CN208180699U - A kind of air-ground amphibious modularization robot - Google Patents
A kind of air-ground amphibious modularization robot Download PDFInfo
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- CN208180699U CN208180699U CN201820724731.4U CN201820724731U CN208180699U CN 208180699 U CN208180699 U CN 208180699U CN 201820724731 U CN201820724731 U CN 201820724731U CN 208180699 U CN208180699 U CN 208180699U
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Abstract
The utility model discloses a kind of air-ground amphibious modularization robots, belong to robotic technology field.It includes at least one subelement, and subelement includes body and the rotor that is installed on body；Body includes shell and the omni-directional wheel for being set to housing bottom, and shell includes at least two connection sides for accommodating the cavity of rotor and being set to hull outside, and subelement passes through the connection of connection side；Rotor includes the rotary components with the ring skeleton of shell rotation connection and with ring skeleton rotation connection, and the rotary centerline of ring skeleton and the rotary centerline of rotary components are vertical.The utility model is moved in the case where not changing body course towards any direction, can make up the limitation of single motion platform driving force deficiency and motion platform shape.Shape and quantity can also improve adaptability according to mission requirements come odd jobs selection.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of air-ground amphibious modularization robot.
Background technique
Robot technology is widely applied with production and living, and especially amphibious robot plays more importantly role.
Currently, rotor robot is because of the fields such as the features such as its stability, stagnant sky is widely used in taking photo by plane, express delivery is transported.
But just structure is fixed when leaving the factory for existing more rotor robots, the parameters such as load-carrying, size are in the later period
It can not change, can not flexibly be selected according to mission payload.In addition, land it is most widely used belong to wheel type machine
People is even more to be widely applied and the necks such as plant produced the characteristics of especially using omni-directional wheel as the robot of driving wheel because of its omni-directional
Domain.But the requirement using omni-directional wheel as the wheeled robot of driving wheel because of its omni-directional wheel to ground environment harshness, there is impurity land
Surface influences the proper motion of robot very much, or even the wheeled robot having can only be moved in smooth land surface, even more be limited
The application of this kind of robot is made.
Utility model content
The purpose of this utility model is to provide a kind of air-ground amphibious modularization robots, to solve existing rotor robot
Size, load-carrying fix and cause flexibility not enough and ground omnidirectional wheel robot the problem of can not adapting to harsh environment.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of air-ground amphibious modularization robot, including at least one subelement, subelement include body and are installed on
Rotor on body；
Body includes shell and the omni-directional wheel for being set to housing bottom, and shell includes cavity and the setting for accommodating rotor
Side is connected in at least two of hull outside, subelement passes through the connection of connection side；
Rotor includes the rotary components with the ring skeleton of shell rotation connection and with ring skeleton rotation connection, annular
The rotary centerline of skeleton intersects with the rotary centerline of rotary components；Rotary components include bracket, are set to mid-stent
Driving motor and the propeller connecting with driving motor, the both ends of bracket are rotated with ring skeleton respectively to be connected.
Further, in the utility model preferred embodiment, the first installation has been arranged in pairs at the top of above-mentioned shell
, it has been arranged in pairs the second mounting base and third mounting base respectively on ring skeleton, the second mounting base is corresponding with the first mounting base,
Second mounting base and third mounting base cross-distribution；
Ring skeleton is connected by the first rotating shaft cooperated simultaneously with the first mounting base, the second mounting base and body rotation,
Rotary components are connected by the second shaft and the ring skeleton rotation cooperated with third mounting base.
Further, in the utility model preferred embodiment, above-mentioned first rotating shaft includes the first fixing axle and first
Rotation axis, the first fixing axle and the first rotation axis are flexibly connected with the first mounting base, and the first fixing axle and one of them
Second mounting base is fixedly connected, and the first rotation axis is flexibly connected with another second mounting base.
Further, in the utility model preferred embodiment, above-mentioned body further includes gear assembly and the first servo
Motor, gear assembly include intermeshing driving gear and driven gear, the gear shaft and first servo motor of driving gear
Driving axis connection, the gear shaft of driven gear and the first fixed axis connection, first servo motor pass through gear assembly and first
Fixing axle drives ring skeleton rotation.
Further, in the utility model preferred embodiment, above-mentioned second shaft includes the second fixing axle and second
Rotation axis, the second fixing axle are fixedly connected with one of third mounting base, and the second rotation axis and another third mounting base are living
Dynamic connection.
