A multimodal land-air robot

Abstract

The application discloses a multi-mode land-air robot, which comprises a body (1), a body (2), a leg assembly (3) and a rotor assembly (4). The body (1) is provided with a connecting rod mechanism (14) on the left and right sides, and the body (2) is provided with two bodies (2) on the left and right sides of the body (1), and the body (2) is connected with the connecting rod mechanism. The body (2) comprises a wheel (23), the leg assembly (3) is connected with the body (2), and the rotor assembly (4) is installed on the leg assembly (3). The connecting rod mechanism is used for adjusting the included angle between the body and the horizontal ground, and the leg assembly is driven by a hip joint driving rudder and a knee joint driving rudder to realize six-degree-of-freedom movement, so that the robot has flight, ground wheel type and climbing type three movement functions, and the robot has good mobility and adaptability in different environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mobile robots, in particular to a multi-modal land-air robot. BACKGROUND

[0002] With the continuous development of economy, various industries in China have made rapid progress. Small mobile robots are a multi-disciplinary high-tech technology that can move freely according to the environmental requirements of the task. They are characterized by no fixed position, small size, light weight, high mobility, and have become a cutting-edge scientific and technological topic in advanced countries. With the development of science and technology, as land-air high-risk scenes become increasingly complex, single motion patterns are no longer sufficient to meet the needs of real-world task execution, especially for search and rescue and reconnaissance. Small mobile robots have gradually developed from single environment to single environment multi-function and strong environmental adaptability.

[0003] Existing mobile robots usually use a single moving method, which is limited in complex and changing working environments. Currently, there are wheeled robots, multi-legged robots, tracked robots, etc. These robots move in contact with the ground, and it is difficult to demonstrate the advantages of the robot when encountering complex terrain, such as gullies or large obstacles. Crawler robots have good obstacle climbing ability and strong stability when dealing with complex ground environments, but crawling speed is slow and not suitable in certain situations. Wheeled robots have the characteristics of fast movement and strong controllability, and are suitable for use on flat ground, but their obstacle climbing ability is a major drawback. Existing air flying robots are generally divided into fixed-wing robots, rotor robots, and flapping-wing robots. Most fixed-wing flying robots cannot hover and can only perform limited tasks such as reconnaissance and transportation. Rotor and flapping-wing flying robots can hover at the working position, but energy consumption is serious and they cannot work for a long time.

[0004] In the prior art, document Zhang R., Wu Y., Zhang L., Xu C., and Gao F. Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles, IEEE Robotics and Automation Letters, 2022, 7(2): 3008-3015. proposes a wheeled robot based on a quadrotor, including two passive wheels and a tiltable quadrotor, which autonomously switches between flight and wheeled motion models through motion trajectory planning and control algorithms. Chinese patent publication No. CN108944302A discloses a quadrotor hexapod bionic crawling robot, including a body, a rotor assembly, and a leg structure, the leg structure is arranged around the outside of the body, and the rotor assembly is arranged on the leg structure.

[0005] The flying and crawling robots proposed above all have amphibious motion capability, but are difficult to adapt to complex ground environments, and have weak adaptability in disaster rescue, jungle environment, etc.

[0006] In summary, the present application designs a multi-modal amphibious robot, which can have the functions of air flight, ground crawling, and wheeled motion mode change, and can move in complex environments to complete specific tasks. SUMMARY

[0007] In view of the defects of the above prior art, the purpose of the present application is to provide a multi-modal amphibious robot.

[0008] The technical solution of the present application is: a multi-modal amphibious robot, including a body, a body, a leg assembly, and a rotor assembly.

[0009] The body is provided with a connecting rod mechanism on the left and right sides, the body is two in number and is located on the left and right sides of the body, the body is connected with the connecting rod mechanism, the body includes a wheel, the leg assembly is connected with the body, and the rotor assembly is installed on the leg assembly.

