CN114347739A - Air-ground amphibious robot with variable structure - Google Patents
Air-ground amphibious robot with variable structure Download PDFInfo
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- CN114347739A CN114347739A CN202210177205.1A CN202210177205A CN114347739A CN 114347739 A CN114347739 A CN 114347739A CN 202210177205 A CN202210177205 A CN 202210177205A CN 114347739 A CN114347739 A CN 114347739A
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- 230000009193 crawling Effects 0.000 claims abstract description 19
- 210000001503 joint Anatomy 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000010354 integration Effects 0.000 abstract 1
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 230000009956 central mechanism Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
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- 238000009440 infrastructure construction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The invention discloses an air-ground amphibious robot with a variable structure, which belongs to the field of intelligent robots and comprises a flight power device, a crawling power device, a control system, a structural member and a battery, wherein the control system is fixed in the structural member of a machine body, and the battery is fixed above the structural member of the machine body; the four legs and feet are uniformly distributed around the machine body; the flight power device is fixed in the middle of the tail section of each leg; the robot is different from the traditional air-ground amphibious robot, can switch between a flight mode and a crawling mode by changing the structure of the robot, and is suitable for various environments such as air and unstructured ground surfaces. The robot has the advantages of light weight, high strength, high integration level and flexible application, particularly the four-foot crawling device has excellent ground obstacle crossing capability, and meanwhile, the working time of the traditional quad-rotor unmanned aerial vehicle can be prolonged.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to an air-ground amphibious robot with a variable structure.
Background
With the development of economic society and the requirement of current massive infrastructure construction, the traditional manual or common mechanical mode is difficult to adapt to more and more complex working environment to reach the established requirement. Meanwhile, multi-rotor unmanned aerial vehicles increasingly enter the fields of surveying and mapping, engineering monitoring and protection and disaster relief, and play an important role in many large projects and special applications. However, the existing unmanned aerial vehicle can only operate in the air such as flying and hovering, and cannot realize ground obstacle crossing, walking and the like, so that the existing unmanned aerial vehicle cannot adapt to the existing complex engineering environment well, and also cannot provide detection information of multiple visual angles, and the air-ground amphibious robot can adapt to the operation requirements under the complex environments well.
Chinese patent document CN201420742237.2 discloses an air-ground amphibious robot. The robot is provided with a flying device and a land device which are fixedly connected, the flying device adopts coaxial double propellers and is compact in structure, the land device adopts an incomplete wheel structure with a bionic structure, the obstacle crossing capability higher than that of a wheel type structure and a crawler type structure is achieved under the condition of small weight and size, and the incomplete wheel structure cannot well meet the operation requirement in most engineering environments.
Chinese patent document CN202110124993.3 discloses an air-ground amphibious robot. The robot is characterized by comprising an ellipsoidal shell and a central rotating shaft, a ground motion module and a lift force module which are arranged in the shell, the shell is driven by the central rotating shaft to realize ground rolling, four rotors of the lift force module drive the whole body to realize flying, the robot is higher in ground rolling efficiency with higher flatness, but the robot still lacks adaptability to a complex ground environment.
In addition, the air-ground amphibious robot in the patent is a fixed structure, and the occupied space cannot be changed, so that a brand new air-ground amphibious robot is needed to be invented to solve the problems.
Disclosure of Invention
The invention aims to provide an air-ground amphibious robot with a variable structure, and aims to solve the problems that the existing air-ground amphibious robot is large in occupied space and weak in ground obstacle crossing capability. The air-ground amphibious robot with the variable structure has two motion modes of flying and crawling, and can flexibly change the structure and switch the modes according to the operation requirements.
