A multi-mode mobile robot

Abstract

The application relates to the technical field of intelligent robots, in particular to a multi-mode mobile robot, which comprises an upper hemisphere, a lower hemisphere, a driving system and a control system; the upper hemisphere comprises an upper shell which is arranged in a hemispherical shape, and the outer surface of the upper shell is provided with a water-dividing wing plate I; the lower hemisphere comprises a base, six walking legs and a control part; in the application, the angle of the six walking legs is adjusted through the control part, the six walking legs move on the ground to realize the movement of the walking legs on land; when the robot enters the water surface, the robot can float horizontally on the water surface due to the consistent weight of the upper hemisphere and the lower hemisphere; the upper part and the lower part are rotated through the driving system to realize walking on the water surface, and the multi-mode movement of the mobile robot is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to a multi-mode mobile robot. Background Technology

[0002] Multi-legged robots are an important branch of mobile robotics. Hexapods, in particular, with their biomimetic locomotion and gait inspired by hexapod insects, have become a key research focus in the field due to their strong terrain adaptability, redundant structures, and increasingly sophisticated gait planning methods. Developed countries such as the US, Japan, and Germany began large-scale investment in hexapod robot research and development in the 1980s. To date, hexapods have been successfully applied in various fields, including planetary exploration, mine clearance, seabed exploration, and fire rescue. With further advancements in materials science, control theory, and embedded technology, the research and application of hexapods hold great promise.

[0003] A search of existing patents revealed that patent application publication number CN104608838A, titled "A Six-Legged Wheeled Crawling Bionic Robot," uses an adjustable torso and adjustable wheeled legs to realize a six-legged crawling robot.

[0004] The search also revealed that patent application publication number CN102267509A, titled "Symmetrical Bionic Six-Legged Walking Device," uses a dual-motor gear transmission method to achieve multi-leggedness.

[0005] While the mobile robots in the aforementioned patents can walk on land, they cannot walk in water, which greatly reduces the application scope of the mobile robots. Therefore, how to achieve multi-mode waterborne walking for mobile robots is the problem that this application aims to solve. Summary of the Invention

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-mode mobile robot, comprising:

[0007] The upper hemisphere includes an upper shell, which is hemispherical in shape, and a water-blowing wing is provided on the outer surface of the upper shell;

[0008] The lower hemisphere includes a base, six walking parts and a control part. The walking parts include walking legs and drive brackets. The control part controls the drive brackets to drive the opening, closing and movement of the walking legs. When the walking parts are closed, they can form a closed hemisphere. The outer surface of the walking legs is provided with a second water deflector that is the same as the first water deflector.

[0009] The upper shell is equipped with a counterweight block inside, so that the weight of the upper hemisphere is the same as the weight of the lower hemisphere;

[0010] The drive unit includes a drive housing, inside which is a drive system for controlling the rotation of the upper and lower hemispheres for water travel.

[0011] The drive section is located between the upper and lower hemispheres, and two drive motors are installed inside it. The output shafts of the drive motors are fixedly connected to the upper and lower hemispheres respectively, so that the upper and lower hemispheres rotate axially on both sides of the drive section.

[0012] Preferably, the drive bracket has a three-joint structure, including servo motor one, servo motor two, servo motor three, hip joint, knee joint, and ankle joint. Servo motor one is fixedly connected to the base plate, the base plate is fixedly connected to the connecting shaft, the upper end of the connecting shaft is fixedly connected to the base, the output shaft of servo motor one is fixedly connected to the hip joint for driving the bracket to turn, the other end of the hip joint is connected to servo motor two, the output shaft of servo motor two is fixedly connected to the knee joint for primary angle adjustment, the knee joint is fixedly connected to servo motor two, the output shaft of servo motor two is fixedly connected to the ankle joint, and the ankle joint is fixedly connected to the walking leg.

[0013] Preferably, the drive system includes a controller one, a controller two, and an angle sensor, wherein the controller one is electrically connected to the angle sensor, and the angle sensor is electrically connected to servo motor one, servo motor two, and servo motor three.

[0014] Preferably, a sealing gasket is provided between each pair of adjacent walking legs.

[0015] Preferably, the drive system is a second controller, which is electrically connected to the drive motor.

[0016] Preferably, the drive section, the upper hemisphere, and the lower hemisphere are all made of carbon fiber.

[0017] Preferably, it also includes a power supply, which has two batteries, one of which is located inside the lower hemisphere and the other is located inside the drive section, for powering the drive system, drive motor and control section respectively.

