Spherical mechanism for quad-rotor amphibious robot

Abstract

The invention discloses a spherical mechanism for a quad-rotor amphibious robot. The spherical mechanism is composed of a rotor wing mechanism and a spherical shell mechanism, wherein the rotor wing mechanism is composed of a long shaft, a short shaft, a base, four rotor wings and four motors, the spherical shell mechanism is composed of a flexible rod, two fixed bases and a rolling ring, the long shaft is perpendicular to the short shaft, the axis of the long shaft and the axis of the short shaft are located on the same plane, the four rotor wings and the motors are symmetrically installed on the long shaft and the short shaft, and a connecting shaft on the long shaft is connected with the fixed bases of the spherical shell mechanism to enable the rotor wing mechanism to rotate around the long shaft relative to the spherical shell mechanism. The rotor wing mechanism provides power for the robot, and the robot is made to fly in the air or roll on the ground by setting the rotating speed and direction of the four rotor wings. When the robot flies in the air, the spherical shell mechanism serves as a protecting device. When the robot rolls on the ground, the spherical shell mechanism serves as a protecting device and a rolling device. The spherical mechanism has the advantages of being simple in structure, practical, convenient to dismantle, convenient to maintain, low in cost and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to a spherical mechanism of a four-rotor amphibious robot. Background technique [0002] Existing mobile robots have different motion modes, such as wheel type, leg type, peristaltic motion, and flight. Their motion performances have their own advantages, but there are also deficiencies, mainly in the limitation of environmental adaptation. Limited by the way of movement, most of the currently developed mobile robots based on these ways of movement are only suitable for a single working environment. In recent years, a small number of amphibious and even amphibious robots have also appeared. For example, the invention patent of Publication No. 101954844A discloses an amphibious all-round mobile mechanism for water, land and air, but it superimposes omnidirectional wheels for the ground and rotors for flight. At the same time, different motion modes are not really integrated into one, and the p...

AI Technical Summary

Problems solved by technology

Limited by the way of movement, most of the currently developed mobile robots based on these ways of movement are only suitable for a single working environment

In recent years, a small number of amphibious and even amphibious robots have also appeared. For example, the invention patent of Publication No. 101954844A discloses an amphibious all-round mobile mechanism for water, land and air, but it superimposes omnidirectional wheels for the ground and rotors for flight. Together, the different motion modes are not really integrated into one, and the protection of the robot is not considered, which makes it easy to cause damage when the robot switches between different motion modes

Chinese utility model patent CN203680323U discloses a general-purpose multi-rotor robot backbone support safety protection system, but the protection system is only suitable for flying robots, and a spherical mechanism of a four-rotor amphibious robot proposed by the present invention is used as the movement device and protection of the amphibious robot. device, which is fundamentally different from the former

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