[0010] Further, the body is in the shape of a cuboid, and further comprises an adjusting module, a flying and climbing control module, a battery, a sensor, and a camera. The adjusting module is located at the front end of the body, and the flying and climbing control module is installed in the middle part of the body. A steering engine is installed inside the flying and climbing control module, and the output shaft of the steering engine is connected with a connecting rod mechanism. The connecting rod mechanism comprises a first connecting rod, a second connecting rod, and a third connecting rod. One end of the first connecting rod is connected with the output shaft of the steering engine, and the other end of the first connecting rod is connected with one end of the second connecting rod in the form of a rotating pair. The other end of the second connecting rod is fixedly installed in a groove on the inner side of the middle part of the body through a rotating shaft. The two ends of the third connecting rod are respectively installed in the output shaft of the steering engine of the flying and climbing control module and the groove on the inner side of the middle part of the body.

[0011] Further, the body is in the shape of a cuboid, and further comprises an adjusting module, a flying and climbing control module, a battery, a sensor, and a camera. The adjusting module is located at the front end of the body, and the flying and climbing control module is installed in the middle part of the body. A steering engine is installed inside the flying and climbing control module, and the output shaft of the steering engine is connected with a connecting rod mechanism. The connecting rod mechanism comprises a first connecting rod, a second connecting rod, and a third connecting rod. One end of the first connecting rod is connected with the output shaft of the steering engine, and the other end of the first connecting rod is connected with one end of the second connecting rod in the form of a rotating pair. The other end of the second connecting rod is fixedly installed in a groove on the inner side of the middle part of the body through a rotating shaft. The two ends of the third connecting rod are respectively installed in the output shaft of the steering engine of the flying and climbing control module and the groove on the inner side of the middle part of the body.

[0012] Further, each body is connected with at least two leg assemblies. Each leg assembly comprises a leg segment, a hip joint, and a knee joint steering engine. The leg segment comprises a claw, a Y-shaped connecting rod, and an upper connecting rod. The claw comprises a rotor drive motor. The middle part and the upper end of the claw are connected with one end of the Y-shaped connecting rod and one end of the upper connecting rod in the form of a rotating pair. The other end of the upper connecting rod is connected with the hip joint in the form of a rotating pair. The other end of the Y-shaped connecting rod is connected with the output shaft of the knee joint steering engine. The knee joint steering engine is fixedly installed on a steering engine mounting seat in the hip joint. The upper and lower ends of the hip joint are installed on the hip joint steering engine drive shaft of the body.

[0013] Further, the rotor assembly comprises a propeller, which is installed on the rotor drive motor at the upper end of the claw.

[0014] Further, the multi-modal land-air robot is equipped with at least one of a visual sensor, an auditory sensor, an olfactory sensor, and a tactile sensor.

[0015] Further, the adjusting module, the connecting rod mechanism, and the body constitute a five-link two-degree-of-freedom mechanism.

[0016] Further, the flying and climbing control module, the sensor, the camera, the hip joint steering engine, the wheel drive motor, the rotor drive motor, and the knee joint steering engine are all powered by the battery.

[0017] Further, the rotor assembly further comprises a limiting support plate connected with the rotor drive motor, which is used to limit the rotation of the leg segment connected with the rotor assembly.

[0018] The beneficial effects of the present application are: the present application adjusts the included angle of the body and the horizontal ground through the connecting rod mechanism, and each leg assembly is driven to realize six-degree-of-freedom motion through the hip joint driven steering engine and the knee joint driven steering engine, so that the robot has flight, ground wheel type and climbing three motion functions, generates motion modes in different environments, and has good maneuverability and adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of the body of the present application in the crawling mode;

[0020] Figure 2 is a structural schematic diagram of the body of the present application in the crawling mode;

[0021] Figure 3 is a structural schematic diagram of the body of the present application in the crawling mode;

[0022] Figure 4 is a structural schematic diagram of the body of the present application in the crawling mode;

[0023] Figure 5 is a structural schematic diagram of the body of the present application in the crawling mode;

[0024] Figure 6 is a structural schematic diagram of the body of the present application in the crawling mode;

[0025] Figure 7 is a structural schematic diagram of the body of the present application in the crawling mode.