Further, in the utility model preferred embodiment, above-mentioned rotary components further include being set on bracket
Second servo motor, the drive shaft of the second servo motor and the second fixed axis connection, to drive rotary components to rotate.
Further, in the utility model preferred embodiment, above-mentioned bracket includes two spaced bar shaped sides
Plate and the end plate for connecting two bar shaped side plates, end plate are respectively arranged at the both ends of bar shaped side plate, and driving motor is fixed on two
Between bar shaped side plate and it is located at the geometric center of ring skeleton, the second servo motor is fixed on end plate.
Further, in the utility model preferred embodiment, each connection side is equipped with electromagnet, and each
It connects side and is equipped with groove or boss, groove and boss are distributed across on different connection sides.
Further, in the utility model preferred embodiment, the connection side on different subelements, which passes through, to be bonded, is quiet
Electric attraction snaps connection.
Further, in the utility model preferred embodiment, above-mentioned shell includes 6 connection sides, 6 connecting sides
Kept man of a noblewoman's tail is connected to form regular hexagon.
Further, in the utility model preferred embodiment, above-mentioned air-ground amphibious modularization robot include 4 or
6 subelements.
The utility model has the following beneficial effects:
The air-ground amphibious modularization robot of the utility model includes multiple subelements, and the specific number of subelement can root
Factually border mission requirements determine, to meet the demand of different mission payload and different sizes.Subelement is by spiral
Paddle provides thrust, and propeller is driven by driving motor, and propeller is in the drive of first servo motor and the second servo motor
Under can be rotated towards any direction.
The air-ground amphibious modularization robot of the utility model, organism bottom be equipped with omni-directional wheel, can land simultaneously
And it is moved in the case where not changing itself posture towards any direction.
The connection side of the shell of the utility model, which is equipped with, can control polar electromagnet, between different subelements
Connection.And it is equipped with boss and groove in connection side, for the fixation and positioning between different subelements.
The air-ground amphibious modularization robot of the utility model is to select the son of different number single according to specific tasks demand
Member is attached, and can connect as quadrotor, six rotors and other modes that can be flown in the sky.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the air-ground amphibious modularization robot of the utility model embodiment；
Fig. 2 is the schematic perspective view of the subelement of the air-ground amphibious modularization robot of the utility model embodiment；
Fig. 3 is the bottom substance schematic diagram of the subelement of the air-ground amphibious modularization robot of the utility model embodiment；
Fig. 4 is the partial structural diagram of the subelement of the air-ground amphibious modularization robot of the utility model embodiment；
Fig. 5 is the structural schematic diagram of the rotor of the air-ground amphibious modularization robot of the utility model embodiment；
Fig. 6 is the structural schematic diagram of the air-ground amphibious modularization robot of another embodiment of the utility model.
In figure: the air-ground amphibious modularization robot of 100-；10- subelement；101- body；201- rotor；111- shell；
112- omni-directional wheel；113- cavity；114- connection side；115- groove；116- boss；117- electromagnet；The first mounting base of 118-；
119- driving gear；120- driven gear；121- first servo motor；211- ring skeleton；212- rotary components；213- second
Mounting base；214- third mounting base；The first fixing axle of 215-；The first rotation axis of 216-；The second fixing axle of 217-；Second turn of 218-
Moving axis；219- bracket；220- driving motor；221- propeller；The second servo motor of 223-；224- bar shaped side plate；225- end plate.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
Embodiment 1
Please refer to air-ground amphibious modularization robot 100 shown in figure 1, including 4 subelements 10.4 subelements 10
It is spliced into the robot of 201 flying platform of quadrotor.
Referring to figure 2. and Fig. 3, subelement 10 include body 101 and the rotor 201 being installed on body 101.It please refers to
Fig. 3, body 101 include shell 111 and the omni-directional wheel 112 for being set to 111 bottom of shell.In the present embodiment, omni-directional wheel 112
Number be 3,3 omni-directional wheels 112 are evenly distributed on the bottom of shell 111.It is apparent that in other implementations of the utility model
In example, the number of omni-directional wheel 112 can be 2 or 4, even more.
