CN110171260A - A kind of amphibious ball shape robot in environment information acquisition sky land - Google Patents
A kind of amphibious ball shape robot in environment information acquisition sky land Download PDFInfo
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- CN110171260A CN110171260A CN201910301959.1A CN201910301959A CN110171260A CN 110171260 A CN110171260 A CN 110171260A CN 201910301959 A CN201910301959 A CN 201910301959A CN 110171260 A CN110171260 A CN 110171260A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
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Abstract
The invention discloses a kind of amphibious ball shape robots in environment information acquisition sky land, including spherical outline border, rack, crossbeam, hanger, gas-detecting device, holder camera model, dynamical system, control system and power-supply system.The amphibious ball shape robot in sky land has both mobile robot and Multi-axis aircraft characteristic, it can remotely be controlled by remote operating combination figure transmission module, pass through the movement such as direction and the achievable airflight of revolving speed control, hovering, ground moving, no-radius turning of verting to four rotors.Spherical outline border provides abundant payload module installation space while playing support and protective effect to built-in system; flexible grips module, liquid acquisition module or installation soil collection module can be needed according to actually detected, greatly improve the practicability of the robot.Structure of the invention is compact, movement is flexible, expansion module is convenient for disassembly and assembly, easy to carry and recycling, can be widely applied to the fields such as environment detection, celestial body exploration.
Description
Technical field
The present invention relates to robot technology and automatic field, are related to a kind of specialized robot, more particularly, to one kind
It can be used for the amphibious ball shape robot in empty land of environment detection, information collection.
Background technique
With the development of science and technology, robot plays an increasingly important role in human lives and work.Its
In, an important branch of the mobile robot as robot field, celestial body exploration, military surveillance, automated production,
The fields such as fire-fighting are widely used.For from move mode, mobile robot can be divided into wheeled, crawler type, leg formula etc..
Wherein, wheeled and requirement of the crawler type to working environment is lower, can use in the adverse circumstances such as field mountainous region.Leg formula or
Although sufficient formula, which has complex environment, well adapts to ability, that there are self structures is complicated, freedom degree is more, control difficulty greatly,
Move the disadvantages of slow.
Ball shape robot is a kind of Novel movable robot that recent two decades just occur, it is a kind of by driving mechanism and control
System processed is all mounted in a spherical shell, and the robot system moved using spherical housing.This robot is most
Big feature is exactly that rollover problem is not present, and spherical shell and ground face contact are small, and spherical shell prevents external environment to internal structure
It destroys, therefore strong environmental adaptability, there is significant advantage and application prospect in fields such as fight against terrorism and violence, environment detections.
It is increasingly developed with unmanned air vehicle technique in recent years, unmanned plane take photo by plane, the application in the fields such as environment detection gradually
Increase, but unmanned plane during flying speed is fast, landing is limited in complicated landform environment, therefore ground object can not be carried out sampling or
Information collection.The empty amphibious ball shape robot in land has both the airflight ability of unmanned plane and the mobility of ground robot, fits
For executing task under aerial, two kinds of ground environment, the application field of ball shape robot is had greatly expanded.
Currently, expert and scholar have carried out grinding for spherical flying robot and the empty amphibious ball shape robot in land in succession both at home and abroad
Study carefully.
2011, Japanese Ministry of Defense and research institution, U.S. cooperation research and development went out a spherical flying robot.The machine
Device people provides lift using single-blade, it can be achieved that airflight, suspension etc. act, shell only shields built-in camera, and
It cannot be in ground surface.
2013, Adrien Briod of the Institute of Technology, Lausanne, SUI federation et al. had developed a kind of coaxial double-rotary wing ball
Anthropomorphic robot.The robot uses the shell mechanism of similar football, and internal motivation is provided by two co-axial rotors, and sky may be implemented
Middle flight and the movement of simple ground rotation.
