CN209599232U - Eight bar reconnaissance robot of land, water and air - Google Patents
Eight bar reconnaissance robot of land, water and air Download PDFInfo
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- CN209599232U CN209599232U CN201920055053.1U CN201920055053U CN209599232U CN 209599232 U CN209599232 U CN 209599232U CN 201920055053 U CN201920055053 U CN 201920055053U CN 209599232 U CN209599232 U CN 209599232U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims description 15
- 239000000523 sample Substances 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000003795 chemical substances by application Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
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Abstract
The utility model belongs to robotic technology field.Purpose is to provide a kind of eight bar reconnaissance robot of land, water and air, the robot should have the characteristics that mobility it is high, it is adaptable, can Fast Restoration.Technical solution is: eight bar reconnaissance robot of land, water and air, it is characterised in that: the robot includes the power supply of spherical robot body, the movement mechanism for pushing robot body mobile, the sensor being arranged on robot body's shell and the control mechanism and power supply that are arranged in inside robot body.The movement mechanism includes four secondary actuating arms for being respectively provided with four main driving arms of traveling wheel and being respectively provided with propeller；The main driving arm is evenly arranged on the spherical surface of robot body, and the length of main driving arm is greater than the length of secondary actuating arm；The center between three main driving arms is arranged in each pair actuating arm；The end of main driving arm is arranged in the traveling wheel.
Description
Technical field
The utility model belongs to robotic technology field, is specifically related to a kind of land, water and air reconnaissance robot.
Background technique
The purpose of utility model of robot is exactly to help people to complete some human bodies with robot to be difficult to or more
Cumbersome thing.Land, water and air reconnaissance robot is exactly a kind of help people on land, aerial and underwater reconnaissance robot, can
It effectively helps people to acquire information in various weather conditions, various topography and geomorphology environment, avoids due to people do industry manually
The danger of generation, the universal of robot will be greatly promoted the mankind to natural exploration, reduce because hurting caused by manually doing industry
It dies.The fast-developing of robot field will become the new power that the mankind's new era develop, promote human society it is quick forward
Development.But current existing reconnaissance robot has many shortcomings, and such as environmental suitability deficiency, stability is insufficient, machine
Dynamic property is insufficient, and service life is short, and function is few, at the same reconnaissance robot in ground handling because of topography problem or because of unstable meeting of landing
Cause to turn on one's side, can not can not be solved the problems such as Fast Restoration, these defects all limit the function of robot to a certain extent.
Utility model content
The purpose of the utility model is to overcome the deficiencies in above-mentioned background technique, provide a kind of eight bar Scouting robotic of land, water and air
People, the robot should have the characteristics that mobility it is high, it is adaptable, can Fast Restoration.
The technical solution of the utility model is:
Eight bar reconnaissance robot of land, water and air, it is characterised in that: the robot includes spherical robot body, for pushing
The mobile movement mechanism of robot body, the sensor being arranged on robot body's shell and setting are in robot body
The control mechanism in portion and the power supply of power supply；
The movement mechanism includes four main driving arms for being respectively provided with traveling wheel and four that are respectively provided with propeller
Secondary actuating arm；The main driving arm is evenly arranged on the spherical surface of robot body, and the length of main driving arm is greater than secondary actuating arm
Length；The center between three main driving arms is arranged in each pair actuating arm；The traveling wheel is arranged in main driving arm
End, main driving arm be equipped with for adjust traveling wheel direction and drive traveling wheel move the first power mechanism；The spiral shell
Rotation paddle is arranged in the end of secondary actuating arm, and secondary actuating arm is equipped with for adjusting propeller direction and driving the of propeller motion
Two power mechanisms；
First power mechanism and the second power mechanism are arranged in protective shell；First power mechanism includes and master
The 4th fixed motor of actuating arm, fiveth motor fixed with the 4th machine shaft, sixth electricity fixed with the 5th machine shaft
Machine and seventh motor fixed with the 6th machine shaft；4th machine shaft is parallel to main driving arm, and the 4th motor turns
Axis, the 5th machine shaft, the 6th machine shaft and the 7th machine shaft are successively arranged vertically with previous machine shaft；It is described
Traveling wheel is fixed with the 7th machine shaft；Second power mechanism includes the first motor and first fixed with secondary actuating arm
The second fixed motor of machine shaft and the third motor fixed with the second machine shaft；The first motor shaft is parallel to
Secondary actuating arm, first motor shaft, the second machine shaft and third machine shaft successively cloth vertical with previous machine shaft
It sets；The propeller is fixed with third machine shaft；
The sensor includes temp probe, moisture probe and camera；The control mechanism includes central processing unit, puts down
Weigh module, wireless communication module, the temperature sensor for connecting temp probe, the humidity sensor for connecting moisture probe；In described
Central processor connects balance module, wireless communication module, temperature sensor, humidity sensor, camera by data line respectively
And first power mechanism and the second power mechanism each motor.
