Multi-propeller linkage folding and unfolding device and method applied to cross-domain unmanned platform

Abstract

The invention provides a multi-propeller linkage folding and unfolding device and method applied to a cross-domain unmanned platform, and belongs to the field of cross-domain robots. The multi-propeller linkage folding and unfolding device comprises a transmission mechanism and a propeller swinging mechanism, the transmission mechanism comprises a power unit and a plurality of transmission units, and the transmission units are arranged around the power unit and connected with the power unit; and each transmission unit is connected with one propeller swinging mechanism, and the transmission units are used for transmitting the driving force from the power unit to the propeller swinging mechanism. The invention further provides a working method of the multi-propeller linkage folding and unfolding device. According to the device, four propellers can be automatically and synchronously folded and stretched, the control method is simple and convenient, the mechanism stroke can be expanded, and the self-locking function is achieved; and according to the cross-domain unmanned platform, the propeller space layout can be changed according to the external driving environment and task requirements so as to adapt to various underwater complex working environments and special task requirements, and the anti-disturbance capability of the cross-domain unmanned platform can be improved so that the cross-domain unmanned platform is in a stable state.

Description

technical field [0001] The invention belongs to the field of cross-domain robots, and more specifically relates to a multi-propeller linkage folding device and method applied to a cross-domain unmanned platform. Background technique [0002] The earth environment in which human beings live is divided into three domains: water, land and air. Human exploration activities in these three domains have never stopped. Compared with places where humans are easy to move on land, the water environment is more complex and unknown. Equipment suitable for land and sea environments is a key development area of ​​the country. [0003] At first, humans used manned and unmanned robots to carry out activities in a single field. Later, with the improvement of technology, simple amphibious robots could be used to carry out simple activities in two fields. However, so far there are very few cross-domain robots aimed at complex cross-domain environments, which involve land and water transitions ...

AI Technical Summary

Problems solved by technology

[0004] However, existing amphibious robots generally adopt a fixed arrangement of propellers, which cannot change the spatial distribution of propellers according to the external environment and task requirements. In order to improve the stability of the robot, the cross-section will increase, and the driving resistance on land and underwater will be large. , low propeller efficiency, high power consumption, unable to pass through narrow areas, and poor environmental adaptability

In order to reduce the resistance, the cross-sectional area will be reduced, and the robot cannot maintain a stable state when encountering random disturbances caused by sea waves

[0005] The Chinese patent application with the application number of 201710434755.6 discloses an amphibious robot with integrated wheels and legs and its control method. It uses water jet propellers to drive in water. There are four propellers in total, and the spatial positions of the four propellers are fixed. The width of the propeller is larger than the width of the car body, and the resistance is large when driving on land. The propeller cannot be folded, and the car body cannot pass through the narrow area.

The Chinese patent application with the application number 201711018762.4 proposes a serial hybrid amphibious robot, which uses water jet propulsion to drive in the water. The propulsion space position is fixed and the ability to resist wave disturbance is low. Poor environmental capability, complex organization, and difficult control

[0006] It can be seen that the cross-domain unmanned platform under the existing technology cannot change the space layout of propellers in real time according to the external driving environment to meet the needs of different work tasks, nor can it be applied to complex and narrow working areas, and cannot achieve the optimization of propeller efficiency

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