[0026] As shown in the figure: 1-body, 11-adjusting module, 12-flying and crawling control module, 13-battery, 14-connecting rod mechanism, 141-first connecting rod, 142-second connecting rod, 143-third connecting rod, 15-camera, 16-sensor, 2-body, 21-hip joint steering engine, 22-wheel driving motor, 23-wheel, 3-leg assembly, 31-leg section, 311-paw, 3111-rotor driving motor, 313-Y-shaped connecting rod, 312-upper connecting rod, 32-hip joint, 33-knee joint steering engine, 4-rotor assembly; 41-helicopter. DETAILED DESCRIPTION

[0027] In order to more intuitively and completely understand the technical solutions of the present application, the following non-limiting characteristic descriptions are made in combination with the drawings of the present application:

[0028] As Figure 1 - Figure 7 shown, a multi-modal land-air robot, comprising a body 1, a body 2, a leg assembly 3, a rotor assembly 3;

[0029] The body 1 is provided with a connecting rod mechanism 14 on the left and right sides, the body 2 is two in number and is located on the left and right sides of the body 1 respectively, the body 2 is connected with the connecting rod mechanism, the body 2 comprises a wheel 23, the leg assembly 3 is connected with the body 2, and the rotor assembly 4 is installed on the leg assembly 3.

[0030] The body 1 is in the form of a cuboid, and further comprises an adjusting module 11, a flight and climbing control module 12, a battery 13, a sensor 15 and a camera 16, the adjusting module 11 is located at the front end of the body 1, the adjusting module 11 comprises a power supply module and an electronic speed controller, the power supply module is electrically connected with the electronic speed controller, the flight and climbing control module 12 is installed in the middle of the body 1, a steering engine is installed inside the flight and climbing control module 12, and an output shaft of the steering engine is connected with the connecting rod mechanism 14; the connecting rod mechanism 14 comprises a first connecting rod 141, a second connecting rod 142 and a third connecting rod 143, the first connecting rod 141 and the third connecting rod 143 are driving rods, the second connecting rod 142 is a connecting rod, one end of the first connecting rod 141 is connected with the output shaft of the steering engine, the other end of the first connecting rod 141 is connected with one end of the second connecting rod 142 in the form of a rotary pair, the other end of the second connecting rod 142 is fixedly installed in a groove in the middle of the inner side of the body 2 through a rotating shaft, and the two ends of the third connecting rod 143 are respectively installed on the output shaft of the steering engine of the flight and climbing control module 12 and the groove in the middle of the inner side of the body 2.

[0031] The adjusting module 11, the flight and climbing control module 12 and the battery 13 on the body 1 are fixed by bolts.

[0032] The body 2 is in the form of a cuboid and is half-hollowed at the front and rear ends, and a symmetrically open groove is left in the middle part, and a motor mounting seat is left on the outer side of the middle part, each body 2 comprises two hip joint steering engines 21, two wheel driving motors 22 and two wheels 23, the body 2 is half-hollowed at the front and rear ends for installing the hip joint steering engines 21, the symmetrically open groove in the middle part of the body 2 is used for connecting the body 2 with the flight and climbing control module 12 on the body 1 through the connecting rod mechanism 14, the output shafts of the two wheel driving motors 22 are symmetrically fixed on the motor mounting seat on the outer side of the middle part of the body 2 upwards, and the wheels 23 are arranged on the shafts of the wheel driving motors 22.

[0033] Each of the hip bodies 2 is connected to at least two leg assemblies 3, each of the leg assemblies 3 comprises a leg segment 31, a hip joint 32, a knee joint steering engine 33, the leg segment 31 comprises a foot claw 311, a Y-shaped connecting rod 313 and an upper connecting rod 312, the foot claw 311 comprises a rotor drive motor 3111, the middle and upper end of the foot claw 311 are connected to one end of the Y-shaped connecting rod 313 and one end of the upper connecting rod 312 in the form of a rotary pair respectively, the other end of the upper connecting rod 312 is connected to the hip joint 32 in the form of a rotary pair, the other end of the Y-shaped connecting rod 313 is connected to the output shaft of the knee joint steering engine 33, the knee joint steering engine 33 is fixedly installed on the steering engine mounting seat in the hip joint 32, and the upper and lower ends of the hip joint 32 are installed on the driving shaft of the hip joint steering engine 21 of the hip body 2. The hip joint steering engine 21 and the knee joint steering engine 33 are correspondingly connected to the leg segment 31 and are electrically connected to the flying and crawling control module 12, each leg segment 31 is driven to rotate by the hip joint steering engine 21 and the knee joint steering engine 33, and each leg assembly 3 is distributed in a rectangular shape on the steering engine mounting seat and is driven to realize horizontal swinging around the steering engine mounting seat by the corresponding hip joint steering engine 21 and knee joint steering engine 33.