As shown in Figures 2 and 3, shell 111 includes accommodating the cavity 113 of rotor 201 and being set on the outside of shell 111
Connect side 114.The shape of the cavity 113 of shell 111 includes but are not limited to circle, is also possible to other geometries, only
It wants that rotor 201 can be accommodated.Two different subelements 10 are connected by connection side 114.The cross section of shell 111 is
Axially symmetric structure, in the present embodiment, shell 111 are the hollow housing 111 that cross section is in regular hexagon.It is apparent that in this reality
It is also possible to equilateral triangle, square or regular pentagon etc. with the cross section of shell 111 in novel other embodiments.Connecting side
The quantity in face 114 is related with the shape of shell 111, such as in the present embodiment, and cross section is the shell 111 of regular hexagon,
Outside is 6 connection sides 114, for being attached with other same subelement 10.6 connection sides 114 join end to end
Form regular hexagon.As shown in Fig. 2, each connection side 114 is equipped with electromagnet 117, and set on each connection side 114
Fluted 115 or boss 116, groove 115 and boss 116 be distributed across on different connection sides 114.The company of the present embodiment
Side 114 is connect by the absorption connection of electromagnet 117, and by the cooperation of groove 115 and boss 116 that two sons of connection are single
Member 10 is fixed on the positioning.Groove 115 may be replaced with being the through-hole being provided on 111 side wall of shell.As shown in Fig. 2,
The through-hole is round hole, and boss 116 is the round boss 116 to match.Shape for groove 115 and boss 116 include but
It is not limited to circle shown in figure, those skilled in the art can voluntarily be adjusted to other shapes, such as rectangular.It is practical new at this
In the other embodiments of type, the connection side 114 on different subelements 10 can also be connected by bonding, electrostatic attraction or buckle
It connects.
Referring to figure 2., the top of shell 111 has been arranged in pairs the first mounting base 118.First mounting base 118 is located at
The two sides at 111 top of shell, and the line between two the first mounting bases 118 crosses the center of shell 111.First mounting base
118 use installation rotor 201.
Referring to figure 4., body 101 further includes gear assembly and first servo motor 121.Gear assembly and the first servo electricity
Machine 121 is installed on shell 111.Gear assembly includes intermeshing driving gear 119 and driven gear 120, driving tooth
The gear shaft of wheel 119 and the driving axis connection of first servo motor 121, the gear shaft of driven gear 120 and are mounted on shell 111
On rotor 201 connect.It is rotated by 121 drive gear assemblies of first servo motor, so that the tooth spiral wing 201 be driven to rotate.
Referring to figure 2. and Fig. 5, rotor 201 include with the ring skeleton 211 of the rotation connection of shell 111 and with annular bone
The rotary components 212 of the rotation connection of frame 211.The rotary centerline of ring skeleton 211 and the rotary centerline of rotary components 212 are handed over
Fork, the rotary centerline of the two cross the geometric center of ring skeleton 211.Preferably, the sky of ring skeleton 211 and shell 111
Chamber 113 has the shape to match, and the geometric center of the two is overlapped.It is highly preferred that in the present embodiment, ring skeleton
211 be the circle to match with cavity 113.The second mounting base 213 and third installation have been arranged in pairs on ring skeleton 211 respectively
Seat 214, the second mounting base 213 is corresponding with the first mounting base 118, the second mounting base 213 and 214 cross-distribution of third mounting base.
As shown in figure 5, the second mounting base 213 and third mounting base 214 are also arranged in pairs, and two pairs of the second mounting bases
213 are located at the two sides of ring skeleton 211, and the line between two the second mounting bases 213 crosses the center of ring skeleton 211.
Two pairs of third mounting bases 214 are also located at the two sides of ring skeleton 211, the company between two the second mounting bases 213
Line crosses the center of ring skeleton 211.
First mounting base 118 and the second mounting base 213 are used for the installation of rotor 201 to shell 111.Ring skeleton 211
It is connected by the first rotating shaft and the rotation of body 101 that cooperate simultaneously with the first mounting base 118, the second mounting base 213.Third installation
Seat 214, will be in the installation to ring skeleton 211 of rotary components 212 for rotary components 212 to be arranged.Rotary components 212 are by with
Second shaft of three mounting bases 214 cooperation and the rotation of ring skeleton 211 connect.First mounting base 118,213 and of the second mounting base
Third mounting base 214 is arc-shaped otic placode in the present embodiment, which is provided with mounting hole.