The main driving arm and secondary actuating arm is radial is fixed on the shell of robot body；The main driving arm
End constitutes four vertex of positive tetrahedron, and the centre of sphere of robot body is located at the center of the positive tetrahedron.
The end of the pair actuating arm constitutes four vertex of positive tetrahedron, and the centre of sphere of robot body is located at the positive four sides
The center of body.
The power supply is lithium battery；The charging interface of power supply is connected on robot body's shell.
The protective shell is rubbery outer cover.
The beneficial effects of the utility model are:
The utility model realizes movement, row by the main driving arm equipped with traveling wheel and the secondary actuating arm equipped with propeller
Wheel is walked in ground moving, propeller to be for flying in the sky and promoting in water, and the utility model is whole outer
Shape is in positive tetrahedron, and recovery can be realized automatically by no matter overturning in which way, and the environment for greatly improving robot adapts to
Property.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model.
Fig. 2 is the overlooking structure diagram of robot body in the utility model.
Fig. 3 is the structural schematic diagram of secondary actuating arm in the utility model.
Fig. 4 is the structural schematic diagram of main driving arm in the utility model.
Fig. 5 is the structural schematic diagram of Digiplex in the utility model.
Specific embodiment
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model be not limited to
Lower embodiment.
As shown in Figure 1, eight bar reconnaissance robot of land, water and air, is moved including spherical robot body, driving robot body
Dynamic movement mechanism, the sensor being arranged on robot body's shell 7 and the control machine being arranged in inside robot body
Structure and power supply.
The movement mechanism includes four main driving arms 1 and four secondary actuating arms 2.The main driving arm is evenly arranged in
On robot body's spherical surface and it is radial be fixed on robot body's shell, the length of main driving arm is greater than secondary actuating arm
Length, the end of four main driving arms constitute four vertex of a positive tetrahedron；Meanwhile each secondary actuating arm is arranged at three
Center (each main driving arm is also disposed at the center between three secondary actuating arms) between main driving arm, four pairs
The end of actuating arm also constitutes four vertex of a positive tetrahedron, and the centre of sphere of robot body is then located at the two positive tetrahedrons
Center (centre of sphere of robot body is overlapped with the center of the two positive tetrahedrons).
The end of the main driving arm is furnished with traveling wheel 8, is additionally provided in main driving arm for adjusting traveling wheel direction and driving
First power mechanism of dynamic traveling wheel movement, the first power mechanism drive traveling wheel rotation thus with mobile robot in face of ground
Into.
(end of main driving arm is provided with waterproof protection inside protective shell 6 for the first power mechanism setting
Shell), including the 4th motor 16, the 5th motor 5, the 6th motor 20 and the 7th being connected in turn between main driving arm and traveling wheel
Motor 21, the 4th motor are fixed by first support 15 with main driving arm, and the 5th motor and the 4th machine shaft 17 are fixed, and the 6th
Motor is fixed by second support 19 and the 5th machine shaft 34, the 7th motor and the fixation of the 6th machine shaft 39, traveling wheel with
7th machine shaft 18 is fixed.4th machine shaft is parallel to main driving arm, the 4th machine shaft, the 5th machine shaft,
6th machine shaft is successively arranged vertically with the 7th machine shaft.7th motor is for driving traveling wheel to rotate, the 6th electricity
Machine is used to control the steering of traveling wheel, and the 4th motor and the 5th motor are used to adjust the direction of traveling wheel.
The end of the pair actuating arm is furnished with propeller 4, is additionally provided on secondary actuating arm for adjusting propeller direction and driving
Second power mechanism of dynamic propeller motion, the second power mechanism drive propeller rotation to mobile robot in the sky or water
Lower advance.