[0034] The rotor assembly 4 comprises a propeller 41 installed on the rotor drive motor 3111 at the upper end of the foot claw 311. The rotor drive motor 3111 is electrically connected to the electronic speed controller, and the propeller 41 is rotated by the rotor drive motor 3111. In the air flight mode, the propeller 41 is in a horizontal state.

[0035] The multi-modal land-air robot is provided with at least one of a visual sensor, an auditory sensor, an olfactory sensor and a tactile sensor, and each sensor is electrically connected to the flying and crawling control module 12.

[0036] The adjusting module 11, the connecting rod mechanism 14 and the hip body 2 constitute a five-link two-degree-of-freedom mechanism.

[0037] The flying and crawling control module 12, the sensor 15, the camera 16, the hip joint steering engine 21, the wheel drive motor 22, the rotor drive motor 3111 and the knee joint steering engine 33 are all powered by the battery 13.

[0038] The rotor assembly 4 further comprises a limiting support plate (not shown in the figure) connected to the rotor drive motor 3111, for realizing rotation limiting of the leg segment 31 connected to the rotor assembly 4.

[0039] The leg segment 31 composed of the foot claw 311, the Y-shaped connecting rod 313 and the upper connecting rod 312 is equivalent to a "small leg segment", the hip joint 32 is equivalent to a "thigh segment", the hip joint driving steering engine 21 and the knee joint driving steering engine 33 are "joint driving", the hip joint steering engine 21 is installed on the hip joint 32 and is used to drive the hip joint 32 to swing horizontally.

[0040] The working principle of this invention is as follows:

[0041] 1. Crawling Mode:

[0042] like Figure 1 As shown, in the crawling state, driven by the crawling control module 12, the angles of the first link 141 and the third link 143 of the linkage mechanism 14 are adjusted so that the angle between the callus 2 and the ground is horizontal. At this time, the wheels 23 on the callus 2 are also horizontal to the ground. The hip joint servo 21 drives the hip joint 32 to swing horizontally. The knee joint servo 33 on the hip joint 32 is connected to the Y-shaped link 313 and the upper link 312 to form a four-bar linkage, adjusting the forward and backward, and up and down swing of the foot claw 311. In the movement state, the wheels 23 on the callus 2 are always parallel to the ground. The hip joint servo 21 drives the hip joint 32 to swing horizontally. The knee joint servo 33 drives the Y-shaped link 313, thereby driving the upper link 312 and the foot claw 311 to achieve the purpose of the leg components moving up and down and forward and backward.

[0043] 2. Flight Mode:

[0044] This invention features four propellers 41, which, by varying their rotational speeds, alter their lift, ultimately enabling the aircraft to fly in six directions: up and down, forward and backward, left and right. For example... Figure 6 As shown, when on land, driven by the climbing control module 12, the angles of the first link 141 and the third link 143 in the linkage mechanism 14 are adjusted so that the angle between the callus 2 and the horizontal ground is about 45°. Then, the hip joint servo motor 21 drives the hip joint 32 to swing horizontally so that a suitable distance is created between the leg components. The knee joint servo motor 33 drives the Y-shaped link 313 to lift upward so that the foot claw 311 retracts inward to a suitable position. At this time, when the propeller 41 is parallel to the horizontal ground, the robot can start the flight mode.

[0045] 3. Ground-based wheeled mode:

[0046] like Figure 7 As shown, under the drive of the climbing control module 12, the angle of the first link 141 and the third link 143 in the linkage mechanism 14 is adjusted so that the wheels 23 on the callus 2 are in vertical contact with the ground. Driven by the hip joint servo motor 21 and the knee joint servo motor 33, the feet 311 are positioned on the upper part of the body 1 and the tips of the feet 311 are opposite each other, so that the robot forms a stable cubic wheeled vehicle.

[0047] The present application adjusts the included angle between the body 2 and the horizontal ground through the connecting rod mechanism 14, and each leg assembly 3 is driven to realize six-degree-of-freedom motion through the hip joint driven steering engine 21 and the knee joint driven steering engine 33, so that the robot has flight, ground wheel type and climbing three motion functions, generates motion modes in different environments, and has good maneuverability and adaptability.

