WO2020243925A1 - 一种旋翼结构及应用其的滚爬机器人 - Google Patents

一种旋翼结构及应用其的滚爬机器人 Download PDF

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Publication number
WO2020243925A1
WO2020243925A1 PCT/CN2019/090161 CN2019090161W WO2020243925A1 WO 2020243925 A1 WO2020243925 A1 WO 2020243925A1 CN 2019090161 W CN2019090161 W CN 2019090161W WO 2020243925 A1 WO2020243925 A1 WO 2020243925A1
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WIPO (PCT)
Prior art keywords
rotor
turning
side frame
protective
frame
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PCT/CN2019/090161
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English (en)
French (fr)
Inventor
冯伟
刘笑
张艳辉
张晨宁
尹铎
冯亚春
Original Assignee
中国科学院深圳先进技术研究院
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Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to PCT/CN2019/090161 priority Critical patent/WO2020243925A1/zh
Publication of WO2020243925A1 publication Critical patent/WO2020243925A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/52—Tilting of rotor bodily relative to fuselage

Definitions

  • the invention belongs to the technical field of sports robots, and particularly relates to a rotary wing structure and a rolling robot using the same.
  • Spherical robots have been widely used in various fields, and are favored by many people because of their fast speed, flexible movement, and high efficiency.
  • spherical robots are limited by terrain, adapt to smooth roads, and have advantages on inclined surfaces. When encountering obstacles, they cannot pass and cannot achieve obstacle crossing functions.
  • the crawling exercise mode has relatively low requirements on the road surface, but when the environment is complex and changeable, it takes a long time and exercise efficiency is affected.
  • the rolling robot usually adopts the form of a spherical robot, but this kind of setting movement is single and cannot adapt to various natural environments at the same time, and the speed of movement in a complex environment is not high and the efficiency is low.
  • the prior art rolling robot usually adopts the form of a spherical robot, but this kind of setting movement is single and cannot adapt to various natural environments at the same time, and the speed of movement in a complex environment is not high and the efficiency is low.
  • a rotor structure applied to a rolling robot comprising: a protection bracket for connecting with the rolling robot, a turning mechanism, a driving source and a rotor, the protection The bracket has a storage space for accommodating the rotor, the protection bracket includes a side frame, the turning mechanism is movably assembled on the side frame, the driving source is fixedly assembled on the turning mechanism, and The rotor is connected to the output end of the drive source, and the turning mechanism can drive the drive source to rotate around the side frame, so as to drive the rotor around the side frame in the accommodation space and the accommodation space In the outer switching position, the drive source can drive the rotor to rotate.
  • the side frame has a recessed structure
  • the bottom of the recessed structure has a notch
  • the turning mechanism is assembled in the recessed structure, and when the turning mechanism drives the drive source to move, the drive source passes through the gap.
  • the turning mechanism includes a turning power source, a turning shaft, and a turning block.
  • the turning shaft is rotatably assembled between the two inner walls of the recessed structure.
  • the axis of the turning shaft is extended from the side frame. The direction is parallel, the body of the turning power source is fixedly assembled in the recessed structure, the output end of the turning power source is connected to the turning shaft, and the rotating block is fixed on the turning shaft and connected to the notch.
  • the driving source is assembled on the rotating block.
  • the protection bracket further includes a protection frame, the protection frame has an arc-shaped structure, and two ends of the protection frame are respectively connected with two ends of the side frame.
  • the recessed structure is recessed in a direction away from the protective frame.
  • the recess mechanism is recessed in a direction approaching the protection frame.
  • arcuate protective sheets extend on both sides of the protective frame, and the protective frame and the protective sheet are located in the same spherical surface.
  • a rolling robot which includes a body, a plurality of crawling legs, and at least one pair of the rotor structure as described above, the plurality of crawling legs are movably connected to the body, and some of the crawling legs can The deformation is formed into a circular wheel, and the at least a pair of rotor structures are symmetrically arranged on the body.
