CN107323192B - Air-ground amphibious mobile robot - Google Patents
Air-ground amphibious mobile robot Download PDFInfo
- Publication number
- CN107323192B CN107323192B CN201710472290.3A CN201710472290A CN107323192B CN 107323192 B CN107323192 B CN 107323192B CN 201710472290 A CN201710472290 A CN 201710472290A CN 107323192 B CN107323192 B CN 107323192B
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- gear
- front wheel
- bevel gear
- wheel mechanism
- synchronous belt
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- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims abstract 3
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of mobile robots, and particularly relates to an air-ground amphibious mobile robot capable of automatically converting a rotor wing into wheels. An air-ground amphibious mobile robot comprising: the device comprises a bottom plate, a front wheel mechanism with a rotor wing, a rear wheel mechanism with a rotor wing and a land-air deformation mechanism; the land-air deformation mechanism comprises: the mounting plate, the motor central gear, the force transmission gear, the rotating shaft B and the bearing seat; a rotating shaft A is arranged at the center of the force transmission gear, a synchronous belt pulley A is installed at the upper end of the rotating shaft A, a synchronous belt pulley B is arranged on the rotating shaft B, and the synchronous belt pulley A is connected with the synchronous belt pulley B through a synchronous belt; the lower end of the rotating shaft B is provided with a bevel gear A; a bevel gear B is arranged on the bearing seat, and the bevel gear A is meshed with the bevel gear B at an angle of 45 degrees; the front wheel mechanism and the rear wheel mechanism are respectively connected with the bevel gear B, the synchronous belt is driven by the motor through the gear pair to control the bevel gear to rotate for rotary deformation, so that the wheels are converted in the horizontal direction and the vertical direction, and compared with the prior art, the conversion autonomy is improved.
Description
Technical Field
The invention belongs to the technical field of mobile robots, and particularly relates to an air-ground amphibious mobile robot capable of automatically converting a rotor wing into wheels.
Background
In order to make up the defects that the visual angle and the range of motion of the current ground reconnaissance robot are limited and the endurance time of a quad-rotor unmanned reconnaissance aircraft is limited, the concept of an air-ground amphibious robot is well developed in recent years, but the structure of the air-ground amphibious robot in the prior art is mainly that four wheels are directly added on the quad-rotor unmanned aerial vehicle or air is still pushed to move forwards by the rotation of rotors, and the robots have the defects of complex control and mechanical structure, low ground walking efficiency and the like.
There is the technical scheme who directly utilizes the rotor to go the wheel use as land among the prior art, chinese patent application with application number 201510251452.1 discloses an empty dual-purpose four rotor craft on land, this aircraft includes four actuating mechanism of group and drive deformation mechanism, drive deformation mechanism includes driving motor, two driving shafts and two driven shafts, driving shaft and driven shaft setting are on the supporting seat, driving motor is equipped with two motor output shafts, every motor output shaft all is connected with a driving shaft through the shaft coupling, every driving shaft all is connected with a driven shaft through the gear pair, wherein two sets of actuating mechanism's rotor support is connected with two driving shafts respectively, other two sets of actuating mechanism's rotor support is connected with two driven shafts respectively. The rotor is located the horizontal direction when four rotor crafts in this application fly in the air, provides flight power, and when land went, the direct rotation rotor made it can travel on the road surface as the wheel, but this kind of aircraft can only rely on operator's manual support to change, can't change by oneself, and intelligent degree is low, consequently needs further improvement.
Disclosure of Invention
The purpose of the invention is: for solving the problem that the rotor among the four-rotor aircraft can not convert into the wheel by oneself, provide an air-ground amphibious mobile robot that intelligent degree is high.
The air-ground amphibious mobile robot comprises: the system comprises a bottom plate, more than one front wheel mechanism provided with a rotor wing, more than one rear wheel mechanism provided with a rotor wing and an air-ground deformation mechanism;
the land-air deformation mechanism comprises: be located the mounting panel of bottom plate center department installs the motor of mounting panel center department, with motor output shaft's sun gear and with preceding wheel mechanism with the drive mechanism of back wheel mechanism one-to-one, drive mechanism includes: the bevel gear A, the bevel gear B, a force transmission gear, a rotating shaft B and a bearing seat are arranged on the bottom plate;
the force transmission gear is meshed with the central gear; a rotating shaft A is fixedly connected to the center of the force transmission gear, a synchronous belt pulley A is mounted at the upper end of the rotating shaft A, a synchronous belt pulley B is arranged on the rotating shaft B, and the synchronous belt pulley B is connected with the closest synchronous belt pulley A through a synchronous belt to form belt transmission; the lower end of the rotating shaft B is coaxially and fixedly connected with the bevel gear A; the bevel gear B is arranged on a bearing seat, and the bevel gear A is meshed with the bevel gear B;
when the bevel gear A rotates, the front wheel mechanism and the rear wheel mechanism rotate along with the bevel gear B connected with the front wheel mechanism and the rear wheel mechanism, so that the front wheel mechanism and the rear wheel mechanism are switched in the vertical direction and the horizontal direction, namely the robot is switched between a land driving state and a flying state.