The technical solution for realizing the purpose of the invention is as follows:
an air-ground amphibious robot with a variable structure can switch between a flight mode and a crawling mode, and comprises a machine body structural member and four leg mechanisms which are uniformly distributed on the machine body structural member;
the leg mechanism comprises a first leg section, a second leg section and a third leg section which are connected in sequence;
the first steering engine is arranged on the machine body structural part and used for driving the first leg section to rotate around the machine body structural part, so that the first leg section is fixed in a flight mode and performs yaw motion in a crawling mode;
the first leg joint is provided with a first steering engine for driving the first leg joint to rotate around the first leg joint, so that the first leg joint can swing up and down in a crawling mode;
a third steering engine and a motor are arranged on the third leg section; the third steering engine is used for driving the third leg section to rotate around the second leg section, so that the third leg section can horizontally swing in a flight mode and vertically swing in a crawling mode; the motor is used for driving the blades to rotate in a flight mode;
and a structure for increasing the contact friction force with the ground is arranged at the tail end of the third leg section.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the air-ground amphibious robot with the variable structure has the functions of air flight and ground crawling, can be freely switched between a four-rotor flight mode and a four-foot crawling mode according to operation requirements, and is suitable for complex engineering environments;
(2) the structure is simple, the main structural components are only three, namely the plate, the supporting column and the bracket, the number of parts is small, and the manufacture, the maintenance and the improvement are convenient.
Drawings
Fig. 1 is a schematic diagram of a crawling mode overall structure of an air-ground amphibious robot with a variable structure.
Fig. 2 is a schematic view of the general structure of the flight mode of the air-ground amphibious robot with a variable structure.
FIG. 3 is a three-dimensional schematic diagram of a leg mechanism of an air-ground amphibious robot with a variable structure.
Fig. 4 is a three-dimensional schematic diagram of a first leg section in the air-ground amphibious robot with a variable structure.
FIG. 5 is a three-dimensional schematic diagram of a second leg section in the air-ground amphibious robot with a variable structure.
FIG. 6 is a three-dimensional schematic diagram of a third leg section in the air-ground amphibious robot with a variable structure.
FIG. 7 is a three-dimensional schematic diagram of a central mechanism of a machine body in the air-ground amphibious robot with a variable structure.
In the figure, 1, a first leg section, 2, a second leg section, 3, a third leg section, 4, a machine body central mechanism, 5, a first joint steering engine, 6, a second joint steering engine, 7, a third joint steering engine, 8, a motor, 9, a blade, 10, a first steering engine support, 11, a bottom support, 12, a first joint steering engine steering wheel, 13, a second joint steering engine steering wheel, 14, a third joint steering engine steering wheel, 15, a second steering engine support, 16, a third steering engine support, 17, a motor base plate, 18, a side plate, 19, a support column, 20, an upper central plate, 21, a lower central plate, 22, a battery and 23 are provided with a control system.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
The overall structure of the crawling mode of the air-ground amphibious robot with the variable structure in the embodiment is shown in fig. 1 and comprises a body center mechanism 4 and four identical leg mechanisms which are uniformly distributed around a body, wherein the body center mechanism 4 is shown in fig. 7 and comprises a body structural part, a first joint steering engine 5, a control system 23 and a battery 22, the control system 23 is fixed inside the body structural part, the battery 22 is fixed above the body structural part, the body structural part comprises an upper center plate 20, a lower center plate 21 and supporting columns 19, the lower center plate 21 is fixedly connected with the upper center plate 20 through the supporting columns 19, the upper center plate 20 and the lower center plate 21 are arranged in parallel, and the supporting columns 19 are uniformly distributed around the control system 23; four first joint steering engines 5 are all fixed between an upper central plate 20 and a lower central plate 21, and the axes of the rotating shafts of the first joint steering engines 5 are vertical to the upper central plate 20 and are used for driving the first leg sections 1 to horizontally swing left and right; the leg mechanism is shown in fig. 3 and comprises a first leg section 1, a second leg section 2 and a third leg section 3, wherein the first leg section 1 is directly connected with a fuselage structural member, the second leg section 2 is connected with the first leg section 1 and the third leg section 3, and the third leg section 3 is connected with the second leg section 2; the general structure of the flight mode of the air-ground amphibious robot with the variable structure is shown in fig. 2, each leg mechanism extends until being parallel to the upper central plate 20, and the motor 8 on each leg mechanism is in the same plane; the first leg section 1 is shown in fig. 4 and comprises a first joint steering engine steering wheel 12, a first steering engine support 