(end of secondary actuating arm is provided with waterproof protection inside protective shell 6 for the second power mechanism setting
Shell), including first motor 29, the second motor 31 and the third motor 14 being connected in turn between secondary actuating arm and propeller, the
One motor is fixed by third bracket 28 and secondary actuating arm, and the second motor and first motor shaft 30 are fixed, and third motor passes through
4th bracket 13 and the second machine shaft 33 are fixed, and propeller and third machine shaft 3 are fixed.The first motor shaft is parallel
In secondary actuating arm, first motor shaft, the second machine shaft and third machine shaft are successively arranged vertically.The third motor is used
In driving propeller rotation, first motor and the second motor are for adjusting the direction of propeller.
The sensor includes temp probe 10, moisture probe 11 and camera 12.On robot body's shell also
Equipped with fixed frame 9, temp probe, moisture probe and camera are installed in fixed frame.
The control mechanism include central processing unit 23, balance module 24, wireless communication module 27, by conducting wire connect temperature
It spends the temperature sensor 25 of probe, connect the humidity sensor 26 of moisture probe by conducting wire, these components are pacified by bolt
32 in fixed plate (fixed plate is fixed with robot body's shell 7 again).The power supply 22 be used for each component power supply and
It is also mounted in fixed plate, power supply uses lithium battery, and robot body's shell is equipped with charging interface (the Tu Zhong province of connection power supply
Slightly).The camera uses multiple degrees of freedom camera.The protective shell is rubbery outer cover.
The central processing unit connects balance module, wireless communication module, temperature sensor, humidity by conducting wire respectively and passes
Each motor of sensor, camera and the first power mechanism and the second power mechanism.
The utility model further includes Digiplex.As shown in figure 5, Digiplex includes remote controller body 38, remote control
Device ontology is equipped with display 36, touch screen type control module 35 and handle 37, and display is used to show the picture number for being transmitted back to and
According to, temperature humidity data, exercise data (including angle and acceleration information, measured by balance module), touch screen type control module
For sending some special movement instructions (such as model selection), handle 37 is used to control the movement of robot.The wireless remote
Control device is commonly used equipment.
Each component (including Digiplex) of the utility model buyable obtains.
The traveling wheel use waterproof tire, the adaptive capacity to environment of robot can be increased, allow robot from water to
The normal use for not influencing tire when land, phenomena such as skidding will not be generated, while robot is increased to a certain extent
Service life.
The propeller uses the dual-purpose propeller in water route, and propeller, under water with aerial propeller, increases as robot
The adaptive capacity to environment for having added robot, combining the dual-purpose function in water route reduces the quantity of propeller, alleviates machine
The quality of people improves the mobility of robot.
The central processing unit is ARM series processors (proposed model STM32F767), has dominant frequency height, processing capacity
Strong feature has multiple communication modes.The central processing unit is according to various sensors (camera, temperature sensor, humidity
Sensor and balance module) collected information and the instruction that receives from wireless communication module make reasonable movement choosing
It selects, realizes the different movements of robot from each motor of the second power mechanism by controlling the first power mechanism.Center simultaneously
The various information of acquisition are also sent to Digiplex by wireless communication mode by processor, convenient for users to real-time observation airplane
The operating status of device people.
The wireless communication module is used to the collected information of robot being transferred to Digiplex, realize user and
Real-time communication between robot, while wireless communication module receives the instruction of Digiplex and is transmitted to central processing unit, allows
Central processing unit controls robot according to instruction.
Each motor of first power mechanism and the second power mechanism includes driving motor and control motor.The driving
Motor is the 4th motor for controlling propeller rotation and the 7th motor of control traveling wheel rotation, remaining motor is adjustable
The stepper motor of angle, by adjusting the movement of traveling wheel and the position control robot of propeller.
The balance module uses high performance MPU6050 module, can acquire the balance letter of current robot in real time
Breath, by balancing information to robot carry out position adjustment, change robot in the sky, under water and land run when posture,
Always maintain a balanced state robot.MPU6050 module can also acquire acceleration information simultaneously, robot by pair
Current operating conditions are analyzed in the processing of acceleration information, and the fortuitous events such as judge whether to break down, to make timely tune
It is whole, ensure the safety of robot.