  • the rotor structure and the rolling robot using the rotor structure in the present invention have the following beneficial effects:
  • the turning mechanism can drive the drive source and the rotor to rotate around the side frame, so that the rotor can change its position relative to the protective bracket.
  • the power provided by the drive source can drive the rotor to rotate to provide the lift required by the rolling robot in flight.
  • the protective bracket When the protective bracket is in the containing space, the protective bracket can protect the rotor to prevent damage to the rotor.
  • the rotor mechanism of the present invention is suitable for rolling robots, so that the rolling robots can fly, which is more suitable for movement in complex environments and improves movement effectiveness.
  • Fig. 1 is a schematic top view of the overall structure of a rolling robot in an embodiment of the present invention
  • FIG. 2 is a first state schematic diagram of the overall structure of the rotor structure in the embodiment of the present invention.
  • Fig. 3 is a second state schematic diagram of the overall structure of the rotor structure in the embodiment of the present invention.
  • the robot has a single motion mode, which cannot adapt to various natural environments at the same time, and the motion speed is not high and the efficiency is low.
  • the current rolling robot cannot achieve flight motion at the same time.
  • the present invention proposes a robot that can switch between three motion modes, which determines the motion mode by judging the surrounding environment.
  • the situation is urgent, you need to move forward quickly or incline up to 5%, you can transform yourself at any time to turn into a circle and roll forward quickly.
  • rolling mode its speed is twice the crawling speed;
  • the rotor 14 is used to fly over the obstacle area; in the crawling state, in a flat or uneven place, its crawling speed is normal. Therefore, in a complex natural environment, it can safely and effectively quickly cross over insurmountable geographical environments such as rivers and other insurmountable geographical environments through flight movements for various terrain conditions.
  • a rolling robot which includes a main body 2, a plurality of crawling legs 3, and at least a pair of rotor structures 1, and a plurality of crawling legs 3 are movably connected to the main body 2.
  • the crawling legs 3 can be deformed to form a round wheel
  • at least a pair of rotor wing structures 1 are symmetrically arranged on the body 2, and one end of the rotor wing structure 1 is rotatably connected to the body 2.
  • the rotor structure 1 includes: a protective bracket 11 for connecting with a rolling robot, a turning mechanism 12, a driving source 13, and a rotor 14.
  • the protective bracket 11 has a storage space for containing the rotor 14, and the protective bracket 11 includes a side Frame 111, the turning mechanism 12 is movably assembled on the side frame 111, the drive source 13 is fixedly assembled on the turning mechanism 12, the rotor 14 is connected to the output end of the drive source 13, and the turning mechanism 12 can drive the drive source 13 to rotate around the side frame 111 , In order to drive the rotor 14 to switch positions in and outside the containing space around the side frame 111, the driving source 13 can drive the rotor 14 to rotate.
  • the crawling state it is realized by the crawling legs 3; in the rolling state, some of the crawling legs 3 deform to form a round wheel, and the other crawling legs 3 ferry to drive the robot to roll; in the flying state, the turning mechanism 12 can drive the driving source 13 and the rotor 14 rotate around the side frame 111, so that the rotor 14 can change the position relative to the protective support 11 to change the direction of the power provided by the rotor 14.
  • the power provided by the drive source 13 can drive the rotor 14 to rotate to provide a rolling robot The lift required during flight.
  • the rotor 14 rotates into the accommodation space of the protective bracket 11.
  • the protective bracket 11 can protect the rotor 14 to prevent the rotor 14 from being damaged.
  • the rotor 14 mechanism of the present invention is applicable
  • the rolling robot can fly, adapt to the movement in the complex environment, and improve the movement efficiency.
  • the side frame 111 has a recessed structure 1111.
  • the bottom of the recessed structure 1111 has a gap.
  • the turning mechanism 12 is assembled in the recessed structure 1111.