The front wheel mechanism comprises: the rotary wing type aircraft comprises two front wheel frames which are coaxially arranged and axially supported and positioned, a rotary wing motor positioned at the center of the two front wheel frames, and a rotary wing connected with an output shaft of the rotary wing motor; the front wheel connecting frame is connected with the front wheel frame, the front wheel connecting frame is fixedly connected with the bevel gear B, and the bevel gear B drives the front wheel frame to convert between a vertical direction and a horizontal direction through the front wheel connecting frame; the rotating surface of the rotor wing is the plane where the front wheel frame is located;
the front wheel mechanism further comprises a land driving device, the land driving device comprises a land driving motor arranged in the front wheel connecting frame, a first gear coaxially and fixedly connected with an output shaft of the land driving motor, and a gear ring with an internal gear, which is arranged between the two front wheel frames; the first gear transmits motion to the gear ring through the second gear and the third gear in sequence.
Has the advantages that:
(1) the invention utilizes the motor to drive the synchronous belt through the gear pair to drive the bevel gear to rotate for rotary deformation, so that the wheels are converted in the horizontal direction and the vertical direction.
(2) The force transmission gears are symmetrically arranged on the mounting plate, the rotation directions of the force transmission gears on the same straight line are consistent, and the wheel rotates 90 degrees clockwise (or anticlockwise) around the axis of the bevel gear during deformation.
Drawings
FIG. 1 is a schematic structural diagram of an upper portion of a land-air deformation mechanism in the invention;
FIG. 2 is a schematic bottom structure diagram of the land-air deformation mechanism in the invention;
FIG. 3 is a schematic diagram of the front wheel mechanism of the present invention;
FIG. 4 is a schematic view of the interior of the front wheel mechanism of the present invention;
FIG. 5 is a schematic diagram of the present invention in a land driving state;
fig. 6 is a schematic structural diagram of the invention in a flight state.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Referring to fig. 5 and 6, the air-ground amphibious mobile robot comprises: the device comprises a bottom plate 5, a front wheel mechanism, a rear wheel mechanism and a land-air deformation mechanism; in this example, the front wheel mechanism and the rear wheel mechanism are respectively provided with two wheels;
referring to fig. 1 and 2, the land-air deformation mechanism comprises: the device comprises a mounting plate 12 positioned at the center of a bottom plate 5, a motor 1 arranged at the center of the mounting plate 12, a central gear 10 connected with an output shaft of the motor 1, force transmission gears 11 arranged at four opposite corners of the mounting plate 12, a rotating shaft B4 arranged at four corners of the bottom plate 5 and a bearing seat 7; the central gear 10 is directly meshed with the force transmission gear 11 on one diagonal line on one hand, and is meshed with the force transmission gear 11 on the other diagonal line through the two small gears 9 on the other hand; the bottom of the pinion 9 is positioned by an E-shaped check ring; a rotating shaft A8 is arranged at the center of the force transmission gear 11, a synchronous pulley A2 is arranged at the upper end of the rotating shaft A8, a synchronous pulley B is arranged on the rotating shaft B4, and the adjacent synchronous pulley A2 and the synchronous pulley B are connected through a synchronous belt 3; the lower end of the rotating shaft B4 is provided with a bevel gear A6; the bearing seat 7 is used for connecting the front wheel mechanism, the rear wheel mechanism and the bottom plate 5, a bevel gear B is arranged on the bearing seat 7, and the bevel gear A6 is meshed with the bevel gear B at an angle of 45 degrees;
referring to fig. 3 and 4, the front wheel mechanism comprises: two front wheel frames 16 supported and positioned through two-way hexagonal studs 17, a rotor motor 14 positioned at the center of the two front wheel frames 16, a front wheel connecting frame 15 connecting the rotor motor 14 and the front wheel frames 16, and a rotor 13 connected with the output of the rotor motor 14 (the rotating surface of the rotor 13 is the plane of the plane front wheel frame 16, namely the output shaft of the rotor motor 14 is coaxial with the front wheel frames 16); a land running motor is arranged in the front wheel connecting frame 15, a first gear 18 is sleeved and connected on an output shaft of the land running motor, a gear ring 21 is arranged between the front wheel frames 16, and the first gear 18 transmits motion and force to the gear ring 21 through a second gear 19 and a third gear 20; the rubber belt is pasted on the outer ring of the gear ring 21 to play a role of vibration isolation, and the front wheel frame 16 is relatively fixed when the vehicle runs on the land and is completed by the rotation of the gear ring 21 with a certain gap with the front wheel frame 16; the front wheel connecting frame 15 is fixedly connected with a bevel gear B, and when the bevel gear B rotates along with a bevel gear A6, the front wheel mechanism rotates along with the bevel gear B and is converted in the horizontal and vertical directions.
