CN220410908U - Deformable air-ground amphibious robot - Google Patents
Deformable air-ground amphibious robot Download PDFInfo
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- CN220410908U CN220410908U CN202321566041.8U CN202321566041U CN220410908U CN 220410908 U CN220410908 U CN 220410908U CN 202321566041 U CN202321566041 U CN 202321566041U CN 220410908 U CN220410908 U CN 220410908U
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- 230000005484 gravity Effects 0.000 claims description 3
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Abstract
The utility model discloses a deformable air-ground amphibious robot, which comprises a deformed unmanned aerial vehicle module and a ground driven module, wherein the deformed unmanned aerial vehicle module comprises a traditional power assembly, a deformed assembly and a control assembly, and the traditional power assembly comprises four motors and two pairs of paddles; the deformation assembly comprises a center frame, a deformation front frame, a deformation rear frame, a rudder frame, a steering engine crank, two connecting rods, two crank holders and two hinge frames; the control component comprises a flight control, an electric control, a computer bar and a battery; the ground driven module comprises two sets of driven wheel assemblies, and each driven wheel assembly comprises a driven wheel, a driven shaft and a wheel shaft clamp. The deformable amphibious unmanned aerial vehicle can solve the problem of continuous voyage of the unmanned aerial vehicle, is free of topography, and is smart and light.
Description
Technical Field
The utility model relates to a deformable amphibious robot.
Background
With the development of unmanned aerial vehicles and robot technologies, more unmanned aerial vehicles or robots enter lives of people. Many photography lovers take photos and videos through unmanned aerial vehicles; unmanned aerial vehicles are also frequently seen in hospitals for transporting emergency materials; even in post-disaster rescue work, unmanned aerial vehicles are required to perform searching work. However, the existing unmanned aerial vehicle has the defects of short endurance, limited flight distance and the like.
Robots, in contrast to unmanned aerial vehicles, also start playing an important role in people's life. The hotel is responsible for delivering meals; transporting the express in an industrial stream; robots are also specially responsible for performing work in complex terrain. However, robots have disadvantages such as a slower moving speed than unmanned aerial vehicles and being limited by terrain.
The existing air-ground amphibious robots (unmanned aerial vehicles) in the market are redundant in power sleeves, more active wheels capable of providing power are added below the unmanned aerial vehicles or paddles capable of flying are added on the unmanned aerial vehicles, the air-ground amphibious robots are not one power sleeve, and the air-ground amphibious robots are complex in structure.
The scheme of the existing power sleeve structure for solving the amphibious problem is that the pitch angle of the unmanned aerial vehicle is increased, the horizontal component of the thrust of the blade is used for providing the power for the forward movement of the whole machine, and the pitch angle cannot be too large because the working angle of the sensor is limited, so that the thrust of the motor cannot be fully utilized, and the utilization rate of electric energy of a battery is low.
Disclosure of Invention
In order to solve the problems in the prior art, the utility model provides a deformable amphibious robot.
The utility model can be realized by the following technical scheme:
the deformable amphibious robot comprises a deformed unmanned aerial vehicle module and a ground driven module, wherein the deformed unmanned aerial vehicle module comprises a traditional power assembly, a deformed assembly and a control assembly, and the traditional power assembly comprises four motors and two pairs of paddles; the deformation assembly comprises a center frame, a deformation front frame, a deformation rear frame, a rudder frame, a steering engine crank, two connecting rods, two crank holders and two hinge frames, and the control assembly comprises a flight control, an electric control, a computer rod and a battery, wherein the flight control, the electric control and the computer rod provide a control algorithm for the deformable air-ground amphibious robot; the steering engine is arranged at the center position of the center frame through the steering engine frame; the two hinge frames are arranged at the front and rear positions of the central frame in a vertically central symmetry mode; the two crank bases are arranged on the hinge frame and form a revolute pair; an output shaft of the steering engine is fixedly connected with a steering engine crank, the steering engine rotates to drive the steering engine crank to rotate, and two ends of the steering engine crank are respectively connected with a connecting rod and form a revolute pair; the other end of the connecting rod is connected with the crank seat to form a revolute pair, and finally two sets of double-crank structures are formed, and are controlled by a steering engine crank at the same time, and the maximum swing amplitude of the two double-crank structures is 90 degrees through mechanical limiting; the steering engine rotates 90 degrees, the deformation front frame and the motor and the paddle arranged on the deformation front frame rotate 90 degrees downwards, and the deformation rear frame and the motor and the paddle arranged on the deformation rear frame rotate 90 degrees upwards; the ground driven module comprises two sets of driven wheel assemblies, wherein each driven wheel assembly comprises a driven wheel, a driven shaft and a wheel shaft clamp; one end of the driven wheel is connected with one end of the driven shaft through a bearing to form a revolute pair; the other end of the driven shaft is fixedly connected with the wheel shaft in a clamping way to form a driven wheel assembly; the two driven wheel assemblies are fixedly connected with the center frame through wheel shaft clamps, driven shafts on two sides are coaxial, and the gravity center of the deformed amphibious robot is ensured to be below the axis.
