing and to describe in further detail.
As shown in Figure 1, first servomotor 5 is installed on the frame 4, the output shaft of second servomotor 6 and first servomotor 5 is fixed, the output shaft of second servomotor 6 and rocking arm 9 are fixing, the 3rd servomotor 8 is installed on the rocking arm 9, the output shaft of the 3rd servomotor 8 and crawling foot 7 are fixing, and the DC machine 11 that is fixed in the crawling foot 7 is connected with duct wheel 2.Ducted fan 2 is installed on the output shaft of the brushless motor 10 in the duct wheel 2.The power lead of brushless motor 10 is connected electronic governor with signal wire (SW) by sr 3.
The description of three kinds of Move Modes and handoff procedure:
1, the Move Mode of creeping
By micro controller system rotate axis normal that first servomotor 5 and the 3rd servomotor 8 make crawling foot 7 in ground and rocking arm 9 be parallel to ground, make crawling foot 7 break away from ground by rotating first servomotor 5 and the 3rd servomotor 8 then, make crawling foot 7 realize striding forward or retreating by rotating second servomotor, 6 rotation rocking arms 9.Many crawling foots 7 are coordinated to carry out single leg action described above and are realized that creeping of robot is mobile.
2, obstacle detouring offline mode
By micro controller system rotate axis normal that first servomotor 5 and the 3rd servomotor 8 make crawling foot 7 in ground and rocking arm 9 be parallel to ground, by the brushless motor 10 of electronic governor in sr 3 driving duct wheels 2, driving ducted fan 1 rotates, provide and regulate the required thrust of flight, keep the output shaft corner of first servomotor 5 constant, change the pose of crawling foot 7 by the output shaft corner of adjusting second servomotor 6 and the 3rd servomotor 8, drive ducted fan 1 and duct wheel 2 change poses by crawling foot 7, the realization vector is jet, control robot advancing under offline mode, action such as retreat.
3, wheeled Move Mode
Rotate first servomotor 5 and the 3rd servomotor 8 makes the parallel axes of rocking arm 9 and duct wheel 2 in ground by micro controller system, rotating second servomotor 6 by micro controller system makes the axis normal of duct wheel 2 in working direction, rotate by the DC machine in the circuit drives crawling foot 7 11, drive duct wheel 2 unitary rotation, realize wheeled advancing with this.The corner drive rocking arm 9 of adjusting second servomotor 6 by micro controller system planar rotates, and drives duct wheel 2 and changes the axis of duct wheels 2 and the angle of robot working direction, realizes that with this robot turning in wheeled moving process waits action.
4, switch between Move Mode
Every leg is equipped with first servomotor 5, second servomotor 6, the 3rd servomotor 8, has 3DOF, change corner by Micro Controller Unit (MCU) driving first servomotor 5, second servomotor 6, the 3rd servomotor 8, change the pose of each several part on the leg, thereby the pose of leg is switched between different Move Modes.By electronic governor is driven the brushless motor in the duct wheel 2 10, realize the open and close of obstacle detouring offline mode.By driving, realize the open and close of wheeled Move Mode to the DC machine in the crawling foot 7 11.
Claims (1)
1. mode robot of doing more physical exercises is characterized in that:
The flight that comprises frame (4), is connected in frame (4) by mode regulating control (12) foot (13) that rolls;
Above-mentioned mode regulating control (12) comprises first servomotor (5) that is installed on the frame (4) successively, be installed on second servomotor (6) on first servomotor (5) output shaft, be installed on rocking arm (9) on second servomotor (6) output shaft, be installed on the 3rd servomotor (8) on the rocking arm (9), and wherein the output shaft of second servomotor (6) output shaft vertical with the output shaft of first servomotor (5), the 3rd servomotor (8) is vertical with the output shaft of second servomotor (6);
Above-mentioned flight rolling foot (13) comprises crawling foot (7) that is positioned at an end and the duct wheel (2) that is positioned at the other end, and the dead in line of the axis of crawling foot (7) and duct wheel (2), crawling foot (7) are installed on the output shaft of above-mentioned the 3rd servomotor (8); Also comprise ducted fan (1) that is installed in the duct wheel (2) and the brushless motor (10) that is used to drive ducted fan (1); Comprise that also being used to drive duct wheel (2) does the DC machine (11) that unitary rotation realizes that rolling is advanced;
Above-mentioned mode regulating control (12) is at least three groups with flight rolling foot (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202765908U CN201784421U (en) | 2010-07-30 | 2010-07-30 | Robot with multiple movement modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202765908U CN201784421U (en) | 2010-07-30 | 2010-07-30 | Robot with multiple movement modes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201784421U true CN201784421U (en) | 2011-04-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202765908U Expired - Lifetime CN201784421U (en) | 2010-07-30 | 2010-07-30 | Robot with multiple movement modes |
Country Status (1)
| Country | Link |
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| CN (1) | CN201784421U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101913311A (en) * | 2010-07-30 | 2010-12-15 | 南京航空航天大学 | Multiple motion mode robot and motion mode thereof |
| CN103128730A (en) * | 2013-02-27 | 2013-06-05 | 广东工业大学 | Multi-form real-time information transmission rescue robot |
| CN105774946A (en) * | 2016-04-02 | 2016-07-20 | 羊丁 | Robot with obstacle crossing function |
| CN107458496A (en) * | 2017-08-10 | 2017-12-12 | 广东工业大学 | The duct assist device and method of a kind of biped robot's obstacle detouring |
| CN107891429A (en) * | 2017-12-18 | 2018-04-10 | 浙江工业职业技术学院 | Search and rescue robot |
| CN107933229A (en) * | 2017-11-21 | 2018-04-20 | 中北大学 | Balloon flighter quadrotor flight trolley |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| WO2020173098A1 (en) * | 2019-02-26 | 2020-09-03 | 浙江大学 | Mechanism of one-legged robot enabling jumping on wall surface, and control method |
| CN113665305A (en) * | 2021-09-27 | 2021-11-19 | 北京理工大学重庆创新中心 | Air-ground vehicle |
-
2010
- 2010-07-30 CN CN2010202765908U patent/CN201784421U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101913311A (en) * | 2010-07-30 | 2010-12-15 | 南京航空航天大学 | Multiple motion mode robot and motion mode thereof |
| CN103128730A (en) * | 2013-02-27 | 2013-06-05 | 广东工业大学 | Multi-form real-time information transmission rescue robot |
| CN105774946A (en) * | 2016-04-02 | 2016-07-20 | 羊丁 | Robot with obstacle crossing function |
| CN107458496A (en) * | 2017-08-10 | 2017-12-12 | 广东工业大学 | The duct assist device and method of a kind of biped robot's obstacle detouring |
| CN107933229A (en) * | 2017-11-21 | 2018-04-20 | 中北大学 | Balloon flighter quadrotor flight trolley |
| CN107891429A (en) * | 2017-12-18 | 2018-04-10 | 浙江工业职业技术学院 | Search and rescue robot |
| WO2020173098A1 (en) * | 2019-02-26 | 2020-09-03 | 浙江大学 | Mechanism of one-legged robot enabling jumping on wall surface, and control method |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| CN113665305A (en) * | 2021-09-27 | 2021-11-19 | 北京理工大学重庆创新中心 | Air-ground vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110406 Effective date of abandoning: 20120125 |