  • the protection bracket 11 also includes a protection frame 112,
  • the protection frame 112 has an arc structure, and both ends of the protection frame 112 are connected to both ends of the side frame 111 respectively.
  • the protection bracket 11 adopts an aluminum frame structure, and the side frame 111 and the protection frame 112 are integrally formed.
  • the protection frame 112 is set in an arc structure to protect the rotor 14 while ensuring that the robot is not smashed by debris in the environment.
  • the recessed structure 1111 is located in the middle of the side frame 111.
  • the recessed structure 1111 is recessed in a direction away from the protective frame 112.
  • the recess mechanism may also be recessed toward the protection frame 112.
  • arc-shaped protective sheets may extend on both sides of the protective frame 112, and the protective frame 112 and the protective sheet are located in the same spherical surface; for example, on both sides of the protective frame 112 Both sides are provided with protective sheets arranged at equal intervals, and the protective sheets on both sides are arranged symmetrically.
  • the arrangement of the protective sheets can protect the rotor 14 in more directions; of course, the protective sheets may not be arranged in the form of equidistant intervals, for example
  • the protective sheets located in the middle of the protective frame 112 can be arranged relatively densely, and the protective sheets located on the two sides close to the protective frame 112 can be arranged relatively sparsely, that is: from the middle of the protective frame 112 to the adjacent protective sheets at both ends The interval between gradually increased.
  • the turning mechanism 12 includes a turning power source 121, a turning shaft 122 and a turning block 123.
  • the turning shaft 122 is rotatably assembled between the two inner walls of the recessed structure 1111.
  • the axis of the turning shaft 122 is parallel to the extending direction of the side frame 111.