Further, the crank seat at the front side of the center frame can only swing downwards, the swinging range is 90 degrees, the crank seat at the rear side of the center frame can only swing upwards, the swinging range is 90 degrees, and the two crank seats are always linked.
Further, the deformation front frame is fixed on a crank seat at the front side of the center frame; the deformed rear frame is fixed on a crank seat at the rear side of the center frame.
Further, the four motors are respectively fixed at four ends of the deformation front frame and the deformation rear frame; two pairs of paddles are arranged on the four motors according to the rule of forward and reverse paddle installation of the unmanned aerial vehicle.
Further, the deformation front frame and the deformation rear frame are permanently linked and permanently parallel.
Advantageous effects
1. The deformable amphibious robot runs on the road with energy saving normally through switching operation of the two postures, and the air flight posture is adopted when the robot meets extreme terrain or needs to fly, so that a larger working distance is ensured;
2. compared with an unmanned vehicle, the deformable amphibious robot can realize the rapid switching of two postures of road surface running and air flying, and has extremely strong ground adaptability;
3. the utility model realizes that the road gesture and the air gesture share the same power sleeve by adding the driven wheel and the ingenious paddle motor direction deformation structure, and has simple and ingenious structure;
4. according to the utility model, the front blade is turned down by 90 degrees, and the rear blade is turned up by 90 degrees, so that the direction of the reaction force of the blade thrust is ensured to be the movement direction of the deformable amphibious robot under the condition that the angle of the sensor is unchanged, and no energy loss is caused by different movement directions and stress directions.
Drawings
FIG. 1 is a schematic illustration of a full thrust utilization demonstration of a blade of the present utility model;
FIG. 2 is a schematic diagram of the structure of the present utility model;
fig. 3 is a schematic diagram of a deformed unmanned aerial vehicle module structure;
FIG. 4 is a side view of a variant drone module;
FIG. 5 is a schematic representation of an aerial flight attitude;
fig. 6 is a road running posture.
Detailed Description
Other advantages and effects of the present utility model will become readily apparent to those skilled in the art from the following disclosure, when considered in light of the following detailed description of the utility model.
As shown in fig. 1, the stress analysis after the front and rear paddles are turned over:
1. torque cancellation demonstration:
because the deformation front frame and the matched deformation components thereof are completely consistent with the parts of the deformation rear frame and the installation is centrosymmetric with the circle center of the wheel, L is formed 1 And L is equal to 2 Equal. Because the rotation speeds of the front blade and the rear blade are consistent during the advancing process, the generated thrust is consistent, namely F 1 Equal to F 2 . Due to F 1 And F 2 Respectively below and above the wheel axis, so that the torque direction against the wheel center is opposite. Formed torque M 1 ＝F 1 *L 1 And M 2 ＝F 2 *L 2 The size is equal, and the direction is opposite, so torque offset, but the amphibious robot of deformation land sky can the forward movement at this state with four paddles at the same speed, and deformation unmanned aerial vehicle module does not take place to rotate.
2. Thrust full utilization demonstration:
in this state, the total thrust of the blade is F Total (S) ＝F 1 +F 2 The thrust direction of the air received by the blade is horizontal left, and the movement direction of the unmanned aerial vehicle is horizontal left, namely the movement direction is completely consistent with the direction of the force, so that the thrust of the blade is fully utilized.
Examples
As shown in fig. 2-4, the deformable air-ground amphibious robot of the utility model comprises a deformable unmanned aerial vehicle module 1 and a ground driven module 2. The variant unmanned aerial vehicle module 1 comprises a conventional power assembly 11, a variant assembly 12 and a control assembly 13. Wherein the conventional power assembly 11 includes four motors 111 and two pairs of paddles 112; the deforming assembly 12 includes a center frame 121, a deforming front frame 122, a deforming rear frame 123, a steering engine frame 124, a steering engine 125, a steering engine crank 126, two connecting rods 127, two crank carriers 128, and two hinge frames 129. The control assembly 13 includes a flight control 131, an electronic tone 132, a computer wand 133 and a battery 134.
The flight control 131, the electric tone 132 and the computer stick 133 provide control algorithms for providing the transformable air-ground amphibious robot. The battery 134 provides kinetic energy.