2013, robot, University of Illinois laboratory was based on quadrotor configuration, had devised a kind of hybrid motion mould
The robot HyTAQ of formula.The robot provides power by quadrotor device, can either complete airflight, can also complete
Ground surface.But the cylindrical housing of HyTAQ is to contact, therefore can only walk on relatively flat ground with ground.
2015, Li Tao, Liu's effect etc. had developed a kind of quadrotor amphibious robot spherical mechanism.The mechanism is by two rotors
It puts on transverse axis, two rotors are put on longitudinal axis, are controlled by velocity of rotation to four rotors and direction, are made robot
Realize airflight and ground surface.
2018, the strong, Ma Yijun et al. that fights had developed a kind of amphibious ball shape robot in empty land.The robot can using two
The rotor that verts and spherical outline border, the characteristics of having both ball shape robot and Multi-axis aircraft, it can be achieved that robot on the ground
Linear motion, pivot stud and the skyborne movement such as landing of taking off.
In conclusion main problem existing for the amphibious ball shape robot in sky land has at present:
(1) the multi-purpose protection shell for making unmanned plane of spherical housing, substantially still falls within aircraft, there is no ball shape robots
Motor function；
(2) the amphibious ball shape robot in existing empty land only has airflight and ground running function mostly, almost without carrying
The ability of other load, practicability are lower.
Summary of the invention
In consideration of it, the present invention provides a kind of amphibious ball shape robot in empty land for environment information acquisition.
The technical solution adopted by the present invention to solve the above problem is as follows: a kind of amphibious spherical machine in environment information acquisition sky land
People, it is characterised in that: including spherical outline border, rack, crossbeam, hanger, gas-detecting device, holder camera model, dynamical system,
Control system and power-supply system.
The spherical shape outline border includes that left rail ring, right guide rail ring, octagon frame, two bearing blocks and two shaft ends are fixed
Lid.The left rail ring and right guide rail ring are two equal annulus of diameter, vertical to be arranged in parallel.Two of the octagon frame
The both ends of parallel edges are connected with left and right two guide rails ring respectively, and the plane where octagon frame divides two guide rail plane of a loops equally.Institute
State the midpoint that two bearing blocks are fixed on another two parallel edges of octagon frame, and the line of two bearing block rotation centers with
The line coincident of left rail ring and right guide rail ring rotation center.The fixed lid in described two shaft ends is individually fixed in outside two bearing blocks
End face.
The rack is made of four flight support beams and one piece of substrate.Four flight support beam lengths are equal,
The heart is fixed on substrate every 90 °, the substrate upper surface is provided with mounting hole.
The crossbeam left and right ends are hinged with two bearing blocks of spherical outline border respectively.The rack is placed in crossbeam center
Place, one end and crossbeam are hinged with revolute pair, and the motor output shaft in the other end and crossbeam is connected, and any one flight support beam
Angle with two bearing block rotation center lines is 45 °, and under the drive of the motor, the rack can be around crossbeam central axis
Rotation.
The dynamical system includes four blades, four rotor motors, four electron speed regulators and a posture adjustment motor.Institute
Four blades are stated to be separately mounted in four rotor motors, four rotor motors respectively with four flight support beam ends of rack
Motor cabinet fastening.Four electron speed regulators are individually fixed on four flight support beams of rack.The posture adjustment motor
It is fixed on crossbeam.
The control system includes master control borad, drive module, communication module, Inertial Measurement Unit.The control system is solid
It is scheduled on the substrate of rack.
Immediately below the hanger is fixed at crossbeam center.The gas-detecting device, power-supply system, holder camera model
It is both secured on hanger.
The holder camera model includes that a multiaxis holder and a camera, the camera are installed on multiaxis holder.
Further, the rack is connected and is formed by four flight support beams and a hollow shaft.Four flight support beams
It equal length and is centrosymmetrically arranged relative to hollow shaft, constitutes " H " shape, there is a motor in every flight support beam end
Seat, the line of the central point of four motor cabinets constitute a square, and the center of the motor cabinet of two conllinear flight support beams
Line is vertical with hollow shaft axis, and the hollow shaft can cover on crossbeam, and hollow shaft axis is overlapped with the axis of crossbeam.
