An amphibious ball-footed robot based on coaxial double-propeller power

Abstract

The present invention relates to the field of robotic systems, and more specifically, to a coaxial twin-propeller powered robotic system. An amphibious spherical-foot robot based on coaxial twin-propeller power comprises a spherical wheel foot within which a coaxial twin-propeller subsystem is disposed, the coaxial twin-propeller subsystem being provided with a communication cable assembly and a mission payload. The present invention has the significant advantages of utilizing the coaxial twin-propeller subsystem as the robot's power system, resulting in a compact design suitable for use in confined spaces; and the ability to adjust the rotor thrust direction via a servo, resulting in multi-directional motion capability.

Description

Technical Field

[0001] The present invention relates to the field of robot systems, and in particular to a coaxial double-propeller powered robot system. Background Art

[0002] With the development of urbanization, the number of above-ground buildings (such as buildings, houses, etc.) and underground buildings (such as pipeline corridors, subways, etc.) continues to increase, which in turn brings new demands in civil and military aspects.

[0003] In the civilian sector, collapses of above-ground and underground buildings occur frequently due to natural disasters and human factors. Rescuing trapped individuals after a building collapse is a top priority in disaster relief efforts. In collapsed buildings, the intertwining of damaged building materials creates a narrow passageway connecting the interior of the damaged building to the outside world. Furthermore, because materials like rebar shield electromagnetic signals, communication between the interior and the outside world can be hindered. Therefore, detecting life in confined spaces and electromagnetically blocked environments is essential for urban disaster relief efforts.

[0004] In military terms, when urban warfare enters a stalemate phase, it often requires a building-by-building struggle. Defenders often hide within building walls and underground fortifications, obstructing the attackers' line of sight and communications. This occupies narrow passages, hindering the attackers' attack and causing casualties. Furthermore, in urban warfare, both attackers and defenders often employ electromagnetic countermeasures to hinder the use of the opponent's wireless data link. Therefore, detecting and killing enemy personnel concealed in environments with obstructed line of sight, blocked communications, or failures is a requirement for urban warfare.

[0005] Currently, there are two approaches to addressing these needs. One is the use of terrestrial robots, such as wheeled or legged robots. These robots are relatively small and can carry detection equipment into confined areas. They can also maneuver around obstacles to conduct detection. However, terrestrial robots are limited by terrain. While they have a certain ability to overcome obstacles, they still struggle to navigate steeper slopes or higher obstacles. The other approach is the use of small rotary-wing robots. These robots have the ability to fly and can overcome numerous obstacles. However, since rotary-wing robots rely on rotors for power, collisions with obstacles during flight can damage the rotors, causing the robot to fail. Therefore, their use is limited in environments with multiple obstacles and confined spaces.

[0006] In summary, in order to address the problem that existing robots have insufficient application capabilities in multiple obstacles and narrow spaces, it is necessary to develop a robot system that has strong obstacle-crossing capabilities and can move freely in narrow spaces. Summary of the Invention

[0007] In order to solve the problem that existing robots have insufficient application capabilities in multiple obstacles and narrow spaces, the present invention proposes an amphibious robot system based on coaxial double-propeller power.

[0008] The present invention is implemented as follows: an amphibious spherical-foot robot based on coaxial double-propeller power, which includes a spherical wheel foot, a coaxial double-propeller subsystem is arranged in the spherical wheel foot, and a communication cable assembly and a task load are provided on the coaxial double-propeller subsystem.

