Separable land-air amphibious robot combination separation mechanism

Abstract

The combination separation mechanism of the separable land-air amphibious robot comprises a self-centering mechanism, a clamping mechanism and a connecting frame; the self-centering mechanism is connected with the aircraft through the connecting frame, and the clamping mechanism is driven by the self-centering mechanism to realize synchronous centering and clamping or synchronous release of the mobile robot, so that the mobile robot and the aircraft are connected or separated. By using the combination separation mechanism, when ground operation or air operation is carried out alone, the ground mobile robot or the aircraft can be independently operated; when the two need to cooperate, the aircraft assists the ground mobile robot to cross obstacles and assists balance, the aircraft and the mobile robot are combined, the two cooperate to complete the operation, and the disadvantage that the two are unnecessary loads for each other after being combined is avoided.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a detachable amphibious robot combination and separation mechanism. Background Technology

[0002] Existing amphibious robots combine flying robots with ground mobile robots, leveraging their advantages of flight and ground mobility. However, in some situations, the ground mobile end and the airborne end become unnecessary loads for each other. For example, during the flight phase, the ground mobile part does not play its corresponding role, but instead increases the load on the airborne part and reduces its endurance. Similarly, when the mobile robot is working on the ground, the flying robot does not play its corresponding role, but increases the load on the mobile robot, such as when crossing obstacles, the mobility of the mobile part is reduced. Summary of the Invention

[0003] To overcome existing technologies, this invention provides a detachable amphibious robot combination and separation mechanism. This mechanism allows for independent operation of either the ground robot or the aircraft when performing ground or aerial tasks. When cooperation is required, the aircraft assists the ground robot in overcoming obstacles and maintaining balance; in other cases, the aircraft and ground robot are combined to complete the task together.

[0004] The detachable amphibious robot assembly and separation mechanism includes a self-centering mechanism, a clamping mechanism, and a connecting frame.

[0005] The self-alignment mechanism is connected to the aircraft via a connecting frame. The clamping mechanism is driven by the self-alignment mechanism to achieve synchronous alignment and clamping or synchronous release of the mobile robot, enabling the mobile robot and the aircraft to connect or separate.

[0006] Furthermore, the self-centering mechanism includes a motor A, a crank, rockers, a slider, and a frame; the motor A is mounted on a connecting frame, the crank is mounted on the output shaft of the motor A, the crank is rotatably connected to one end of a plurality of rockers, the other end of the plurality of rockers is rotatably connected to a corresponding slider, the slider is disposed on the frame and can slide relative to the frame, the plurality of sliders move synchronously toward or away from the axis of the motor A, and the clamping mechanism is connected to the plurality of sliders.

[0007] Furthermore, the clamping mechanism includes two sets of worm gear mechanisms, two sets of wire ropes, and multiple retractable grippers. The two sets of worm gear mechanisms are fixed on the frame. One set of worm gear mechanisms controls the retraction of one set of wire ropes, and the other set of worm gear mechanisms controls the extension of the other set of wire ropes. The multiple retractable grippers are controlled by the two sets of wire ropes to move up and down in the vertical direction to clamp or release the mobile robot. The self-centering mechanism controls the multiple retractable grippers to move synchronously toward or away from the axis of motor A.

[0008] Furthermore, each worm gear mechanism includes a motor B, a worm wheel, a worm, and a shaft; the motor B is fixed on a support plate, the support plate is fixed to the frame, the output shaft of the motor B is equipped with a worm, the worm wheel is rotatably mounted on the support plate, the worm wheel meshes with the worm, a grooved shaft is fixed in the middle of the worm wheel, a wire rope is wound in the groove, and one end of the wire rope is fixed in the groove.

[0009] The advantages of this invention compared to the prior art are:

[0010] 1. The separable amphibious robot combines the advantages of flying robots and ground mobile robots. By combining and separating the two, it avoids the disadvantage of the two becoming unnecessary loads on each other.