Referring to figure 2., first rotating shaft includes the first fixing axle 215 and the first rotation axis 216, the first fixing axle 215 and the
One rotation axis 216 is oppositely arranged.First fixing axle 215 and the first rotation axis 216 are flexibly connected with the first mounting base 118, and
And first fixing axle 215 be fixedly connected with one of them second mounting base 213, the first rotation axis 216 and another the second installation
Seat 213 is flexibly connected.First fixing axle 215 passes through the mounting hole of the first mounting base 118, the driven wheel of one end and gear assembly
Connection, the other end are fixed in the mounting hole of the second mounting base 213.Under the driving of first servo motor 121, pass through gear
Component transmission, so that the first fixing axle 215 does the rotary motion within the scope of 0-360 ° relative to the first mounting base 118, due to the
One fixing axle 215 is fixedly connected with the second mounting base 213, is not rotated, therefore the band while rotation of the first fixing axle 215
Entire rotor 201 is moved to rotate.First servo motor 121 drives ring skeleton 211 to revolve by gear assembly and the first fixing axle 215
Turn, and then drives entire rotor 201.And the first opposite rotation axis 216 of the first fixing axle 215 its with corresponding first mounting base
118 and second mounting base 213 be flexibly connected, can be rotated in the range of 0-360 °.
Referring to figure 5., the second shaft includes the second fixing axle 217 and the second rotation axis 218, the second fixing axle 217 and the
Two rotation axis 218 are oppositely arranged.Second fixing axle 217 is fixedly connected with one of third mounting base 214, the second rotation axis
218 are flexibly connected with another third mounting base 214.
Referring to figure 5., rotary components 212 include bracket 219, the driving motor 220 for being set to 219 middle part of bracket and drive
The dynamic propeller 221 connected of motor 220 and the second servo motor 223 being set on bracket 219.Bracket 219 is substantially in item
Shape mount structure.The both ends of bracket 219 are rotated with ring skeleton 211 respectively to be connected.Bracket 219 includes two spaced bar shapeds
Side plate 224 and the end plate 225 for connecting two bar shaped side plates 224, end plate 225 are respectively arranged at the both ends of bar shaped side plate 224, drive
Dynamic motor 220 is fixed between two bar shaped side plates 224 and is located at the geometric center of ring skeleton 211, the second servo electricity
Machine 223 is fixed on end plate 225.Driving motor 220 drives propeller 221 to rotate, and can be DC brushless motor, can also be with
It is hollow-cup motor, or is mounted with the hollow-cup motor of reduction gearing.The drive shaft of second servo motor 223 is solid with second
Dead axle 217 connects, to drive rotary components 212 to rotate.As shown in figure 5, second fixing axle 217 of 219 one end of bracket is set,
One end is fixedly connected with third mounting base 214, the driving axis connection of the other end and driving motor 220；It is arranged in bracket 219
Second rotation axis 218 of the other end, is flexibly connected with third mounting base 214 and end plate 225 respectively.When the second servo motor
When 223 drive shaft turns, since the second fixing axle 217 is fixedly connected with third mounting base 214, the second rotation axis 218 with it is another
The third mounting base 214 of side is flexibly connected, at this time under the action of the second 223 drive shaft of servo motor, the second servo motor 223
It will drive entire rotary components 212 to rotate.
Embodiment 2
Fig. 6 is please referred to, embodiment 1 is essentially identical, and difference is, 10 numbers of subelement of the present embodiment are 6.Obviously,
In the other embodiments of the utility model, the number of subelement 10 can also be 3,5, even more, be also possible to 1
It is a.Those skilled in the art can suitably be adjusted according to mission payload.
The working principle of the air-ground amphibious modularization robot 100 of the utility model embodiment is illustrated below.
When land is run, rotor 201 is rotated by first servo motor 121, provides vectored thrust, thus
Drive robot motion.When moving in the sky, vectored thrust a part that rotor 201 provides is for offsetting its own gravity, separately
A part is for moving flight.