[0009] The amphibious ball-foot robot based on coaxial double-propeller power as described above, wherein the spherical wheel foot is a hollow spherical mesh component, and the spherical wheel foot is composed of a spherical elastic mesh cover and a motion isolation mechanism component arranged in the elastic mesh cover for supporting the elastic mesh cover;

[0010] The motion isolation mechanism assembly includes a motion isolation mechanism outer ring and a motion isolation mechanism inner ring, both of which are annular components, the inner diameter of the motion isolation mechanism outer ring matches the outer diameter of the motion isolation mechanism inner ring, the motion isolation mechanism inner ring is arranged inside the motion isolation mechanism outer ring, and the plane where the motion isolation mechanism outer ring is located is perpendicular to the plane where the motion isolation mechanism inner ring is located;

[0011] The elastic mesh cover is made up of several rods and connectors, and all the rods and connectors are spliced ​​into a spherical net; a star-shaped connector is installed at both ends of the elastic mesh cover sphere, and there is a hole in the middle of the cover connector for connecting to the outer ring of the motion isolation mechanism through a bearing.

[0012] An amphibious ball-foot robot based on coaxial double-propeller power as described above, wherein the coaxial double-propeller subsystem includes a servo assembly, a rotor assembly, a motor assembly and an interface assembly;

[0013] The servo assembly is used to drive the rotor assembly; the servo assembly includes two servos, one of which is connected to the outer ring of the rotor support plate through a connecting rod, driving the outer ring of the rotor support plate to rotate around the communication cable assembly installation axis and the mission load installation axis; the other servo is connected to the inner plate of the rotor support plate through a connecting rod, driving the inner plate of the rotor support plate to rotate around the axis of the outer ring of the rotor support plate;

[0014] The rotor assembly includes an upper rotor and a lower rotor. The upper and lower rotors use propellers with opposite blade angles. When working, the two rotate in opposite directions but generate the same pulling force.

[0015] The motor assembly includes two motors and their transmission mechanisms, each of which drives the upper rotor and the lower rotor respectively;

[0016] The interface assembly includes a communication cable assembly mounting shaft and a mission payload mounting shaft.

[0017] As described above, an amphibious ball-foot robot based on coaxial double-propeller power is described, wherein the rotor assembly and the motor assembly are arranged on a rotor support plate, and the rotor support plate consists of an outer ring and an inner plate. There is a circular hole in the middle of the inner plate, which is used to fix the power assembly consisting of the upper rotor, the lower rotor and the motor assembly thereon; there are two relative shafts on the edge of the inner plate, which are connected to the holes on the inner wall of the outer plate through bearings, so that the inner plate can rotate relative to the outer ring; there are two holes on the inner wall of the outer ring, which are connected to the inner plate through bearings, and there are two shafts on the outer wall, which are respectively connected to the communication cable assembly mounting shaft and the task load mounting shaft through bearings.

[0018] As described above, an amphibious ball-foot robot based on coaxial double-propeller power, wherein electrical components, a power supply compartment and an image detector are arranged below the coaxial double-propeller subsystem.

[0019] The electrical components include an inertial measurement element (IME), a flight control computer, and necessary data transmission lines. The IME is used to measure the robot's acceleration and angular rate during motion and transmit them to the flight control computer. The flight control computer receives robot motion information output by the IME and control commands transmitted from the ground station via communication cables. Based on the control commands and robot motion information, the flight control computer calculates motor and servo control commands to control the rotor speed and direction.

[0020] The power compartment contains batteries that are used to power the robot's electrical components;

[0021] The image detector uses a white light + night vision dual-mode camera.

[0022] As described above, an amphibious ball-foot robot based on coaxial double-propeller power, wherein the communication cable assembly includes a cable cabin, a wire pipe I, a wire pipe II and the communication cable contained therein, the cable cabin is connected with the wire pipe I and the wire pipe II, the wire pipe I is connected with the hollow circular shaft on the installation axis of the communication cable assembly, the communication cable is stored in the cable cabin, one end passes through the wire pipe II and is connected to the electrical assembly, the other end passes through the wire pipe I, and in sequence passes through the hollow circular shaft on the installation axis of the communication cable assembly, the inner ring of the motion isolation assembly, the outer ring of the motion isolation assembly and the center hole of the star-shaped connector on the elastic mesh cover, so that the cable extends out of the spherical wheel foot and is connected to the ground station, thereby realizing wired information transmission between the ground station and the robot system.