The Digiplex is used to receive and show information while controlling the movement of robot by wireless telecommunications.It uses
Person is communicated wirelessly by the remote controler and robot, can collect the various information that robot passes back, and these are believed
Breath display on a remote control, while sending an instruction to robot by wireless telecommunications, controls the movement of robot.
It is transferred to wirelessly by the temperature sensor for acquiring current temperature information by wireless communication module
Remote controler allows user that can detect the temperature of current robot present position, realizes the acquisition to temperature information.In time simultaneously
Ground feedback temperature information can effectively prevent adverse circumstances destruction caused by robot.
It is transferred to wirelessly by the humidity sensor for acquiring current humidity information by wireless communication module
Remote controler allows user that can detect the humidity of current robot present position, realizes the acquisition to humidity information.In time simultaneously
Ground feedback humidity information can promote judgement of the user to weather environment locating for robot, can have before bad weather arriving
The prevention of effect avoids damaging robot.
The camera for acquiring image information, and by wireless communication module by image information real-time Transmission to wireless remote
Device is controlled, user can observe in real time the image that robot captures at this time by remote controler.
In ground motion, robot body is supported by three main driving arms arranged downwards, by controlling this for robot
The revolving speeds of three main driving arm traveling wheels and turn to the various ground motions for realizing robot, another main driving arm vertically to
Upper arrangement (not playing a role).Meanwhile three of robot secondary actuating arms are arranged upwards, another secondary actuating arm cloth straight down
It sets, when flight, provides power, revolving speed and position by adjusting propeller by the propeller of three arranged upwards secondary actuating arms
The control skyborne various movements of robot are set, another propeller plays the role of synkinesia.Robot moves in water
When, power is provided by three propellers towards direction of advance and realizes that direction is adjusted, another propeller plays auxiliary fortune
Dynamic effect.
It (is such as encountered outside when abrupt slope tumbles or lands in ground motion when robot is turned on one's side due to cause specific to restore
Boundary's condition causes to land unstable and overturn), central processing unit can realize machine by adjusting the position of propeller and angle
People's takes off (automatic return function), and the angle of tire, final settling landing are adjusted after taking off successfully.
The concrete mode of the automatic return function (prior art) is as follows: since the rotation of robot ambulation wheel is to robot
Whole balance influence is little, therefore it is which that corresponding 6050 module data difference, which depends primarily on vertical traveling wheel above,
It is a, thus it is primarily present four kinds of postures.There are four types of being deposited in the central processing unit of robot corresponding to different landing postures
The angle-data of each motor of traveling wheel and propeller part adjusted needed for 6050 angle values are corresponding with this kind of posture, such as works as
When the traveling wheel of robot camera positive direction is located at right above robot, it is recorded in balance module parameter point in central processing unit
It Wei not X0, Y0, Z0；It is recorded in the angle ginseng of corresponding three the 4th electromechanical recordings of the traveling wheel of lower section three in central processing unit
Number is respectively that the angle parameter of a1, a2, a3, three the 5th electromechanical recordings is respectively b1, b2, b3, three the 6th electromechanical recordings
Angle parameter is respectively c1, c2, c3；It is recorded in corresponding three first electricity in three propeller parts of top in central processing unit
Machine angle parameter is respectively that the angle parameter of d1, d2, d3, three the second electromechanical recordings is respectively e1, e2, e3.When robot by
When certain reason is turned on one's side into the posture, by reading the angle-data at this time and be stored in center that 6050 balance modules are passed back
Data X0 in processor, Y0, Z0 are compared, to judge posture at this time as the traveling wheel of robot camera positive direction
Right above robot, each motor angle data d1 according to corresponding to the posture being stored in central processing unit~
The motor of d3, e1~e3 control propeller part rotates to control the angle for adjusting wherein 3 propellers to realize robot
Take off, according to the corresponding traveling wheel motor data a1~a3 of the posture that is stored in central processing unit after taking off successfully,
B1~b3, c1~c3 adjust the angle of tire, final settling landing.Due to 4 propellers and 4 traveling wheel difference of robot
Positioned at four vertex of two different positive tetrahedrons, structure is very symmetrical, therefore no matter overturning in which way can be automatically real
Now restore；Greatly improve the environmental suitability of robot.