Further, the spherical outline border may include two, three, four octagon frames, and the octagon frame can also quilt
Circular frame replaces.
Further, the hanger can install flexible grips module, liquid acquisition module, soil collection module.
Further, the flexible grips module includes adapter flange, non-individual body mechanical arm and manipulator.The flexibility is grabbed
Fingerprint block is fixed by adapter flange and hanger.Non-individual body mechanical arm one end and adapter flange are connected, the other end with it is described
Manipulator metacarpus is connected.The manipulator can be two fingers, three fingers, four fingers or the five fingers structure.
Further, the liquid acquisition module include module housing, it is hose recycling motor, hose recycling round, cotton rope, compacted
Dynamic pump, annular support member, sampling bottle, two sampling hoses and hose clip.The liquid acquisition module passes through in module housing
End face and hanger are connected.The hose recycling motor and peristaltic pump are individually fixed in module housing.The sampling bottle passes through ring
Shape supporting element is fixed with module housing side end face.The import and export of the peristaltic pump is fitted with sampling hose, and the sampling in exit
Hose is put in sampling bottle.The hose recycling round and hose recycling motor output shaft fastening, are tied with cotton rope, and by soft thereon
Pipe clamp and the sampling hose end of peristaltic pump entrance are fixed together, hose recycle motor forward and reverse rotation can pull-up and
Release sampling hose.
Further, the soil collection module includes mounting base, motor, shaft coupling, transmission shaft, support plate, two light
Axis, spring, two link blocks, spacer pin, soil collection box, drill bit, shield and cover plate.The soil collection module passes through peace
It fills seat and hanger is connected.The support plate is fixed on mounting base lower end.Two optical axis upper ends are symmetrically fixed on support plate two
Link block at left and right sides of side, lower end and soil collection box is connected.The motor is fixed on support plate center, and output shaft passes through
Shaft coupling is fixed with transmission shaft.The transmission shaft end is provided with blind hole in the axial direction, is radially being provided with strip groove.The drill bit
Upper end enter the blind hole of transmission shaft and with its slide fit.The radially fixed spacer pin of bit upper end, the spacer pin, which passes through, to be passed
The strip groove of moving axis and its slide fit.The spring upper end is contacted with the shaft shoulder of transmission shaft, lower end and limit pin contacts.The soil
Collection box two sides are connected two link blocks.The cover plate is fixed at the top of soil collection box, and cover plate center is provided with circular hole, circle
Symmetrical strip groove is provided on hole, size can guarantee that spacer pin is without hindrance and pass through.The shield is in hollow shaft shape, is covered in drill bit
Outside is simultaneously fixed on soil collection box lower end.
The beneficial effects of the present invention are: the amphibious ball shape robot movement in information collection sky of the present invention land is flexibly, tool
Standby airflight, hovering, the walking of land straight line, no-radius turning function；Robot is equipped with soil collection module, liquid acquisition mould
Block, gas detection module, flexible grips module can need to carry out quick-replaceable according to actually detected；It can be combined by remote operating
Figure transmission module is remotely controlled, securely and reliably.Lightweight and portable in volume of the present invention, control are simple, easy to carry, can be applied to terrifically
Manage environment detection, the detection of explosion accident scene etc..
Detailed description of the invention
Fig. 1 is the amphibious ball shape robot overall structure composition figure in environment information acquisition sky land；
Fig. 2 is the structure composition figure of the quadrotor carrying platform inside the amphibious ball shape robot in environment information acquisition sky land；
Fig. 3 is the structure composition figure of spherical outline border；
Fig. 4 is the structure composition figure of rack；
Fig. 5 is another structure composition figure of rack；
Fig. 6 is the overall structure composition figure of flexible grips module；
Fig. 7 is the overall structure composition figure of liquid acquisition module；
Fig. 8 is the overall structure composition figure of soil collection module；
Fig. 9 is soil collection inside modules structure composition figure.