[0023] As described above, an amphibious ball-foot robot based on coaxial double-propeller power is provided with a trapezoidal guide groove on the task load installation shaft that is consistent with the shape of the trapezoidal guide rail on the task load installation shaft, which is used for detachable assembly with the task load installation shaft.

[0024] The significant effects of the present invention are: 1. The coaxial double-propeller subsystem is used as the power system of the robot, which is small in size and can be used in a small space; and the direction of the rotor force can be adjusted by the steering gear, so that the robot has the ability to move in multiple directions;

[0025] 2. The combination of spherical wheels with motion isolation and a coaxial dual-propeller system enables the robot system to operate in both land and air modes, making it more adaptable to complex terrain.

[0026] 3. The outer wall of the spherical wheel feet is wrapped with an elastic protective net to ensure that the propeller blades will not be damaged during the flight of the robot system in a small space. Under the protection of the spherical wheel feet, the robot can roll on the ground or walls, and can also hover close to the wall for covert reconnaissance.

[0027] 4. A hollow motion isolation frame is used, and the communication cables are passed through the motion isolation frame to ensure that the cables will not be entangled in the motion isolation frame when the spherical wheel feet roll on land, thereby ensuring the smooth movement of the robot system; the use of communication cables can ensure the return of robot detection data and robot control instructions under electromagnetic blocking conditions;

[0028] 5. The heavier parts of the coaxial twin-propeller subsystem, such as the power supply and electrical components, are located at the bottom of the spherical wheel foot. The center of gravity is low and has attitude self-stability. When the robot rolls on the ground with spherical wheel feet, there is no need to adjust the attitude of the coaxial twin-propeller subsystem through rotor power, which saves more energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a workflow diagram of the present invention;

[0030] Figure 2 (a) is a front view of the present invention, and (b) is a top view of the present invention;

[0031] Figure 3 An exploded view of the present invention;

[0032] FIG4 (a) is a front view of the coaxial double-propeller subsystem of the present invention, and FIG4 (b) is an oblique view of the coaxial double-propeller subsystem of the present invention;

[0033] Figure 5 Schematic diagram of the installation of the communication cable assembly and mission payload on the coaxial twin-propeller subsystem of the present invention;

[0034] Figure 6 Schematic diagram of the connection between the elastic mesh cover and the outer ring of the motion isolation mechanism in the present invention;

[0035] Figure 7 Schematic diagram of the rotor support plate;

[0036] Figure 8 is a schematic diagram of a communication cable assembly;

[0037] Among them: 1-spherical wheel foot, 2-coaxial double-propeller subsystem, 3-communication cable assembly, 4-mission payload, 5-elastic mesh cover, 6-motion isolation mechanism outer ring, 7-motion isolation mechanism inner ring, 8-upper rotor, 9-lower rotor, 10-motor assembly, 11-rotor support plate, 12-servo assembly, 13-communication cable assembly installation shaft, 14-mission payload installation shaft, 15-electrical assembly, 16-power supply compartment, 17-image detector, 18-cable compartment, 19-wire pipe I, 20-wire pipe II. DETAILED DESCRIPTION

[0038] The amphibious robot system based on coaxial twin-propeller power described in the present invention adopts a coaxial twin-propeller system as a power source, and realizes the robot's forward, backward, turning, ascending and descending movements by adjusting the rotation speed and inclination angle of the two blades. At the same time, the outer side of the coaxial twin-propeller system is wrapped by a spherical wheel foot with a motion isolation function. The coaxial twin-propeller system and the spherical wheel foot enable the present invention to fly off the ground like a drone, and also have the ability to roll forward on the ground and walls, realizing amphibious movement in the air and on land. The present invention also adopts a wired data link as a data transmission method, and transmits images, robot control instructions and payload control instructions through the wired data link, thereby avoiding the problem that the robot detection information cannot be transmitted back in a radio blocking environment such as electromagnetic countermeasures.