10, a bottom surface support 11 and a second joint steering engine 6, wherein the first steering engine support 10 is U-shaped, the first joint steering engine steering wheel 12 is fixed on the inner side of the first steering engine support 10 and is connected with a first joint steering engine 5 through a rotating shaft, the bottom surface support 11 is fixedly connected with the first steering engine support 10, the bottom of the second joint steering engine 6 is fixed inside the bottom surface support 11 and is aligned, the axis of the rotating shaft of the second joint steering engine 6 is parallel to the axis of the rotating shaft of the upper central plate 20 and is perpendicular to the axis of the rotating shaft of the first joint steering engine 5, and the first joint steering engine is used for driving the second leg section to swing up and down; the second leg joint 2 is shown in fig. 5 and comprises a second joint steering engine steering wheel 13, a third joint steering engine steering wheel 14, a second steering engine support 15 and a third steering engine support 16, the second joint steering engine steering wheel 13 is fixedly connected in the second steering engine support 15 and is connected with a second joint steering engine 6 through a rotating shaft, the bottom of the third steering engine support 16 is fixedly connected with the bottom of the second steering engine support 15, and the third joint steering engine steering wheel 13 is fixedly connected in the third steering engine support 16 and is connected with a third joint steering engine 7 through a rotating shaft; the third leg joint 3 is shown in fig. 6 and comprises a third joint steering engine 7, a motor 8, blades 9, a motor base plate 17, side plates 18 and support columns 19, the axis of a rotating shaft of the third joint steering engine 7 is parallel to an upper central plate 20 and is parallel to the axis of a rotating shaft of the second joint steering engine 6 and is used for driving the third leg joint 3 to swing up and down, the axis of the rotating shaft of the third joint steering engine 7 is perpendicular to the two side plates 18, the top of each side plate 18 is aligned to the bottom of the third joint steering engine 7, the two side plates 18 are fixedly connected with each other from top to bottom through the motor base plate 17 and the support columns 19, the motor base plate 17 is perpendicular to the side plates 18, sawteeth are arranged at the bottoms of the front ends of the side plates 18, and the motor base plate 17 comprises round holes for the bolts to be fixedly connected with the motor 8; the top of the motor 8 is fixed with a blade 9, the radius of the blade 9 does not exceed the length from the top to the bottom of the side plate 18, and the blade is prevented from contacting the ground in a crawling mode.
The working principle of the invention is as follows: when aerial detection is needed, all first joint steering engines 5 rotate the first leg sections 1 to four diagonal directions of the upper central plate 20 and keep the four diagonal directions in the directions through the angle control capability of the steering engines, all second joint steering engines 6 rotate to enable the second leg sections 2 to be in the horizontal state and to be parallel to the plane of the upper central plate 20 and keep the four diagonal directions in the directions through the angle control capability of the steering engines, all third joint steering engines 7 rotate to enable the third leg sections 3 to be in the horizontal state and to be parallel to the plane of the upper central plate 20 and keep the four diagonal directions in the directions through the angle control capability of the steering engines, and at the moment, the robot is in a flight mode. When ground detection is needed, all the second joint steering engines 6 rotate to the second leg sections 2 and lift up, all the third joint steering engines 7 rotate to the third leg sections 3 and rotate to the ground, namely, the robot changes the structure into a crawling mode, all the joint steering engines can rotate in the mode, the robot has four-foot crawling capability, and the robot has strong ground obstacle crossing capability.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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 (7)
1. An air-ground amphibious robot with a variable structure can switch between a flight mode and a crawling mode and is characterized by comprising a machine body structural member and four leg mechanisms uniformly distributed on the machine body structural member;
the leg mechanism comprises a first leg section, a second leg section and a third leg section which are connected in sequence;
the first joint steering engine is arranged on the machine body structural part and used for driving the first leg section to rotate around the machine body structural part, so that the first leg section is fixed in a flight mode and performs yaw motion in a crawling mode;
the first leg joint is provided with a first joint steering engine for driving the first leg joint to rotate around the first leg joint, so that the first leg joint can swing up and down in a crawling mode;
a third joint steering engine and a motor are arranged on the third leg joint; the third joint steering engine is used for driving the third leg section to rotate around the second leg section, so that the third leg section can horizontally swing in a flight mode and vertically swing in a crawling mode; the motor is used for driving the blades to rotate in a flight mode;
and a structure for increasing the contact friction force with the ground is arranged at the tail end of the third leg section.