[0018] Preferably, the system also includes environmental sensors installed at the front and rear ends of the drive housing, and both environmental sensors are connected to the controller circuit.

[0019] Preferably, the environmental sensor includes a ranging sensor, and the environmental sensor also includes a camera and / or a temperature sensor.

[0020] This invention provides a multi-mode mobile robot with the following advantages:

[0021] In this invention, the angle of the six walking legs is adjusted by the control unit. The movement of the six walking legs on the ground enables the walking legs to move on land. At the same time, when the robot enters the water, the weight of the upper and lower hemispheres is the same, which enables the robot to float laterally on the water. The drive system drives the upper and lower parts to rotate, so as to walk on the water. Thus, the multi-mode movement of the mobile robot is realized. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the mobile robot in this invention;

[0023] Figure 2 This is a schematic diagram of the front structure of the mobile robot in this invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of the mobile robot in this invention;

[0025] Figure 4 This is a schematic diagram of the mobile robot's structure from a low angle in this invention;

[0026] Figure 5 This is a schematic diagram of the walking mechanism in this invention;

[0027] Figure 6 This is a diagram showing the usage state of the mobile robot walking on water in this invention.

[0028] In the diagram: 1-Upper hemisphere, 11-Glider I, 12-Upper shell, 13-Counterweight, 2-Drive unit, 21-Controller I, 22-Controller II, 23-Drive motor, 24-Drive shell, 25-Angle sensor, 3-Lower hemisphere, 31-Connecting shaft, 32-Base plate, 33-Walking leg, 34-Glider II, 35-Bracket, 36-Servo I, 37-Servo II, 38-Servo III, 39-Hip joint, 310-Knee joint, 311-Ankle joint, 312-Base. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0030] Please see Figure 1-6 In this invention, a technical solution is provided:

[0031] A multimodal mobile robot, comprising:

[0032] The upper hemisphere 1 includes an upper shell 12, which is hemispherical in shape, and the outer surface of the upper shell 12 is provided with a water-blowing blade 11;

[0033] The lower hemisphere 3 includes a base 312, six walking parts and a control part. The walking parts include walking legs 33 and drive brackets. The control part controls the drive brackets to drive the walking legs 33 to open, close and move. Under the drive of the drive brackets, the walking parts can form a closed hemisphere when closed. The outer surface of the walking legs 33 is provided with a second water deflector 34 that is the same as the first water deflector 11.

[0034] The upper shell 12 is equipped with a counterweight 13 so that the weight of the upper hemisphere 1 is the same as the weight of the lower hemisphere 3.

[0035] The drive unit 2 includes a drive housing 24, inside which is a drive system for controlling the rotation of the upper hemisphere 1 and the lower hemisphere 3 for water surface movement.

[0036] The drive unit 2 is located between the upper hemisphere 1 and the lower hemisphere 3. Two drive motors 23 are installed inside the drive unit 23. The output shafts of the drive motors 23 are fixedly connected to the upper hemisphere 1 and the lower hemisphere 3 respectively, so that the upper hemisphere 1 and the lower hemisphere 3 rotate axially on both sides of the drive unit 2.

[0037] In the above, the angle of the six walking legs 33 is adjusted by the control part. The movement of the six walking legs 33 on the ground enables the walking legs 33 to move on land. At the same time, when the robot enters the water, the weight of the upper hemisphere 1 and the lower hemisphere 3 are the same, so that the robot can float horizontally on the water. The drive system drives the upper part 1 and the lower part 3 to rotate, so as to walk on the water. Thus, the multi-mode movement of the mobile robot is realized.

[0038] Furthermore, the drive support has a three-joint structure, including servo motor 36, servo motor 37, servo motor 38, hip joint 39, knee joint 310, and ankle joint 311. Servo motor 36 is fixedly connected to the base plate 32, the base plate 32 is fixedly connected to the connecting shaft 31, the upper end of the connecting shaft 31 is fixedly connected to the base 312, the output shaft of servo motor 36 is fixedly connected to the hip joint 39 for driving the support to turn, the other end of the hip joint 39 is connected to servo motor 37, the output shaft of servo motor 37 is fixedly connected to the knee joint 310 for primary angle adjustment, the knee joint 310 is fixedly connected to servo motor 38, the output shaft of servo motor 38 is fixedly connected to the ankle joint 311, and the ankle joint 311 is fixedly connected to the walking leg 33. By driving the hip joint 39, knee joint 310, and ankle joint 311 to shift their angles through servo motors 36, servo motor 37, and servo motor 38, the overall movement of the mobile robot is achieved, simulating the human leg.