In figure: 1. blade, 2. electron speed regulator, 3. left rail ring, 4. octagon frame, 5. control system, 6. rack 7. is right
12. crossbeam of lid, 13. gas-detecting device is fixed in 10. bearing block of guide rail ring 8. rotor motor, 9. posture adjustment motor, 11. shaft end
14. 15. battery of hanger, 16. camera, 17. multiaxis holder
601. flight support beam, 602. substrate, 603. flight support beam, 604. hollow shaft
1801. adapter flange, 1802. non-individual body mechanical arm, 1803. manipulator
It is soft that 1901. annular support members 1902. sample 1903. module housing of hose, 1904. hose recycling motor 1905.
1908. hose clip of pipe recycling round 1906. peristaltic pump, 1907. cotton rope, 1909. sampling bottle
2001. support plate, 2002. mounting base, 2003. motor, 2004. shaft coupling, 2005. transmission shaft, 2006. optical axis
2007 link block, 2008. spacer pin, 2009. spring, 2010. drill bit, 2011. shield, 2012. cover plate, 2013. soil is received
Collect box
Specific embodiment
With reference to the accompanying drawings and examples, invention is further described in detail.It should be understood that these embodiments are only used for
Illustrate the present invention rather than limit the scope of the invention, after the present invention has been read, those skilled in the art is to this hair
The modification of bright various equivalent forms falls within the application range as defined in the appended claims.
The working principle of the invention: the amphibious ball shape robot in environment information acquisition sky land is carried by spherical outline border and quadrotor
Platform combination forms, and by configuring the revolving speed of each rotor, two kinds of movement moulds of robot airflight and land walking may be implemented
Formula.It can shield to internal components when the flight in the sky of spherical outline border, in ground motion but also as tourelle.This
Outside, robot is equipped with holder camera model, flexible grips module, liquid acquisition module, soil collection module, when in face of difference
When detecting environment, robot can carry out in-situ measurement by carrying corresponding detection module.Pass through two kinds of motor patterns and each module
Between mutual cooperation, robot can quickly, safety enter unknown complex environment in carry out environment information acquisition.
Fig. 2 is the quadrotor carrying platform structure group inside the amphibious ball shape robot in environment information acquisition sky of the present invention land
At, including spherical outline border, rack 6, crossbeam 12, hanger 14, gas-detecting device 13, holder camera model, dynamical system, control
System 5 and power-supply system.
As shown in figure 3, the spherical shape outline border includes 4, two left rail ring 3, right guide rail ring 7, octagon frame bearing blocks 10
With the fixed lid 11 in two shaft ends.Left rail ring 3 and right guide rail ring 7 are equal two annulus of diameter, vertical to be arranged in parallel.Eight sides
The both ends of two parallel edges of shape frame 4 are connected with left rail ring 3, right guide rail ring 7 respectively, and the plane where octagon frame 4 is flat
It is divided to two guide rail plane of a loops.Two bearing blocks 10 are fixed on the midpoint of another two parallel edges of octagon frame 4, and two bearings
The line of 10 rotation centers of seat and the line coincident of left rail ring 3 and right 7 rotation center of guide rail ring.The fixed lid 11 in two shaft ends divides
It is not fixed on the outer end face of two bearing blocks 10, to prevent dust from entering Bearing inner.
As shown in figure 4, the rack 6 is made of four flight support beams 601 and one piece of substrate 602.Four rotors
The heart is fixed on substrate 602 at 601 equal length of supporting beam, 90 ° of interval, and the upper surface of the substrate 602 is provided with mounting hole.
As shown in figure 5, the rack 6 can also be connected and be formed by four flight support beams 603 and a hollow shaft 604.
It four 603 equal lengths of flight support beam and is centrosymmetrically arranged relative to hollow shaft 604, constitutes " H " shape, every flight support
Respectively there is a motor cabinet in 603 end of beam, and the line of the central point of four motor cabinets constitutes a square, and two conllinear rotors
The line of centres of the motor cabinet of supporting beam 603 is vertical with the axis of hollow shaft 604, and the hollow shaft 604 can cover on crossbeam 12,
And 604 axis of hollow shaft is overlapped with the axis of crossbeam 12.