  • the body 2 of the source 121 is fixedly assembled in the recessed structure 1111, the output end of the turning power source 121 is connected to the turning shaft 122, the rotating block 123 is fixed on the turning shaft 122 and corresponding to the notch, and the driving source 13 is assembled on the rotating block 123.
  • the rotor 14 When the robot is in the crawling state or rolling state, driven by the turning power source 121, the rotor 14 rotates into the accommodation space of the protective frame 112, and the extending direction of the blades of the rotor 14 is parallel to the extending direction of the side frame 111 of the protective frame 112, thereby The rotor 14 is protected; when the robot is in flight, the drive source 13 drives the rotor 14 to rotate, thereby providing lift. During the flight, driven by the turning power source 121, the rotor 14 can be driven to rotate around the side frame 111.
  • one end of the protective bracket 11 is rotatably assembled on the body 2 of the robot. The protective bracket 11 can be adjusted in the height direction relative to the body 2, and the angle of the rotor 14 can be adjusted in cooperation with the rotating mechanism to adjust the flying direction of the robot. , More flexible.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)

Abstract

一种旋翼结构，包括保护支架（11）、翻转机构（12）、驱动源（13）和旋翼（14），保护支架（11）内具有用于收容旋翼（14）的收容空间，保护支架（11）包括一侧框（111），翻转机构（12）活动地装配在侧框（111）上，驱动源（13）固定装配在翻转机构（12）上，旋翼（14）与驱动源（13）的输出端相连，翻转机构（12）能够带动驱动源（13）绕侧框（111）转动，以带动旋翼（14）绕侧框（111）在收容空间内和收容空间外切换位置，驱动源（13）能够带动旋翼（14）转动。还提供了一种具有旋翼结构的滚爬机器人。该旋翼结构适用于滚爬机器人，使滚爬机器人能够飞行，更加适应复杂环境中的运动，提高运动效率。

Description

一种旋翼结构及应用其的滚爬机器人 技术领域
本发明属于运动机器人技术领域，尤其涉及一种旋翼结构及应用其的滚爬机器人。
 背景技术
球形机器人已经广泛应用于各领域，因为速度快、运动灵活、效率高等特点受到很多人的青睐。但球形机器人受地形限制，适应于光滑的路面，并在倾斜面有着优势，遇到障碍时则无法通行，不能实现越障功能。爬行的运动方式对于路面要求比较低，但环境复杂多变时，花费时间长，运动效率受到影响。
目前滚爬机器人通常采用球形机器人的形式，但这种设置运动方式单一，无法同时适应各种自然环境，在复杂环境下运动的速度不高，效率低。
 技术问题
现有技术的滚爬机器人通常采用球形机器人的形式，但这种设置运动方式单一，无法同时适应各种自然环境，在复杂环境下运动的速度不高，效率低。
 技术解决方案
为解决上述技术问题，本发明是这样实现的，一种旋翼结构，应用于滚爬机器人，包括：用于与所述滚爬机器人相连的保护支架、翻转机构、驱动源和旋翼，所述保护支架内具有用于收容所述旋翼的收容空间，所述保护支架包括一侧框，所述翻转机构活动地装配在所述侧框上，所述驱动源固定装配在所述翻转机构上，所述旋翼与所述驱动源的输出端相连，所述翻转机构能够带动所述驱动源绕所述侧框转动，以带动所述旋翼绕所述侧框在所述收容空间内和所述收容空间外切换位置，所述驱动源能够带动所述旋翼转动。