The rear wheel mechanism is a driven wheel, and has basically the same structure as the front wheel mechanism, and the difference is that no land driving device is arranged in the rear wheel mechanism, namely no land driving motor and no force transmission gear are arranged in the rear wheel connecting frame.
Furthermore, in order to reduce the weight under the premise of ensuring the strength, the bevel gear A6, the pinion 9, the sun gear 10 and the force transmission gear 11 are made of POM, and the bottom plate 5 is made of carbon fiber material.
When the robot is running on land, the front wheel mechanism and the rear wheel mechanism are used as normal wheels, as shown in FIG. 5; when the flying state needs to be adjusted, the motor 1 in the air-ground deformation mechanism is started, the bevel gear B drives the front wheel mechanism and the rear wheel mechanism to rotate 90 degrees clockwise (or anticlockwise) around the axial direction of the bevel gear B, and the front wheel mechanism and the rear wheel mechanism are horizontally positioned above the bottom plate 5, as shown in FIG. 6; then the rotor 13 is driven to rotate by the rotor motor 14, so as to provide flight power.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. Air-ground amphibious mobile robot, its characterized in that: it includes: the device comprises a bottom plate (5), more than one front wheel mechanism provided with a rotor wing, more than one rear wheel mechanism provided with a rotor wing and a land-air deformation mechanism;
the land-air deformation mechanism comprises: be located mounting panel (12) of bottom plate (5) center department install motor (1) of mounting panel (12) center department, with sun gear (10) that motor (1) output shaft is connected and with preceding wheel mechanism with the drive mechanism of back wheel mechanism one-to-one, drive mechanism includes: a bevel gear A (6), a bevel gear B, a force transmission gear (11), a rotating shaft B (4) and a bearing seat (7) which are arranged on a bottom plate (12);
the force transmission gear (11) is meshed with the central gear (10); a rotating shaft A (8) is fixedly connected to the center of the force transmission gear (11), a synchronous belt wheel A (2) is mounted at the upper end of the rotating shaft A (8), a synchronous belt wheel B is arranged on the rotating shaft B (4), and the synchronous belt wheel B is connected with the synchronous belt wheel A (2) nearest to the synchronous belt wheel B through a synchronous belt (3) to form belt transmission; the lower end of the rotating shaft B (4) is coaxially and fixedly connected with the bevel gear A (6); the bevel gear B is installed on a bearing seat (7), and the bevel gear A (6) is meshed with the bevel gear B;
when the bevel gear A (6) rotates, the front wheel mechanism and the rear wheel mechanism rotate along with the bevel gear B connected with the front wheel mechanism and the rear wheel mechanism, so that the conversion of the front wheel mechanism and the rear wheel mechanism in the vertical direction and the horizontal direction is realized, namely the conversion of the robot in a land driving state and a flying state is realized;
the number of the front wheel mechanisms and the number of the rear wheel mechanisms are two respectively;
the four force transmission gears (11) are respectively arranged at four diagonal positions of the mounting plate (12), and the four rotating shafts B (4) and the bearing seats (7) are respectively arranged at four diagonal positions of the bottom plate (5);
the central gear (10) is directly meshed with the two force transmission gears (11) on one diagonal line, and the two force transmission gears (11) on the other diagonal line are respectively meshed through the two pinions (9), so that the two force transmission gears (11) on the same diagonal line have the same rotating direction, and the rotating directions of the force transmission gears (11) on different diagonal lines are opposite;
the front wheel mechanism comprises: the device comprises two front wheel frames (16) which are coaxially arranged and axially supported and positioned, a rotor motor (14) positioned at the center of the two front wheel frames (16), and a rotor (13) connected with an output shaft of the rotor motor (14); the front wheel connecting frame (15) is connected with the front wheel frame (16), the front wheel connecting frame (15) is fixedly connected with the bevel gear B, and the bevel gear B drives the front wheel frame (16) to convert in the vertical direction and the horizontal direction through the front wheel connecting frame (15); the rotating surface of the rotor (13) is the plane where the front wheel frame (16) is located;
the front wheel mechanism further comprises a land driving device, the land driving device comprises a land driving motor arranged in the front wheel connecting frame (15), a first gear (18) coaxially and fixedly connected with an output shaft of the land driving motor, and a gear ring (21) with an internal gear, which is arranged between the two front wheel frames (16); the first gear (18) transmits motion to the gear ring (21) through a second gear (19) and a third gear (20) in sequence; when the bicycle runs on the land, the front wheel frame (16) is relatively immobile and is completed by the rotation of the gear ring (21) with a certain gap with the front wheel frame (16).