[0039] The present invention consists of a coaxial double-propeller subsystem, a spherical wheel foot, a communication cable assembly and a mission payload.

[0040] The coaxial twin-propeller subsystem includes two sets of rotors, a motor assembly, a rotor support plate, a servo assembly, two sets of mounting shafts, an electrical assembly, a power supply compartment, and an image sensor. The two sets of rotors utilize propellers with opposite blade angles. When operating, they rotate in opposite directions but generate pulling forces in the same direction. The motor assembly includes two motors and their transmission mechanisms, each of which drives a separate set of rotors. The two sets of rotors and the motor assembly are placed on the rotor support plate, which consists of an outer ring and an inner plate. The inner plate has two opposing shafts on its edge, connected to holes in the outer plate's inner wall via bearings, allowing the inner plate to rotate relative to the outer ring. The outer ring has two holes on its inner wall, connected to the inner plate via bearings. Two shafts are mounted on the outer wall, mounted on the two sets of mounting shafts. The servo assembly includes two servos, one of which is connected to the outer ring of the rotor support plate through a connecting rod, driving the outer ring of the rotor support plate to rotate around two sets of mounting shafts; the other servo is connected to the inner disk of the rotor support plate through a connecting rod, driving the inner disk of the rotor support plate to rotate around the axis of the outer ring of the rotor support plate; the two sets of servos in the servo assembly work simultaneously, which can drive the inner disk of the rotor support plate to rotate in both pitch and roll directions, thereby changing the direction of the pulling force generated when the two sets of rotors rotate, and realizing the movement of the robot system in different directions.

[0041] The two sets of mounting shafts in the coaxial twin-propeller subsystem are both fixed to the power supply compartment. They share a similar structure, each featuring a semi-I-shaped plate-like structure. One end is a hollow circular shaft connected to the inner ring of the motion isolation mechanism via a bearing, while the other end has a hole connected to the outer ring of the rotor support plate via a bearing. One of the two mounting shafts has a trapezoidal guide rail at its lower end for mounting the mission payload; the other mounting shaft carries the communication cable assembly. The electrical components include an inertial measurement unit (IMU), a flight control computer, and other circuit hardware. The IMU measures the robot's acceleration and angular velocity during motion and transmits these to the flight control computer. The flight control computer receives robot motion information from the IMU and control commands transmitted from the ground station via communication cables. Based on these control commands and robot motion information, it calculates motor and servo control commands to control the rotor speed and orientation. The power supply compartment contains batteries that power the robot's electrical components. The image sensor 17 can be a daylight camera, a dual-mode daylight / night vision camera, an infrared camera, or other detectors.

[0042] The spherical wheel foot consists of an elastic mesh cover, an outer ring of a motion isolation mechanism, and an inner ring of a motion isolation mechanism. The elastic mesh cover is made up of a number of rods and connectors, all of which are spliced ​​together to form a spherical mesh. A star-shaped connector is installed at each end of the elastic mesh cover sphere. The cover connector has a hole in the middle for connecting to the outer ring of the motion isolation mechanism via a bearing, and the hole allows communication cables to pass through it. The outer ring of the motion isolation mechanism is a hollow circular ring with circular holes evenly distributed along the circumference. One pair of opposing circular holes is opened on the inner wall of the outer ring of the motion isolation mechanism for connecting to the inner ring of the motion isolation mechanism via a bearing; another pair of opposing circular holes is opened on the outer wall of the outer ring of the motion isolation mechanism for connecting to the elastic mesh cover via a bearing. The inner ring of the motion isolation mechanism is a hollow circular ring, the diameter of which is smaller than that of the outer ring of the motion isolation mechanism. Four circular holes are evenly distributed along the circumference of the ring. One pair of opposite circular holes is opened on the inner wall of the inner ring of the motion isolation mechanism, which is used to connect with the two mounting shafts in the coaxial double-propeller subsystem through bearings; the other pair of opposite circular holes is opened on the outer wall of the inner ring of the motion isolation mechanism, which is used to connect with the outer ring of the motion isolation mechanism through bearings.