The steering engine 125 is installed at the center of the center frame 121 through the rudder frame 124; two hinge frames 129 are installed at front and rear positions of the center frame 121 in a vertically central symmetry manner; two crank holders 128 are mounted on the hinge frame 129 and constitute a revolute pair; the output shaft of steering wheel 125 links firmly steering wheel crank 126, and steering wheel 125 rotates and drives steering wheel crank 126 rotation. The two ends of the steering engine crank 126 are respectively connected with a connecting rod 127 and form a revolute pair; the other end of the connecting rod 127 is connected with a crank carrier 128 to form a revolute pair. Two sets of double crank structures are finally formed and controlled by the steering engine crank 126. The maximum swing amplitude of the two double crank structures is 90 degrees through mechanical limit. The crank carrier 128 at the front side of the center frame 121 can only swing downwards, the swinging range is 90 degrees, the crank carrier 128 at the rear side of the center frame 121 can only swing upwards, the swinging range is 90 degrees, and the two crank carriers 128 are always linked. The deformation front frame 122 is fixed to the crank carrier 128 on the front side of the center frame 121; the deformed rear frame 123 is fixed to the crank carrier 128 at the rear side of the center frame 121. Four motors 111 are fixed to four ends of the deformation front frame 122 and the deformation rear frame 123, respectively. Two pairs of paddles 112 are mounted on four motors 111 according to the rules of forward and reverse propeller mounting of the unmanned aerial vehicle.
Finally, the steering engine 125 rotates 90 degrees, the deformation front frame 122 and the motor 111 and the paddle 112 arranged on the deformation front frame rotate 90 degrees downwards, and the deformation rear frame 123 and the motor 111 and the paddle 112 arranged on the deformation rear frame rotate 90 degrees upwards. The deformation front frame 122 and the deformation rear frame 123 are permanently linked and permanently parallel.
The ground driven module 2 includes two sets of driven wheel assemblies 21 including driven wheels 211, driven shafts 212, and axle clamps 213.
One end of the driven wheel 211 and one end of the driven shaft 212 are connected through a bearing to form a revolute pair; the other end of the driven shaft 212 is fixedly connected with the wheel axle clamp 213 to form the driven wheel assembly 21. The two driven wheel assemblies 21 are fixedly connected with the center frame 121 through wheel shaft clamps 213, and driven shafts 212 on two sides are coaxial and ensure that the gravity center of the deformed amphibious robot is below the axis.
The deformable air-ground amphibious robot is divided into an air flight attitude and a road running attitude.
As shown in fig. 5, the air flight attitude: the deformed front frame 122 and the deformed rear frame 123 are kept horizontal, and the four motors 111 and the two pairs of paddles 112 face upwards, so that the flying is different from other unmanned aerial vehicles. The ground driven module 2 acts as a protection at this time, and can protect the core device when the deformable air-ground amphibious robot bumps into an obstacle or accidentally falls.
As shown in fig. 6, the road running posture: the deformable air-ground amphibious robot rotates the deformation front frame 122 downward by 90 ° and the deformation rear frame 123 upward by 90 °. So that the thrust of the front two blades 112 of the deformable air-ground amphibious robot is horizontally backward and the thrust of the rear two blades 112 is also horizontally backward. And the whole set of deformation structure is centrosymmetric with the center of the driven wheel 211. The torque generated when the front blade 112 rotates to let the deformed unmanned aerial vehicle module 1 around the driven shaft 212 and the torque generated when the rear blade 112 rotates to let the deformed unmanned aerial vehicle module 1 around the driven shaft 212 exactly cancel each other out. The steering engine 125 need not provide additional torque beyond the deformation process. In this state, the thrust (lift force) generated by the rotation of the blade 112 is in the horizontal direction, and the power of the motor 111 is all converted into the thrust of the deformable air-ground amphibious robot, so that the maximum utilization of the efficiency is realized. It is worth mentioning that: if the rotation speeds of the paddles 112 at the left side and the right side of the deformable air-ground amphibious robot are consistent, the in-situ steering under the road running posture can be realized by reversing the steering; the differential speed of the paddles 112 on two sides can realize turning in the gesture, and the turning radius can be controlled by controlling the differential speed. The deformable amphibious robot can achieve lifting of a working range (the energy consumed by the on-road running gesture is far smaller than that of the aerial flying gesture) through switching of the two gestures, meanwhile, running flexibility is guaranteed, and the robot is not limited by the ground.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.