进一步地，所述侧框具有凹陷结构，所述凹陷结构的底部具有缺口，所述翻转机构装配在所述凹陷结构内，所述翻转机构带动所述驱动源运动时所述驱动源经过所述缺口。
进一步地，所述翻转机构包括：翻转动力源、翻转轴和转动块，所述翻转轴转动装配在所述凹陷结构的两个内壁之间，所述翻转轴的轴线与所述侧框的延伸方向平行，所述翻转动力源的本体固定装配在所述凹陷结构内，所述翻转动力源的输出端与所述翻转轴相连，所述转动块固定在所述翻转轴上且与所述缺口对应，所述驱动源装配在所述转动块上。
进一步地，所述保护支架还包括保护框，所述保护框为弧形结构，所述保护框的两端分别与所述侧框的两端相连。
进一步地，所述凹陷结构朝远离所述保护框的方向凹陷。
进一步地，所述凹陷机构朝靠近所述保护框的方向凹陷。
进一步地，所述保护框的两侧延伸有弧面型的保护片，所述保护框和所述保护片位于同一球面内。
进一步地，提供一种滚爬机器人，包括本体、若干爬行腿和至少一对如上任意一种所述的旋翼结构，所述若干爬行腿活动地连接在所述本体上，部分所述爬行腿能够变形组成圆形轮，所述至少一对旋翼结构对称地设置在所述本体上。
 有益效果
本发明中旋翼结构及应用其的滚爬机器人与现有技术相比，有益效果在于：
翻转机构能够带动驱动源和旋翼绕侧框转动，从而使旋翼变换相对于保护支架的位置，驱动源提供的动力能够带动旋翼旋转，以提供滚爬机器人飞行时所需的升力，当旋翼转动到保护支架的收容空间内时，保护支架可以对旋翼进行保护，从而防止旋翼被损坏，本发明的旋翼机构适用于滚爬机器人，使滚爬机器人能够飞行，更加适应复杂环境中的运动，提高运动效率。
 附图说明
图1是本发明实施例中滚爬机器人的整体结构的俯视示意图；
图2是本发明实施例中旋翼结构的整体结构的第一状态示意图；
图3是本发明实施例中旋翼结构的整体结构的第二状态示意图。
在附图中，各附图标记表示：1、旋翼结构；11、保护支架；12、翻转机构；13、驱动源；14、旋翼；111、侧框；112、保护框；121、翻转动力源；122、翻转轴；123、转动块；1111、凹陷结构；2、本体；3、爬行腿。
 本发明的实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
实施例：
目前机器人的运动方式单一，无法同时适应各种自然环境，运动的速度不高，效率低。当前的滚爬机器人无法同时实现飞行运动。为此本发明提出可以三种运动方式相切换的机器人，其通过判断周围的环境来决定运动方式。在情况紧急、需快速前进或高达5%的上坡倾斜时，随时进行变身，变成一个圆，快速翻滚着向前运动，滚动模式下，它的速度是爬行的速度的两倍；在障碍物多或环境复杂时，采用旋翼14进行飞行，越过障碍区；爬行状态时，在平坦或在不均匀的地方，它的爬行速度是正常的。因此，在复杂自然环境下，其对于各种地形的情况，通过飞行运动，可安全有效地快速跨越江河等难以逾越的地理环境。
在本实施例中，如图1-3所示，提供一种滚爬机器人，包括本体2、若干爬行腿3和至少一对旋翼结构1，若干爬行腿3活动地连接在本体2上，部分爬行腿3能够变形组成圆形轮，至少一对旋翼结构1对称地设置在本体2上，旋翼结构1的一端转动连接在本体2上。其中，旋翼结构1包括：用于与滚爬机器人相连的保护支架11、翻转机构12、驱动源13和旋翼14，保护支架11内具有用于收容旋翼14的收容空间，保护支架11包括一侧框111，翻转机构12活动地装配在侧框111上，驱动源13固定装配在翻转机构12上，旋翼14与驱动源13的输出端相连，翻转机构12能够带动驱动源13绕侧框111转动，以带动旋翼14绕侧框111在收容空间内和收容空间外切换位置，驱动源13能够带动旋翼14转动。
在爬行状态时，由爬行腿3实现；在滚动状态时，部分爬行腿3变形形成圆形轮，其它爬行腿3进行摆渡，从而驱动机器人滚动；在飞行状态时，翻转机构12能够带动驱动源13和旋翼14绕侧框111转动，从而使旋翼14变换相对于保护支架11的位置，以改变旋翼14提供的动力的方向，驱动源13提供的动力能够带动旋翼14旋转，以提供滚爬机器人飞行时所需的升力，在爬行或滚动状态时，旋翼14转动到保护支架11的收容空间内，保护支架11可以对旋翼14进行保护，从而防止旋翼14被损坏，本发明的旋翼14机构适用于滚爬机器人，使滚爬机器人能够飞行，更加适应复杂环境中的运动，提高运动效率。