[0043] The communication cable assembly includes a cable compartment, two wire tubes and the communication cables contained therein. The cable compartment is connected to the two wire tubes, one of which is connected to the hollow circular shaft on one of the mounting shafts of the coaxial double-propeller subsystem. The communication cable is stored in the cable compartment, one end of which passes through one of the wire tube electrical components 15 for connection, and the other end passes through the wire tube connected to the hollow circular shaft on one of the mounting shafts of the coaxial double-propeller subsystem, and in turn passes through the hollow circular shaft on one of the mounting shafts of the coaxial double-propeller subsystem, the inner ring of the motion isolation component, the outer ring of the motion isolation component and the center hole of the star-shaped connector on the elastic mesh cover, so that the cable extends out of the spherical wheel foot on the spherical surface of the spherical wheel foot and is connected to the ground station, thereby realizing wired information transmission between the ground station and the robot system.

[0044] The mission payload is provided with a trapezoidal guide groove that is consistent in shape with the trapezoidal guide rail on one of the mounting shafts of the coaxial twin-propeller subsystem, which is used for detachable assembly with the mounting shaft. The mission payload can be selected in a variety of forms within the allowable range of volume and weight, such as life detection devices, lethal warheads, etc.

[0045] The workflow of the present invention is as follows:

[0046] Step 1: Connect the amphibious robot system to the ground station via the communication cable on it, and deploy the amphibious robot system;

[0047] Step 2: When the amphibious robot system is moving on a relatively flat ground or the slope of the obstacle is not steep, it rolls forward on its spherical wheels, with the coaxial twin-propeller system providing forward power.

[0048] Step 3: When the amphibious robot system encounters a high obstacle or a steep slope during its movement, it relies on the coaxial twin-propeller system to generate lift to fly over the obstacle;

[0049] Step 4: During the movement of the amphibious robot system, the ground station sends motion control instructions to the robot via the communication cable. The robot uses the camera it carries to detect the surrounding environment and transmits the image information back to the ground station via the communication cable.

[0050] Step 5: When the ground station determines that the mission payload can be activated based on the returned image information, it sends a mission payload activation instruction to the amphibious robot system to activate the mission payload and the mission payload starts working;

[0051] Step 6: If the amphibious robot system is intact after the mission payload is completed, the amphibious robot system will return; if the amphibious robot system is damaged, it will be discarded.

[0052] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to better explain the present invention and are not intended to limit the present invention.

[0053] This embodiment provides an amphibious robot system based on coaxial double-propeller power, as shown in Figure 2. In this embodiment, the amphibious robot system includes a spherical wheel foot 1, a coaxial double-propeller subsystem 2, a communication cable assembly 3 and a task payload 4.

[0054] The spherical wheel foot 1 (such as Figure 3 As shown in FIG5 , the elastic mesh cover 5 is composed of an elastic mesh cover 5, an outer ring 6 of a motion isolation mechanism, and an inner ring 7 of a motion isolation mechanism. The elastic mesh cover 5 is composed of a plurality of rods and connectors. In this embodiment, a three-way connector is selected. Each connector has three connection holes and can connect three rods. All rods and three-way connectors are connected to form a spherical net. A star-shaped connector (such as Figure 6 As shown), there is a hole in the middle of the cover connector, which is used to connect to the outer ring 6 of the motion isolation mechanism through a bearing, and the hole allows the communication cable to pass through it. The outer ring 6 of the motion isolation mechanism is a hollow circular ring with four circular holes evenly distributed along the circumference, one pair of which is opened on the inner wall of the outer ring 6 of the motion isolation mechanism, for connecting to the inner ring 7 of the motion isolation mechanism through a bearing; another pair of which is opened on the outer wall of the outer ring 6 of the motion isolation mechanism, for connecting to the elastic mesh cover 5 through a bearing. The inner ring 7 of the motion isolation mechanism is a hollow circular ring with a smaller diameter than the outer ring 6 of the motion isolation mechanism. There are four circular holes evenly distributed along the circumference, one pair of which is opened on the inner wall of the inner ring 7 of the motion isolation mechanism, for connecting to the communication cable assembly mounting shaft 13 and the task load mounting shaft 14 respectively through bearings; another pair of which is opened on the outer wall of the inner ring 7 of the motion isolation mechanism, for connecting to the outer ring 6 of the motion isolation mechanism through a bearing.