The left and right ends of the crossbeam 12 are hinged with two bearing blocks 10 of spherical outline border respectively.The rack 6 is placed in cross
At 12 center of beam, one end is hinged with revolute pair with crossbeam 12, and the motor output shaft in the other end and crossbeam 12 is connected, and any one
The angle of root flight support beam 601 and two 10 rotation center lines of bearing block is 45 °, under the drive of the motor, the machine
Frame 6 can be rotated around the central axis of crossbeam 12.
The dynamical system includes four electron speed regulators 2 of rotor motor 8, four of blade 1, four and a posture adjustment motor
9.Four blades 1 are separately mounted in four rotor motors 8, four rotor motors 8 respectively with four rotor branch of rack 6
Support the motor cabinet fastening of 601 end of beam.Four electron speed regulators 2 are individually fixed in four flight support beams 601 of rack 6
On.The posture adjustment motor 9 is fixed on 12 side of crossbeam.
The control system 5 includes master control borad, drive module, communication module, Inertial Measurement Unit.The master control borad is fixed
On the substrate 602 of rack.
Immediately below the hanger 14 is fixed at 12 center of crossbeam.The gas-detecting device 13, power-supply system, holder phase
Machine module is both secured on hanger 14.
The holder camera model includes a multiaxis holder 17 and a camera 16, and the camera 16 is installed on multiaxis cloud
On platform 17.
As shown in fig. 6, the flexible grips module includes adapter flange 1801, non-individual body mechanical arm 1802 and manipulator
1803.The flexible grips module is fixed by adapter flange 1801 and hanger 14.Described 1802 one end of non-individual body mechanical arm with
Adapter flange 1801 is connected, and the other end and 1803 metacarpus of manipulator are connected.The manipulator 1803 can be two fingers, three
Finger, four fingers or the five fingers structure.In use, flexible grips can enter in narrow space when robot is hovered with offline mode to mesh
Mark object is grabbed.
As shown in fig. 7, the liquid acquisition module includes annular support member 1901, sampling hose 1902, module housing
1903, hose recycling motor 1904, hose recycling round 1905, peristaltic pump 1906, cotton rope 1907, cartilage clip 1908 and sampling bottle
1909.The liquid acquisition module is connected by the upper surface of module housing 1903 and hanger 14.The hose recycles motor
1904 and peristaltic pump 1906 be individually fixed in module housing 1903.The sampling bottle 1909 passes through annular support member 1901 and mould
The side end face of block shell 1903 is fixed.The import and export of the peristaltic pump 1906 is fitted with sampling hose 1902, and exit is adopted
Sample hose 1902 is put in sampling bottle 1909.The hose recycling round 1905 and hose recycling 1904 output shaft of motor fastening,
On be tied with cotton rope 1907, and be fixed on one by 1902 end of sampling hose of hose clip 1908 and 1906 entrance of peristaltic pump
It rises.When the work of liquid acquisition module, hose recycles motor 1904 and hose recycling round 1905 is driven to rotate, and then discharges cotton rope
1907, the sampling hose 1902 of 1906 air inlet of peristaltic pump is released to operating position, at this time peristaltic pump 1906 be powered on
Complete the acquisition to liquid.