[0048] Of course, the above is only a preferred embodiment of the present application, and is not limited to the patent scope of the present application. Any simple modification and equivalent structural change according to the content of the specification and drawings of the present application should be included in the patent protection scope of the present application.

Claims

1. A multimodal land-air robot, characterized by: The body (1), the body (2), the leg assembly (3), the rotor assembly (4); The body (1) is provided with a connecting rod mechanism (14) on both sides, the body (2) is two and is respectively located on the left and right sides of the body (1), the body (2) is connected with the connecting rod mechanism, the body (2) includes a wheel (23), the leg assembly (3) is connected with the body (2), and the rotor assembly (4) is installed on the leg assembly (3); The body (1) is in the form of a cuboid, and further comprises an adjusting module (11), a flying and climbing control module (12), a battery (13), a sensor (15) and a camera (16); the adjusting module (11) is located at the front end of the body (1); the flying and climbing control module (12) is installed in the middle of the body (1); a steering engine is installed inside the flying and climbing control module (12); the output shaft of the steering engine is connected with the connecting rod mechanism (14); the connecting rod mechanism (14) comprises a first connecting rod (141), a second connecting rod (142) and a third connecting rod (143); one end of the first connecting rod (141) is connected with the output shaft of the steering engine; the other end of the first connecting rod (141) is connected with one end of the second connecting rod (142) in the form of a rotary pair; the other end of the second connecting rod (142) is fixedly installed in a groove on the inner side of the middle of the body (2) through a rotating shaft; the two ends of the third connecting rod (143) are respectively installed in the groove on the inner side of the middle of the body (2) and the output shaft of the steering engine of the flying and climbing control module (12); The body (2) is in the form of a cuboid, and a symmetrical open slot is left in the middle of the body (2); a motor mounting seat is left on the outer side of the middle of the body (2); each body (2) comprises two hip joint steering engines (21), two wheel driving motors (22) and two wheels (23); the hip joint steering engines (21) are installed at the front and rear ends of the body (2); the symmetrical open slot in the middle of the body (2) is used for connecting the body (2) with the flying and climbing control module (12) on the body (1) through the connecting rod mechanism (14); the output shafts of the two wheel driving motors (22) are symmetrically fixedly arranged on the motor mounting seat on the outer side of the middle of the body (2); the wheels (23) are arranged on the shafts of the wheel driving motors (22); Each body (2) is connected with at least two leg assemblies (3); each leg assembly (3) comprises a leg segment (31), a hip joint (32) and a knee joint steering engine (33); the leg segment (31) comprises a claw (311), a Y-shaped connecting rod (313) and an upper connecting rod (312); the claw (311) comprises a rotor driving motor (3111); the middle and upper end of the claw (311) are respectively connected with one end of the Y-shaped connecting rod (313) and one end of the upper connecting rod (312) in the form of a rotary pair; the other end of the upper connecting rod (312) is connected with the hip joint (32) in the form of a rotary pair; the other end of the Y-shaped connecting rod (313) is connected with the output shaft of the knee joint steering engine (33); the knee joint steering engine (33) is fixedly installed on the steering engine mounting seat in the hip joint (32); the upper and lower ends of the hip joint (32) are installed on the driving shafts of the hip joint steering engines (21) of the body (2); The rotor assembly (4) comprises a propeller (41); the propeller (41) is installed on the rotor driving motor (3111) at the upper end of the claw (311).

2. The multi-modal land-air robot of claim 1, wherein: The multi-modal land-air robot is provided with at least one of a visual sensor, an auditory sensor, an olfactory sensor and a tactile sensor.

3. The multi-modal land-air robot of claim 1, wherein: The adjusting module (11), the connecting rod mechanism (14) and the body (2) constitute a five-connecting-rod two-degree-of-freedom mechanism.

4. The multi-modal land-air robot of claim 1, wherein: The flying and climbing control module (12), the sensor (15), the camera (16), the hip joint servo (21), the wheel driving motor (22), the rotor driving motor (3111) and the knee joint servo (33) are all powered by the battery (13).

5. The multi-modal land-air robot of claim 1, wherein: The rotor assembly (4) further comprises a limiting support plate connected with the rotor driving motor (3111), which is used for realizing rotation limiting of the leg segment (31) connected with the rotor assembly (4).

Images