[0055] The coaxial twin-rotor subsystem 2 includes an upper rotor 8, a lower rotor 9, a motor assembly 10, a rotor support plate 11, a servo assembly 12, a communication cable assembly mounting shaft 13, a mission load mounting shaft 14, an electrical assembly 15, a power supply compartment 16, and an image detector 17. The upper rotor 8 and the lower rotor 9 use propellers with opposite blade angles. When they are working, they rotate in opposite directions, but generate the same pulling force. The motor assembly 10 includes two motors and their transmission mechanisms, each of which drives the upper rotor 8 and the lower rotor 9 respectively. The upper rotor 8, the lower rotor 9, and the motor assembly 10 are placed on the rotor support plate 11, as shown. Figure 7As shown, the rotor support plate 11 consists of an outer ring and an inner plate. There is a circular hole in the middle of the inner plate, which is used to fix the power assembly consisting of the upper rotor 8, the lower rotor 9 and the motor assembly 10 thereon; there are two opposite shafts on the edge of the inner plate, which are connected to the holes on the inner wall of the outer plate through bearings, so that the inner plate can rotate relative to the outer ring; there are two holes on the inner wall of the outer ring, which are connected to the inner plate through bearings, and there are two shafts on the outer wall, which are respectively connected to the communication cable assembly mounting shaft 13 and the mission load mounting shaft 14 through bearings. The servo assembly 12 includes two servos, one of which is connected to the outer ring of the rotor support plate 11 through a connecting rod, driving the outer ring of the rotor support plate 11 to rotate around the communication cable assembly installation shaft 13 and the mission load installation shaft 14; the other servo is connected to the inner disk of the rotor support plate 11 through a connecting rod, driving the inner disk of the rotor support plate 11 to rotate around the axis of the outer ring of the rotor support plate 11; the two sets of servos in the servo assembly 12 work simultaneously, which can drive the inner disk of the rotor support plate 11 to rotate in both pitch and roll directions, thereby driving the upper rotor 8, the lower rotor 9 and the motor assembly 10 to rotate in both pitch and roll directions, thereby changing the direction of the pulling force of the upper rotor 8 and the lower rotor 9, and realizing the movement of the robot system in different directions.

[0056] The communication cable assembly mounting shaft 13 and the mission payload mounting shaft 14 in the coaxial twin-propeller subsystem 2 are both fixedly connected to the power supply cabin 16. They have similar structures and are both semi-I-shaped plate structures. One end is a hollow circular shaft, which is connected to the inner ring 7 of the motion isolation mechanism through a bearing, and the other end has a hole, which is connected to the outer ring of the rotor support plate 11 through a bearing. The difference between the mission payload mounting shaft 14 and the communication cable assembly mounting shaft 13 is that there is a trapezoidal guide rail at the lower end of the middle plate for mounting the mission payload 4. The electrical component 15 includes an inertial measurement element, a flight control computer and other circuit hardware. The inertial measurement element is used to measure the acceleration and angular velocity of the robot during movement and transmit it to the flight control computer. The flight control computer can receive the robot motion information output by the inertial measurement element, and can receive control instructions transmitted by the ground station through the communication cable, and calculate the motor and servo control instructions based on the control instructions and the robot motion information to control the rotor speed and direction. The power supply compartment 16 contains batteries that power the robot's electrical components (electrical assembly 15, image sensor 17, payload 4, motor assembly 10, and servo assembly 12). In this embodiment, the image sensor 17 uses a dual-mode camera with both daylight and night vision, enabling it to capture images even in the dark.