As Figure 8-9, the soil collection module includes support plate 2001, mounting base 2002, motor 2003, shaft coupling
2004,2006, two, the optical axis of transmission shaft 2005, two link block 2007, spacer pin 2008, spring 2009, drill bit 2010, protection
Cover 2011, cover plate 2012 and soil collection box 2013.The soil collection module is connected by mounting base 2002 and hanger 14.Institute
It states support plate 2001 and is fixed on 2002 lower end of mounting base.Two optical axises, 2006 upper end is symmetrically fixed on 2001 liang of support plate
The link block 2007 of side, 2013 left and right sides of lower end and soil collection box is connected.The motor 2003 is fixed on support plate 2001
Center, output shaft are fixed by shaft coupling 2004 and transmission shaft 2005.2005 end of transmission shaft is provided in the axial direction
Blind hole is radially being provided with strip groove.2010 upper end of drill bit enter the blind hole of transmission shaft 2005 and with its slide fit.The drill bit
The radially fixed spacer pin 2008 in 2010 upper ends, the spacer pin 2008 pass through the strip groove and its slide fit of transmission shaft 2005.Institute
It states 2009 upper end of spring to contact with the shaft shoulder of transmission shaft 2005, lower end is contacted with spacer pin 2008.The soil collection box 2013
Two sides are connected two link blocks 2007.The cover plate 2012 is fixed on 2013 top of soil collection box, and 2012 center of cover plate
It is provided with circular hole, symmetrical strip groove is provided on circular hole, size can guarantee that spacer pin 2008 is without hindrance and pass through.The shield 2011
In hollow shaft shape, covers in 2010 outside of drill bit and be fixed on 2013 lower end of soil collection box.When work, driven using motor 2003
Transmission shaft 2005 rotates, and the included groove angle on spacer pin 2008 and cover plate 2012 is 90 ° at this time, and spring 2009, which is in, compresses shape
State.When transmission shaft 2005 is rotated by 90 °, spacer pin 2008 is overlapped with the groove on cover plate 2012, and the meeting of spacer pin 2008 at this time exists
Drive drill bit 2010 depressed fast under the thrust of spring 2009, so soil in drill bit 2010 to lower punch power and drill thrust
It is crushed, winds under double action.After soil is collected, the blade and shield 2011 of drill bit 2010 can prevent soil because of weight
Power and fall.
Claims (7)
1. a kind of amphibious ball shape robot in environment information acquisition sky land, it is characterised in that: including spherical outline border, rack, crossbeam, extension
Frame, gas-detecting device, holder camera model, dynamical system, control system and power-supply system.
The spherical shape outline border includes left rail ring, right guide rail ring, octagon frame, the fixed lid of two bearing blocks and two shaft ends.Institute
It states left rail ring and right guide rail ring is two equal annulus of diameter, it is vertical to be arranged in parallel.Two of the octagon frame are parallel
The both ends on side are connected with left and right two guide rails ring respectively, and the plane where octagon frame divides two guide rail plane of a loops equally.Described two
A bearing block is fixed on the midpoint of another two parallel edges of octagon frame, and the line of two bearing block rotation centers is led with a left side
The line coincident of rail ring and right guide rail ring rotation center.The fixed lid in described two shaft ends is individually fixed in two bearing block outer ends
Face.
The rack is made of four flight support beams and one piece of substrate.Four flight support beam lengths are equal, are spaced 90 °
The heart is fixed on substrate, there is a motor cabinet in every flight support beam end.The substrate upper surface is provided with mounting hole.
The crossbeam left and right ends are hinged with two bearing blocks of spherical outline border respectively.The rack is placed at crossbeam center, and one
End and crossbeam are hinged with revolute pair, and the motor output shaft in the other end and crossbeam is connected, and any one flight support beam and two
The angle of a bearing block rotation center line is 45 °, and under the drive of the motor, the rack can be revolved around crossbeam central axis
Turn.
The dynamical system includes four blades, four rotor motors, four electron speed regulators and a posture adjustment motor.Described four
A blade is separately mounted in four rotor motors, four rotor motors electricity with four flight support beam ends of rack respectively
Base fastening.Four electron speed regulators are individually fixed on four flight support beams of rack.The posture adjustment motor is fixed
In on crossbeam.
The control system includes master control borad, drive module, communication module, Inertial Measurement Unit.The control system is fixed on
On the substrate of rack.
Immediately below the hanger is fixed at crossbeam center.The gas-detecting device, power-supply system, holder camera model are solid
Due on hanger.