[0011] 2. The self-aligning mechanism's grasping scheme reduces the requirements for flight and landing accuracy.

[0012] 3. The self-aligning mechanism can be used as the landing gear of an air platform.

[0013] 4. By utilizing the large transmission ratio and reverse self-locking characteristics of the worm gear mechanism, the requirements for the drive source can be reduced. The gripper position is fixed and self-locking, ensuring safety.

[0014] 5. The mobile robot on the ground is completely fixed, and its position is consistent after each grab.

[0015] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0016] Figure 1 The three-dimensional detachable amphibious robot used in this invention Figure 1 ;

[0017] Figure 2 The three-dimensional detachable amphibious robot used in this invention Figure 2 ;

[0018] Figure 3 This is a structural diagram showing the connection between the self-centering mechanism, the clamping mechanism, and the connecting frame of the present invention;

[0019] Figure 4 This is a structural diagram showing the self-aligning mechanism, clamping mechanism, and connecting frame after the connecting plate is removed.

[0020] Figure 5 This is a structural diagram of the clamping mechanism. Detailed Implementation

[0021] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art.

[0022] Figure 1 and Figure 2 A separable amphibious robot consisting of a mobile robot 1 and an aircraft 2 is demonstrated, which is separable by a combined separation mechanism.

[0023] Figures 3-5 A separable amphibious robot assembly and separation mechanism was demonstrated, which includes a self-centering mechanism 3, a clamping mechanism 4, and a connecting frame 5.

[0024] The self-alignment mechanism 3 is connected to the aircraft 2 via the connecting frame 5. The clamping mechanism 4 is driven by the self-alignment mechanism 3 to achieve synchronous alignment and clamping or synchronous release of the mobile robot 1, so that the mobile robot 1 and the aircraft can be connected or separated.

[0025] In this embodiment, the amphibious robot is designed to be separable. When performing ground or air operations alone, the aircraft is released using the self-centering mechanism 3 and the clamping mechanism 4, allowing either the ground mobile robot 1 or the aircraft 2 to operate independently. When the two need to cooperate, such as when the aircraft 2 assists the ground mobile robot in crossing obstacles or in maintaining balance, the aircraft 2 and the ground mobile robot 1 are combined using the self-centering mechanism 3 and the clamping mechanism 4, and the two work together to complete the operation.

[0026] Specifically, such as Figure 3 and Figure 4 As shown, the self-centering mechanism 3 includes a motor A31, a crank 32, a rocker arm 33, a slider 34, and a frame 35;

[0027] Motor A31 is mounted on connecting frame 5, crank 32 is mounted on output shaft of motor A31, crank 32 is rotatably connected to one end of multiple rocker arms 33, the other end of multiple rocker arms 33 is rotatably connected to corresponding sliding member 34, sliding member 34 is set on frame 35 and can slide relative to frame 35, multiple sliding members 34 move synchronously toward or away from axis of motor A31, clamping mechanism 4 is connected to multiple sliding members 34.

[0028] In this embodiment, to ensure that multiple sliding parts 34 driven by the same driving source move synchronously and achieve self-centering, the crank 32 is designed with a disc-shaped structure as its main body. Connecting rods are set on the outer periphery of the disc-shaped structure to form a disc crank structure. The rocker arm 33 is connected to the corresponding connecting rod to form a disc crank rocker mechanism, so as to achieve the purpose of synchronous movement driven by the same driving source.

[0029] For ease of manufacturing and use, and while meeting design requirements, it is preferable that there are four rocker arms 33 and four connecting rods. The crank 32 and rocker arms 33 can be made of high-strength carbon fiber into a flat rod structure.

[0030] Furthermore, the sliding element 34 is a linear bearing.

[0031] Specifically, such as Figure 4 As shown, the clamping mechanism 4 includes two sets of worm gear mechanisms 41, two sets of wire ropes 42 and multiple retractable grippers 43, and the retractable grippers 43 are connected to the sliding member 34 accordingly.