Claims (5)
1. A deformable air-ground amphibious robot, characterized in that: the unmanned aerial vehicle comprises a deformation unmanned aerial vehicle module (1) and a ground driven module (2), wherein the deformation unmanned aerial vehicle module (1) comprises a traditional power assembly (11), a deformation assembly (12) and a control assembly (13), and the traditional power assembly (11) comprises four motors (111) and two pairs of paddles (112); the deformation assembly (12) comprises a center frame (121), a deformation front frame (122), a deformation rear frame (123), a steering engine frame (124), a steering engine (125), a steering engine crank (126), two connecting rods (127), two crank bases (128) and two hinge frames (129), the control assembly (13) comprises a flight control (131), an electric control (132), a computer stick (133) and a battery (134), and the flight control (131), the electric control (132) and the computer stick (133) provide a control algorithm for the deformable air-ground amphibious robot;
the steering engine (125) is arranged at the center of the center frame (121) through a rudder frame (124); the two hinge frames (129) are arranged at the front and rear positions of the center frame (121) in a vertically central symmetry mode; two crank holders (128) are mounted on the hinge bracket (129) and form a revolute pair; an output shaft of the steering engine (125) is fixedly connected with a steering engine crank (126), the steering engine (125) rotates to drive the steering engine crank (126) to rotate, and two ends of the steering engine crank (126) are respectively connected with a connecting rod (127) and form a revolute pair; the other end of the connecting rod (127) is connected with the crank seat (128) to form a revolute pair, and finally two sets of double-crank structures are formed, and are controlled by the steering engine crank (126) at the same time, and the maximum swing amplitude of the two double-crank structures is 90 degrees through mechanical limiting;
the steering engine (125) rotates by 90 degrees, the deformation front frame (122) and the motor (111) and the paddle (112) arranged on the deformation front frame rotate by 90 degrees downwards, and the deformation rear frame (123) and the motor (111) and the paddle (112) arranged on the deformation rear frame rotate by 90 degrees upwards;
the ground driven module (2) comprises two sets of driven wheel assemblies (21), wherein each driven wheel assembly comprises a driven wheel (211), a driven shaft (212) and a wheel axle clamp (213); one end of the driven wheel (211) and one end of the driven shaft (212) are connected through a bearing to form a revolute pair; the other end of the driven shaft (212) is fixedly connected with the wheel shaft clamp (213) to form a driven wheel assembly (21); the two driven wheel assemblies (21) are fixedly connected with the center frame (121) through wheel axle clamps (213), driven shafts (212) on two sides are coaxial, and the gravity center of the deformed amphibious robot is ensured to be below the axis.
2. A deformable air-ground amphibious robot according to claim 1, wherein: the crank seat (128) at the front side of the center frame (121) can only swing downwards, the swing range is 90 degrees, the crank seat (128) at the rear side of the center frame (121) can only swing upwards, the swing range is 90 degrees, and the two crank seats (128) are always linked.
3. A deformable air-ground amphibious robot according to claim 1, wherein: the deformation front frame (122) is fixed on a crank seat (128) at the front side of the center frame (121); the deformed rear frame (123) is fixed on a crank seat (128) at the rear side of the center frame (121).
4. A deformable air-ground amphibious robot according to claim 1, wherein: the four motors (111) are respectively fixed at four ends of the deformation front frame (122) and the deformation rear frame (123); two pairs of paddles (112) are arranged on four motors (111) according to the rule of forward and reverse paddle installation of the unmanned aerial vehicle.
5. A deformable air-ground amphibious robot according to claim 1, wherein: the deformation front frame (122) and the deformation rear frame (123) are permanently linked and permanently parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321566041.8U CN220410908U (en) | 2023-06-19 | 2023-06-19 | Deformable air-ground amphibious robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321566041.8U CN220410908U (en) | 2023-06-19 | 2023-06-19 | Deformable air-ground amphibious robot |
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| CN220410908U true CN220410908U (en) | 2024-01-30 |
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| CN202321566041.8U Active CN220410908U (en) | 2023-06-19 | 2023-06-19 | Deformable air-ground amphibious robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118239017A (en) * | 2024-05-28 | 2024-06-25 | 浙江大学湖州研究院 | Air-ground switching method and system of air-ground amphibious unmanned aerial vehicle and unmanned aerial vehicle |
| CN118239027A (en) * | 2024-05-28 | 2024-06-25 | 浙江大学湖州研究院 | Amphibious four-rotor unmanned aerial vehicle and wall climbing control method thereof |
-
2023
- 2023-06-19 CN CN202321566041.8U patent/CN220410908U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118239017A (en) * | 2024-05-28 | 2024-06-25 | 浙江大学湖州研究院 | Air-ground switching method and system of air-ground amphibious unmanned aerial vehicle and unmanned aerial vehicle |
| CN118239027A (en) * | 2024-05-28 | 2024-06-25 | 浙江大学湖州研究院 | Amphibious four-rotor unmanned aerial vehicle and wall climbing control method thereof |
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