In conclusion in land, each subelement of the air-ground amphibious modularization robot 100 of the utility model can be with
It is moved in the case where not changing body course towards any direction.Correspondingly, being synthesized by multiple subelements air-ground amphibious
Modularization robot 100 can also move under the premise of not changing itself course towards any direction.It in practical applications, can be with
Make up the limitation of single motion platform driving force deficiency and motion platform shape.It is single by multiple sons when moving in the sky
The air-ground amphibious modularization robot 100 that member is constituted, shape and quantity can also be improved according to mission requirements come odd jobs selection
Adaptability.In practical applications, reasonable air-ground amphibious 100 shape of modularization robot can be designed according to ambient enviroment,
It can also be according to mission payload come the quantity of Rational choice subelement.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of air-ground amphibious modularization robot, which is characterized in that including at least one subelement, the subelement includes machine
Body and the rotor being installed on the body；
The body includes shell and the omni-directional wheel for being set to the housing bottom, and the shell includes accommodating the rotor
Cavity and at least two connection sides for being set to the hull outside, the subelement are connected by the connection side；
The rotor includes the rotation with the ring skeleton of shell rotation connection and with ring skeleton rotation connection
Component, the rotary centerline of the ring skeleton and the rotary centerline of the rotary components intersect；The rotary components include
Bracket, the driving motor for being set to the mid-stent and the propeller being connect with the driving motor, the two of the bracket
End is rotated with the ring skeleton respectively to be connected.
2. air-ground amphibious modularization robot according to claim 1, which is characterized in that the top of the shell is set in pairs
It is equipped with the first mounting base, has been arranged in pairs the second mounting base and third mounting base, second peace on the ring skeleton respectively
It is corresponding with first mounting base to fill seat, second mounting base and the third mounting base cross-distribution；
The ring skeleton is revolved by the first rotating shaft and the body cooperated simultaneously with first mounting base, the second mounting base
Turn connection, the rotary components are connected by the second shaft cooperated with the third mounting base and ring skeleton rotation.
3. air-ground amphibious modularization robot according to claim 2, which is characterized in that the first rotating shaft includes first
Fixing axle and the first rotation axis, first fixing axle and first rotation axis are flexibly connected with first mounting base,
And first fixing axle is fixedly connected with one of them second mounting base, first rotation axis and another second installation
Seat is flexibly connected.
4. air-ground amphibious modularization robot according to claim 3, which is characterized in that the body further includes gear set
Part and first servo motor, the gear assembly include intermeshing driving gear and driven gear, the driving gear
The driving axis connection of gear shaft and the first servo motor, the gear shaft of the driven gear and first fixing axle connect
It connects, the first servo motor drives the ring skeleton to rotate by the gear assembly and first fixing axle.
5. air-ground amphibious modularization robot according to claim 3, which is characterized in that second shaft includes second
Fixing axle and the second rotation axis, second fixing axle are fixedly connected with one of third mounting base, second rotation axis
It is flexibly connected with another third mounting base.
6. air-ground amphibious modularization robot according to claim 5, which is characterized in that the rotary components further include setting
The second servo motor being placed on the bracket, the drive shaft of second servo motor and the second fixed axis connection, with
The rotary components are driven to rotate.
7. air-ground amphibious modularization robot according to claim 6, which is characterized in that the bracket includes two intervals
The bar shaped side plate of setting and the end plate for connecting two bar shaped side plates, the end plate are respectively arranged at the bar shaped side plate
Both ends, the driving motor is fixed between two bar shaped side plates and is located at the geometric center of the ring skeleton, described
Second servo motor is fixed on the end plate.
8. air-ground amphibious modularization robot according to claim 1-7, which is characterized in that each connection side
It is equipped with electromagnet, and each connection side is equipped with groove or boss, the groove and boss are distributed across different
It connects on side.
9. air-ground amphibious modularization robot according to claim 1-7, which is characterized in that on different subelements
Connection side by bonding, electrostatic attraction or snap connection.
10. air-ground amphibious modularization robot according to claim 1-7, which is characterized in that the shell packet
6 connection sides are included, 6 connecting side kept man of a noblewoman's tails are connected to form regular hexagon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820724731.4U CN208180699U (en) | 2018-05-15 | 2018-05-15 | A kind of air-ground amphibious modularization robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820724731.4U CN208180699U (en) | 2018-05-15 | 2018-05-15 | A kind of air-ground amphibious modularization robot |
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| Publication Number | Publication Date |
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| CN208180699U true CN208180699U (en) | 2018-12-04 |
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| CN201820724731.4U Active CN208180699U (en) | 2018-05-15 | 2018-05-15 | A kind of air-ground amphibious modularization robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
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2018
- 2018-05-15 CN CN201820724731.4U patent/CN208180699U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
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