2. An air-ground amphibious mobile robot as claimed in claim 1, wherein the rear wheel mechanism is a driven wheel, which is substantially identical in construction to the front wheel mechanism except that no land-based drive means is provided in the rear wheel mechanism.
3. An air-ground amphibious mobile robot as claimed in claim 1 or 2, characterised in that a rubber belt is attached to the outer ring of the gear ring (21).
4. An air-ground amphibious mobile robot according to claim 1, wherein the bevel gear a (6), the sun gear (10) and the force transmission gear (11) are made of POM, and the bottom plate (5) is made of carbon fiber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710472290.3A CN107323192B (en) | 2017-06-21 | 2017-06-21 | Air-ground amphibious mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710472290.3A CN107323192B (en) | 2017-06-21 | 2017-06-21 | Air-ground amphibious mobile robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107323192A CN107323192A (en) | 2017-11-07 |
| CN107323192B true CN107323192B (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710472290.3A Expired - Fee Related CN107323192B (en) | 2017-06-21 | 2017-06-21 | Air-ground amphibious mobile robot |
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| Country | Link |
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| CN (1) | CN107323192B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11673663B2 (en) * | 2017-05-19 | 2023-06-13 | The Texas A&M University System | Multi-modal vehicle |
| CN107972858A (en) * | 2017-12-06 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of special aircraft |
| CN107933904A (en) * | 2017-12-06 | 2018-04-20 | 佛山市神风航空科技有限公司 | A kind of flexible aircraft |
| CN109466261A (en) * | 2018-11-15 | 2019-03-15 | 甘乾盛 | A kind of land and air double-used multi-functional unmanned plane |
| CN109353176B (en) * | 2018-11-30 | 2023-10-27 | 南京航空航天大学 | Tricycle is experienced in flight |
| CN112077819B (en) * | 2020-09-14 | 2022-03-01 | 国网湖南省电力有限公司 | Self-adaptive pipeline climbing robot |
| CN112498673B (en) * | 2020-12-08 | 2022-03-25 | 歌尔科技有限公司 | Actuating mechanism and unmanned aerial vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204547631U (en) * | 2015-04-28 | 2015-08-12 | 东北林业大学 | Device is carried in the air-ground amphibious observing and controlling of the tending of woods |
| CN105196815A (en) * | 2015-10-27 | 2015-12-30 | 陈晓春 | Synchronous turnover mechanism applied to aerocar |
| CN106240262A (en) * | 2016-08-05 | 2016-12-21 | 广州市轻工职业学校 | The compound mobile flight amphibious robot device of wing wheel |
| KR20170092068A (en) * | 2016-02-02 | 2017-08-10 | 서울과학기술대학교 산학협력단 | A unmanned robot caparable of operating in the air and on the ground |
-
2017
- 2017-06-21 CN CN201710472290.3A patent/CN107323192B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204547631U (en) * | 2015-04-28 | 2015-08-12 | 东北林业大学 | Device is carried in the air-ground amphibious observing and controlling of the tending of woods |
| CN105196815A (en) * | 2015-10-27 | 2015-12-30 | 陈晓春 | Synchronous turnover mechanism applied to aerocar |
| KR20170092068A (en) * | 2016-02-02 | 2017-08-10 | 서울과학기술대학교 산학협력단 | A unmanned robot caparable of operating in the air and on the ground |
| CN106240262A (en) * | 2016-08-05 | 2016-12-21 | 广州市轻工职业学校 | The compound mobile flight amphibious robot device of wing wheel |
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| Publication number | Publication date |
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| CN107323192A (en) | 2017-11-07 |
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Granted publication date: 20191220 |