侧框111具有凹陷结构1111，凹陷结构1111的底部具有缺口，翻转机构12装配在凹陷结构1111内，翻转机构12带动驱动源13运动时驱动源13经过缺口；保护支架11还包括保护框112，保护框112为弧形结构，保护框112的两端分别与侧框111的两端相连。具体的，保护支架11采用铝框结构，侧框111和保护框112一体成型，保护框112设置成弧形结构可以在保护旋翼14的同时保证机器人不被环境中的杂物磕绊，使得机器人运动更加顺利；凹陷结构1111位于侧框111的中部，在本实施例中，优选的，凹陷结构1111朝远离保护框112的方向凹陷，这样的设置方式可以减小旋翼14所需的收容空间，从而节约材料成本，在其他实施例中，凹陷机构也可以朝靠近保护框112的方向凹陷。
为了进一步地形成对旋翼14的保护，保护框112的两侧可以延伸有弧面型的保护片（未示出），保护框112和保护片位于同一球面内；例如，在保护框112的两侧均设置等距间隔排列的保护片，且两侧的保护片对称设置，保护片的设置可以在更多方向实现对旋翼14的保护；当然，保护片可以不设置成等距间隔形式，例如，位于保护框112的中部的保护片可以设置地相对密集，位于靠近保护框112的两侧的保护片可以设置地相对稀疏，即：从保护框112的中间到两端方向的相邻保护片之间的间隔逐渐增大。
翻转机构12包括：翻转动力源121、翻转轴122和转动块123，翻转轴122转动装配在凹陷结构1111的两个内壁之间，翻转轴122的轴线与侧框111的延伸方向平行，翻转动力源121的本体2固定装配在凹陷结构1111内，翻转动力源121的输出端与翻转轴122相连，转动块123固定在翻转轴122上且与缺口对应，驱动源13装配在转动块123上。机器人在爬行状态或滚动状态时，在翻转动力源121的驱动下，旋翼14转动到保护框112的收容空间内，且旋翼14的叶片延伸方向与保护框112的侧框111延伸方向平行，从而使旋翼14得到保护；机器人在飞行状态时，驱动源13驱动旋翼14转动，从而提供升力，在飞行过程中，在翻转动力源121的驱动下，旋翼14可以被带动绕侧框111旋转，本实施例中，保护支架11的一端转动装配在机器人的本体2上，保护支架11可以相对本体2在高度方向上进行角度调节，协同旋转机构对旋翼14的角度调节，即可调节机器人的飞行方向，更加灵活。
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种旋翼结构，应用于滚爬机器人，其特征在于，包括：用于与所述滚爬机器人相连的保护支架(11)、翻转机构(12)、驱动源(13)和旋翼(14)，所述保护支架(11)内具有用于收容所述旋翼(14)的收容空间，所述保护支架(11)包括一侧框(111)，所述翻转机构(12)活动地装配在所述侧框(111)上，所述驱动源(13)固定装配在所述翻转机构(12)上，所述旋翼(14)与所述驱动源(13)的输出端相连，所述翻转机构(12)能够带动所述驱动源(13)绕所述侧框(111)转动，以带动所述旋翼(14)绕所述侧框(111)在所述收容空间内和所述收容空间外切换位置，所述驱动源(13)能够带动所述旋翼(14)转动。
  2. 根据权利要求1所述的旋翼结构，其特征在于，所述侧框(111)具有凹陷结构(1111)，所述凹陷结构(1111)的底部具有缺口，所述翻转机构(12)装配在所述凹陷结构(1111)内，所述翻转机构(12)带动所述驱动源(13)运动时所述驱动源(13)经过所述缺口。
  3. 根据权利要求2所述的旋翼结构，其特征在于，所述翻转机构(12)包括：翻转动力源(121)、翻转轴(122)和转动块(123)，所述翻转轴(122)转动装配在所述凹陷结构(1111)的两个内壁之间，所述翻转轴(122)的轴线与所述侧框(111)的延伸方向平行，所述翻转动力源(121)的本体(2)固定装配在所述凹陷结构(1111)内，所述翻转动力源(121)的输出端与所述翻转轴(122)相连，所述转动块(123)固定在所述翻转轴(122)上且与所述缺口对应，所述驱动源(13)装配在所述转动块(123)上。
  4. 根据权利要求2所述的旋翼结构，其特征在于，所述保护支架(11)还包括保护框(112)，所述保护框(112)为弧形结构，所述保护框(112)的两端分别与所述侧框(111)的两端相连。
  5. 根据权利要求4所述的旋翼结构，其特征在于，所述凹陷结构(1111)朝远离所述保护框(112)的方向凹陷。
  6. 根据权利要求4所述的旋翼结构，其特征在于，所述凹陷机构朝靠近所述保护框(112)的方向凹陷。
  7. 根据权利要求4所述的旋翼结构，其特征在于，所述保护框(112)的两侧延伸有弧面型的保护片，所述保护框(112)和所述保护片位于同一球面内。
  8. 一种滚爬机器人，其特征在于，包括本体(2)、若干爬行腿(3)和至少一对如权利要求1-7中任意一项所述的旋翼结构(1)，所述若干爬行腿(3)活动地连接在所述本体(2)上，部分所述爬行腿(3)能够变形组成圆形轮，所述至少一对旋翼结构(1)对称地设置在所述本体(2)上。
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