2. An air-ground amphibious robot with a variable structure according to claim 1, characterized in that the third leg segment is provided with serrations at its distal end.
3. An air-ground amphibious robot with a variable structure according to claim 1, characterized in that the fuselage structure comprises an upper central plate, a lower central plate and support columns, and the lower central plate is fastened to the upper central plate by a plurality of support columns.
4. The air-ground amphibious robot with the variable structure according to claim 1, wherein the first leg section comprises a first joint steering engine steering wheel, a first steering engine bracket and a bottom surface bracket; a steering wheel support is U-shaped, and first joint steering wheel is fixed at a steering wheel support inboard to be connected with first joint steering wheel pivot, the bottom surface support is connected with a steering wheel support.
5. An air-ground amphibious robot with a variable structure according to claim 1, wherein the second leg joint comprises a second joint steering engine steering wheel disc, a third joint steering engine steering wheel disc, a second steering engine support and a third steering engine support, the second joint steering engine steering wheel disc is tightly connected in the second steering engine support and connected with a second joint steering engine rotating shaft, the bottom of the third steering engine support is tightly connected with the bottom of the second steering engine support, and the third joint steering engine steering wheel disc is tightly connected in the third steering engine support and connected with the third joint steering engine rotating shaft.
6. An air-ground amphibious robot with a variable structure according to claim 1, characterised in that the third leg segment comprises a blade, a motor base plate, a side plate and a support column; the two side plates are fixedly connected by a motor base plate and a plurality of supporting columns from top to bottom, the motor base plate is perpendicular to the side plates, and sawteeth are arranged at the bottoms of the front ends of the side plates.
7. An air-ground amphibious robot with a variable structure according to claim 1, characterised in that the blade radius does not exceed the length from top to bottom of the side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210177205.1A CN114347739A (en) | 2022-02-24 | 2022-02-24 | Air-ground amphibious robot with variable structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210177205.1A CN114347739A (en) | 2022-02-24 | 2022-02-24 | Air-ground amphibious robot with variable structure |
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| Publication Number | Publication Date |
|---|---|
| CN114347739A true CN114347739A (en) | 2022-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210177205.1A Pending CN114347739A (en) | 2022-02-24 | 2022-02-24 | Air-ground amphibious robot with variable structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116148269A (en) * | 2023-04-24 | 2023-05-23 | 湖南工商大学 | Weld joint detection device, control system and weld joint image recognition method |
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|---|---|---|---|---|
| CN106476544A (en) * | 2016-11-23 | 2017-03-08 | 华南理工大学 | A kind of air-ground amphibious four-footed emergency management and rescue Detecting Robot |
| US20180127092A1 (en) * | 2016-08-26 | 2018-05-10 | Patrick del Castillo | Flying and walking drone |
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| CN111516770A (en) * | 2020-04-28 | 2020-08-11 | 扬州大学 | Snake state/quadruped state/rotor wing flight state robot based on mimicry state |
-
2022
- 2022-02-24 CN CN202210177205.1A patent/CN114347739A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180127092A1 (en) * | 2016-08-26 | 2018-05-10 | Patrick del Castillo | Flying and walking drone |
| CN106476544A (en) * | 2016-11-23 | 2017-03-08 | 华南理工大学 | A kind of air-ground amphibious four-footed emergency management and rescue Detecting Robot |
| CN108297638A (en) * | 2018-03-22 | 2018-07-20 | 吉林大学 | Land and air double-used bionical Hexapod Robot |
| CN108944302A (en) * | 2018-05-23 | 2018-12-07 | 上海交通大学 | A kind of microminiature quadrotor bionic 6-leg Fei Pa robot |
| CN111516770A (en) * | 2020-04-28 | 2020-08-11 | 扬州大学 | Snake state/quadruped state/rotor wing flight state robot based on mimicry state |
Non-Patent Citations (2)
| Title |
|---|
| PHOTCHARA RATSAMEE等: ""A hybrid flying and walking robot for steel bridge inspection"", 《2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)》, 27 October 2016 (2016-10-27), pages 63 - 67 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116148269A (en) * | 2023-04-24 | 2023-05-23 | 湖南工商大学 | Weld joint detection device, control system and weld joint image recognition method |
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