Claims (5)
1. eight bar reconnaissance robot of land, water and air, it is characterised in that: the robot includes spherical robot body, for pushing machine
The mobile movement mechanism of device human agent, the sensor being arranged on robot body's shell (7) and setting are in robot body
The power supply (22) of internal control mechanism and power supply；
The movement mechanism includes being respectively provided with four main driving arms (1) of traveling wheel (8) and being respectively provided with propeller (4)
Four secondary actuating arms (2)；The main driving arm is evenly arranged on the spherical surface of robot body, and the length of main driving arm is greater than pair
The length of actuating arm；The center between three main driving arms is arranged in each pair actuating arm；The traveling wheel is arranged in master
The end of actuating arm, main driving arm are equipped with the first power mechanism for adjusting traveling wheel direction and traveling wheel being driven to move；
The end of secondary actuating arm is arranged in the propeller, and secondary actuating arm is equipped with for adjusting propeller direction and propeller being driven to transport
The second dynamic power mechanism；
First power mechanism and the setting of the second power mechanism are in protective shell (6)；First power mechanism includes and master
The 4th fixed motor (16) of actuating arm, fiveth motor (5) fixed with the 4th machine shaft (17) and the 5th machine shaft
(34) the 6th fixed motor (20) and seventh motor (21) fixed with the 6th machine shaft (39)；4th motor turns
Axis is parallel to main driving arm, and the 4th machine shaft, the 5th machine shaft, the 6th machine shaft and the 7th machine shaft are successively
It is arranged vertically with previous machine shaft；The traveling wheel and the 7th machine shaft (18) are fixed；Second power mechanism includes
With secondary actuating arm fixed first motor (29), second motor (31) fixed with first motor shaft (30) and with the second electricity
The fixed third motor (14) of machine shaft (33)；The first motor shaft is parallel to secondary actuating arm, first motor shaft, second
Machine shaft and third machine shaft are successively arranged vertically with previous machine shaft；The propeller and third machine shaft
(3) fixed；
The sensor includes temp probe (10), moisture probe (11) and camera (12)；The control mechanism includes center
Processor (23), balance module (24), wireless communication module (27), the temperature sensor (25) for connecting temp probe, connection are wet
Spend the humidity sensor (26) of probe；The central processing unit respectively by data line connect balance module, wireless communication module,
Each motor of temperature sensor, humidity sensor, camera and the first power mechanism and the second power mechanism.
2. eight bar reconnaissance robot of land, water and air according to claim 1, it is characterised in that: the main driving arm and secondary driving
Arm is radial to be fixed on the shell of robot body；The end of the main driving arm constitutes four vertex of positive tetrahedron,
The centre of sphere of robot body is located at the center of the positive tetrahedron.
3. eight bar reconnaissance robot of land, water and air according to claim 2, it is characterised in that: the end structure of the pair actuating arm
At four vertex of positive tetrahedron, the centre of sphere of robot body is located at the center of the positive tetrahedron.
4. eight bar reconnaissance robot of land, water and air according to claim 3, it is characterised in that: the power supply is lithium battery；Institute
State the charging interface that power supply is connected on robot body's shell.
5. eight bar reconnaissance robot of land, water and air according to claim 4, it is characterised in that: the protective shell is outside rubber
Shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920055053.1U CN209599232U (en) | 2019-01-14 | 2019-01-14 | Eight bar reconnaissance robot of land, water and air |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920055053.1U CN209599232U (en) | 2019-01-14 | 2019-01-14 | Eight bar reconnaissance robot of land, water and air |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209599232U true CN209599232U (en) | 2019-11-08 |
Family
ID=68400571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920055053.1U Withdrawn - After Issue CN209599232U (en) | 2019-01-14 | 2019-01-14 | Eight bar reconnaissance robot of land, water and air |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209599232U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702756A (en) * | 2019-01-14 | 2019-05-03 | 浙江理工大学 | Eight bar reconnaissance robot of land, water and air |
-
2019
- 2019-01-14 CN CN201920055053.1U patent/CN209599232U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702756A (en) * | 2019-01-14 | 2019-05-03 | 浙江理工大学 | Eight bar reconnaissance robot of land, water and air |
| CN109702756B (en) * | 2019-01-14 | 2023-11-03 | 浙江理工大学 | Water, land and air eight-rod reconnaissance robot |
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Granted publication date: 20191108 Effective date of abandoning: 20231103 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20191108 Effective date of abandoning: 20231103 |