[0057] like Figure 8As shown, the communication cable assembly 3 includes a cable compartment 18, wire conduit I 19, wire conduit II 20, and the communication cables contained therein. The cable compartment 18 is connected to wire conduit I 19 and wire conduit II 20, and wire conduit I 19 is connected to the hollow circular shaft on the communication cable assembly mounting shaft 13. The communication cable is stored in the cable compartment 18. One end passes through wire conduit II 20 and connects to the electrical assembly 15. The other end passes through wire conduit I 19 and, in sequence, through the hollow circular shaft on the communication cable assembly mounting shaft 13, the inner ring 7 of the motion isolation assembly, the outer ring 6 of the motion isolation assembly, and the center hole of the star-shaped connector on the elastic mesh cover 5. The cable extends outside the spherical wheel foot 1 and connects to the ground station, enabling wired information transmission between the ground station and the robot system.

[0058] The task load 4 is provided with a trapezoidal guide groove having the same shape as the trapezoidal guide rail on the task load mounting shaft 14 , for detachable assembly with the task load mounting shaft 14 .

[0059] The overall working process of this embodiment is as follows:

[0060] like Figure 1 As shown, the amphibious robot system is connected to the ground station through the communication cable on it, and the amphibious robot system is deployed; when the ground is relatively flat or the slope of the obstacle is not large during the movement of the amphibious robot system, the spherical wheel foot 1 is used to roll forward, and the rotation of the upper rotor 8 and the lower rotor 9 in the coaxial double-propeller subsystem 2 provides forward power, and the movement of the steering gear assembly 12 controls the direction of movement; when the obstacle encountered by the amphibious robot system during the movement is high and the slope is large, the rotation of the upper rotor 8 and the lower rotor 9 in the coaxial double-propeller subsystem 2 generates lift. Leap over obstacles; during the rolling or flying movement, the amphibious robot system relies on the image detector 17 in the coaxial double-propeller subsystem 2 to detect the surrounding environment, and transmits the image information back to the ground station through the communication cable in the communication cable assembly 3; when the ground station determines that the mission payload 4 can be activated based on the returned image information, it sends a mission payload activation instruction to the amphibious robot system to activate the mission payload 4, and the mission payload 4 starts working; if the amphibious robot system is intact after the mission payload 4 finishes working, the amphibious robot system returns; if the amphibious robot system is damaged, it is discarded.