[0039] Furthermore, the drive system includes a controller 21, a controller 22, and an angle sensor 25. The controller 21 is electrically connected to the angle sensor 25, and the angle sensor 25 is electrically connected to a servo motor 36, a servo motor 37, and a servo motor 38. Thus, the rotation angles of the servo motors 36, 37, and 38 are controlled by the angle sensor 25, thereby achieving precise control of the drive bracket.

[0040] Furthermore, to enhance the sealing of the walking legs 33 after closure, a sealing gasket is provided between each pair of adjacent walking legs 33.

[0041] Furthermore, the drive system is a controller 22, which is electrically connected to the drive motor 23 and is used to control the forward and reverse rotation of the drive motor 23, thereby realizing the turning and forward and backward movement of the mobile robot on the water surface.

[0042] Furthermore, the drive section 2, the upper hemisphere 1, and the lower hemisphere 3 are all made of carbon fiber using 3D printing, ensuring the weight, rigidity, and strength of the device.

[0043] Furthermore, it also includes a power supply, which consists of two batteries. One battery is located inside the lower hemisphere 3, and the other battery is located inside the drive section 2. These batteries are used to power the drive system, the drive motor 23, and the control section, respectively.

[0044] Furthermore, it also includes environmental sensors 4 installed at the front and rear ends of the drive housing 24, both of which are circuitically connected to the controller 22. Each environmental sensor 4 includes a ranging sensor, and also includes a camera and / or a temperature sensor.

[0045] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-mode mobile robot, characterized in that: Includes the upper hemisphere and the lower hemisphere; The upper hemisphere includes an upper shell, which is hemispherical in shape, and a water-blowing wing is provided on the outer surface of the upper shell; The lower hemisphere includes a base, six walking parts and a control part. The walking parts include walking legs and drive brackets. The control part controls the drive brackets to drive the opening, closing and movement of the walking legs. When the walking parts are closed, they can form a closed hemisphere. The outer surface of the walking legs is provided with a second water deflector that is the same as the first water deflector. The upper shell is equipped with a counterweight block inside, so that the weight of the upper hemisphere is the same as the weight of the lower hemisphere; The drive unit includes a drive housing, inside which is a drive system for controlling the rotation of the upper and lower hemispheres for water travel. The drive section is located between the upper hemisphere and the lower hemisphere, and two drive motors are installed inside it. The output shafts of the drive motors are fixedly connected to the upper hemisphere and the lower hemisphere respectively, so that the upper hemisphere and the lower hemisphere rotate axially on both sides of the drive section. The drive bracket has a three-joint structure, including servo motor one, servo motor two, servo motor three, hip joint, knee joint, and ankle joint. Servo motor one is fixedly connected to the base plate, the base plate is fixedly connected to the connecting shaft, the upper end of the connecting shaft is fixedly connected to the base, the output shaft of servo motor one is fixedly connected to the hip joint for driving the bracket to turn, the other end of the hip joint is connected to servo motor two, the output shaft of servo motor two is fixedly connected to the knee joint for primary angle adjustment, the knee joint is fixedly connected to servo motor two, the output shaft of servo motor two is fixedly connected to the ankle joint, and the ankle joint is fixedly connected to the walking leg. The drive system includes controller one, controller two, and angle sensor, wherein controller one is electrically connected to the angle sensor, and the angle sensor is electrically connected to servo motor one, servo motor two, and servo motor three. A sealing gasket is provided between each pair of adjacent walking legs.

2. The multi-mode mobile robot as described in claim 1, characterized in that: The drive system is controller two, which is electrically connected to the drive motor.

3. The multi-mode mobile robot as described in claim 1, characterized in that: The drive unit, upper hemisphere, and lower hemisphere are all made of carbon fiber.

4. A multi-mode mobile robot as described in claim 1, characterized in that: It also includes a power supply, which consists of two batteries. One battery is located inside the lower hemisphere, and the other battery is located inside the drive section. These batteries are used to power the drive system, drive motor, and control section, respectively.

5. A multi-mode mobile robot as described in claim 1, characterized in that: It also includes environmental sensors installed at the front and rear ends of the drive housing, and the environmental sensors are all connected to the controller circuit.

6. A multi-mode mobile robot as described in claim 5, characterized in that: The environmental sensor includes a ranging sensor, and also includes a camera and / or a temperature sensor.

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