The holder camera model includes that a multiaxis holder and a camera, the camera are installed on multiaxis holder.
2. the amphibious ball shape robot in environment information acquisition sky according to claim 1 land, it is characterised in that: the rack
It is connected and is formed by four flight support beams and a hollow shaft.Four flight support beam lengths are equal and relative to hollow axis center
It is arranged symmetrically, constitutes " H " shape, there are a motor cabinet, the line of the central point of four motor cabinets in every flight support beam end
A square is constituted, and the line of centres of the motor cabinet of two conllinear flight support beams is vertical with hollow shaft axis, the sky
Mandrel can cover on crossbeam, and hollow shaft axis is overlapped with the axis of crossbeam.
3. the amphibious ball shape robot in environment information acquisition sky according to claim 1 land, it is characterised in that: the spherical shape
Outline border may include two, three, four octagon frames, and the octagon frame can also be replaced by circular frame.
4. the amphibious ball shape robot in environment information acquisition sky according to claim 1 land, it is characterised in that: the hanger
Flexible grips module, liquid acquisition module, soil collection module can be installed.
5. the amphibious ball shape robot in environment information acquisition sky according to claim 4 land, it is characterised in that: the flexibility
Handgrip module includes adapter flange, non-individual body mechanical arm and manipulator.The flexible grips module passes through adapter flange and hanger
It is fixed.Non-individual body mechanical arm one end and adapter flange are connected, and the other end and the manipulator metacarpus are connected.The manipulator
It can be two fingers, three fingers, four fingers or the five fingers structure.
6. the amphibious ball shape robot in environment information acquisition sky according to claim 4 land, it is characterised in that: the liquid
Acquisition module includes module housing, hose recycling motor, hose recycling round, cotton rope, peristaltic pump, annular support member, sampling bottle, two
Root samples hose and hose clip.The liquid acquisition module is connected by module housing upper surface and hanger.The hose returns
It receives motor and peristaltic pump is individually fixed in module housing.The sampling bottle is solid by annular support member and module housing side end face
It is fixed.The import and export of the peristaltic pump is fitted with sampling hose, and the sampling hose in exit is put in sampling bottle.The hose
Recycling round and hose recycling motor output shaft fastening, are tied with cotton rope thereon, and adopting by hose clip and peristaltic pump entrance
Sample hose end is fixed together, and the forward and reverse rotation that hose recycles motor can pull-up and release sampling hose.
7. the amphibious ball shape robot in environment information acquisition sky according to claim 4 land, it is characterised in that: the soil
Acquisition module include mounting base, support plate, motor, shaft coupling, transmission shaft, two optical axises, spring, two link blocks, spacer pin,
Soil collection box, drill bit, shield and cover plate.The soil collection module is connected by mounting base and hanger.The support plate
It is fixed on mounting base lower end.Two optical axis upper ends are symmetrically fixed on support plate two sides, lower end and soil collection box or so two
The link block of side is connected.The motor is fixed on support plate center, and output shaft is fixed by shaft coupling and transmission shaft.The biography
Moving axis end is provided with blind hole in the axial direction, is radially being provided with strip groove.The bit upper end enter the blind hole of transmission shaft and with
Its slide fit.The radially fixed spacer pin of bit upper end, the spacer pin pass through the strip groove and its slide fit of transmission shaft.It is described
Spring upper end is contacted with the shaft shoulder of transmission shaft, lower end and limit pin contacts.Soil collection box two sides are connected two link blocks.
The cover plate is fixed at the top of soil collection box, and cover plate center is provided with circular hole, and symmetrical strip groove, size are provided on circular hole
It can guarantee that spacer pin is without hindrance to pass through.The shield is in hollow shaft shape, covers on the outside of drill bit and is fixed under soil collection box
End.
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| CN201910301959.1A CN110171260A (en) | 2019-04-15 | 2019-04-15 | A kind of amphibious ball shape robot in environment information acquisition sky land |
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Application publication date: 20190827 |