[0061] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An amphibious ball-foot robot powered by coaxial twin propellers, characterized by: The invention comprises a spherical wheel foot (1), a coaxial double-propeller subsystem (2) is arranged in the spherical wheel foot (1), and a communication cable assembly (3) and a mission payload (4) are arranged on the coaxial double-propeller subsystem (2); The spherical wheel foot (1) is a hollow spherical mesh component, and the spherical wheel foot (1) is composed of a spherical elastic mesh cover (5) and a motion isolation mechanism component arranged in the elastic mesh cover (5) for supporting the elastic mesh cover (5); The motion isolation mechanism assembly comprises a motion isolation mechanism outer ring (6) and a motion isolation mechanism inner ring (7), both of which are annular components, the inner diameter of the motion isolation mechanism outer ring (6) and the outer diameter of the motion isolation mechanism inner ring (7) match, the motion isolation mechanism inner ring (7) is arranged inside the motion isolation mechanism outer ring (6), and the plane where the motion isolation mechanism outer ring (6) is located and the plane where the motion isolation mechanism inner ring (7) is located are arranged perpendicularly; The elastic mesh cover (5) is formed by splicing a plurality of rods and connectors, and all the rods and connectors are spliced ​​into a spherical mesh; a star-shaped connector is respectively installed at both ends of the elastic mesh cover sphere, and a hole is provided in the middle of the cover connector for connecting with the outer ring of the motion isolation mechanism through a bearing; The coaxial twin-propeller subsystem (2) includes a steering gear assembly (12), a rotor assembly, a motor assembly (10), and an interface assembly; The servo assembly (12) is used to drive the rotor assembly; the servo assembly (12) includes two servos, one of which is connected to the outer ring of the rotor support plate (11) through a connecting rod, driving the outer ring of the rotor support plate (11) to rotate around the communication cable assembly installation shaft (13) and the mission load installation shaft (14); the other servo is connected to the inner plate of the rotor support plate (11) through a connecting rod, driving the inner plate of the rotor support plate (11) to rotate around the axis of the outer ring of the rotor support plate (11); The rotor assembly comprises an upper rotor (8) and a lower rotor (9), wherein the upper rotor (8) and the lower rotor (9) are propellers with opposite blade angles, and the two rotate in opposite directions when working, but generate the same pulling force direction; The motor assembly (10) includes two motors and a transmission mechanism thereof, each motor driving the upper rotor (8) and the lower rotor (9) respectively; The interface assembly includes a communication cable assembly mounting shaft (13) and a mission payload mounting shaft (14); The rotor assembly and the motor assembly (10) are arranged on a rotor support plate (11). The rotor support plate (11) is composed of an outer ring and an inner plate. A circular hole is provided in the middle of the inner plate for fixing a power assembly composed of an upper rotor (8), a lower rotor (9) and the motor assembly (10) thereon. The inner disk has two opposite shafts on its edge, which are connected to the holes on the inner wall of the outer disk through bearings, so that the inner disk can rotate relative to the outer ring; the inner wall of the outer ring has two holes, which are connected to the inner disk through bearings, and there are two shafts on the outer wall, which are respectively connected to the communication cable assembly installation shaft (13) and the mission load installation shaft (14) through bearings.

2. The amphibious ball-foot robot based on coaxial double-propeller power according to claim 1, characterized in that: An electrical component (15), a power supply compartment (16) and an image detector (17) are arranged below the coaxial double-propeller subsystem (2). The electrical component (15) includes an inertial measurement element, a flight control computer and necessary data transmission lines, wherein the inertial measurement element is used to measure the acceleration and angular rate of the robot during movement and transmit them to the flight control computer; the flight control computer can receive the robot movement information output by the inertial measurement element, and can receive the control instructions transmitted by the ground station through the communication cable, and calculate the motor and steering control instructions based on the control instructions and the robot movement information to control the rotor speed and direction; The power supply compartment (16) contains a battery for supplying power to the various electrical components of the robot; The image detector (17) adopts a white light + night vision dual-mode camera.

3. The amphibious ball-foot robot based on coaxial double-propeller power according to claim 2, characterized in that: The communication cable assembly (3) comprises a cable compartment (18), a wire pipe I (19), a wire pipe II (20) and the communication cable contained therein. The cable compartment (18) is connected to the wire pipe I (19) and the wire pipe II (20). The wire pipe I (19) is connected to the hollow circular shaft on the communication cable assembly installation shaft (13). The communication cable is stored in the cable compartment (18). One end passes through the wire pipe II (20) and is connected to the electrical assembly (15). The other end passes through the wire pipe I (19) and sequentially passes through the hollow circular shaft on the communication cable assembly installation shaft (13), the inner ring (7) of the motion isolation assembly, the outer ring (6) of the motion isolation assembly and the center hole of the star-shaped connector on the elastic mesh cover (5), so that the cable extends out of the spherical wheel foot (1) and is connected to the ground station, thereby realizing wired information transmission between the ground station and the robot system.

4. The amphibious ball-foot robot based on coaxial double-propeller power according to claim 3, characterized in that: The task load (4) is provided with a trapezoidal guide groove having the same shape as the trapezoidal guide rail on the task load installation shaft (14) for detachable assembly with the task load installation shaft (14).

Images