[0032] Two sets of worm gear mechanisms 41 are fixed on the frame 35. One set of worm gear mechanisms 41 controls the retraction of one set of wire ropes 42, and the other set of worm gear mechanisms 41 controls the extension of another set of wire ropes 42. Multiple retractable grippers 43 are controlled by the two sets of wire ropes 42 to move up and down in the vertical direction, thereby gripping or releasing the mobile robot 1. The self-centering mechanism 3 controls the multiple retractable grippers 43 to move synchronously toward or away from the axis of motor A31. Alternatively, the multiple retractable grippers 43 can move synchronously toward or away from the center of the aircraft, achieving self-centering.

[0033] The force is amplified by using a worm gear mechanism, which utilizes the large transmission ratio of the worm gear and the reverse self-locking characteristic of the worm gear. The worm cannot drive the worm wheel, thus reducing the requirements for the drive source.

[0034] Two drive sources are used to control the contraction and extension of the two steel wire ropes respectively, and both are designed with worm gear mechanisms to ensure self-locking.

[0035] The retractable gripper 43 is driven by a steel wire rope, which allows the drive source to be placed inside the machine body, reducing the weight of the gripper and also reducing the number of drives.

[0036] Self-alignment process: The shape of the object being gripped (e.g., a mobile robot) is within the area of ​​the gripping mechanism 4. The aircraft 2 descends, and the gap between the object being gripped and the gripping part of the gripping mechanism 4 is the allowable positioning error. When the retractable gripper 43 retracts towards the center at the same time, self-alignment is completed, ensuring that the center of mass is located in the middle of the platform of the aircraft 2.

[0037] Furthermore, the retractable gripper 43 moves up and down along the linear guide rail 44, which is vertically fixed to the sliding member 34. The linear guide rail 44 allows the retractable gripper 43 to move up and down in the vertical direction, thus fixing and releasing the gripped object. The retractable gripper 43 has one translational degree of freedom in the vertical direction, used to clamp and fix the mobile robot 1 to the ground in the vertical direction.

[0038] The frame 35 includes four slide rods arranged in a cross shape and connected together. Each slide rod has a sliding element 34 slidably mounted on it. Opposite slide rods are fixed to a support plate 47 via suspension members. A worm gear mechanism 41 is arranged on the support plate 47. In this embodiment, the sliding element 34 is a sliding bearing that slides on the slide rod. The retractable grippers 43 slide by the translation of linear bearings that slide on the slide rods. The four retractable grippers 43 are located in four directions and are driven by the same drive source.

[0039] The retractable gripper 43 is laterally slidable along the shaft via a linear bearing.

[0040] A crank-slider mechanism is used to convert rotation into sliding in the horizontal direction.

[0041] In the horizontal plane, the crank-sliding mechanism in four directions shares a single drive source.

[0042] The length of the crank rocker arm can be designed to achieve the range of slider movement.

[0043] Specifically, the arrangement of the two sets of wire ropes 42 is as follows: Figure 5 As shown, each linear guide rail 44 has a top pulley 45 rotatably mounted on both sides of its top, and a bottom pulley 46 rotatably mounted on the outer bottom of its bottom. The top pulley 45 and the bottom pulley 46 are perpendicular to each other. One end of one of the wire ropes 42 is driven by one of the worm gear mechanisms 41. This wire rope passes over the top of one top pulley 45 and the bottom of one bottom pulley 46. The other end of this wire rope is fixed to the top of the retractable gripper 43. One end of another wire rope in the other set of wire ropes 42 is driven by another worm gear mechanism 41. This wire rope passes over another top pulley 45. The other end of this wire rope is fixed to the top of the retractable gripper 43.

[0044] In this embodiment, each set of worm gear mechanism 41 corresponds to a set of wire ropes 42, and each set of wire ropes 42 is designed with 4 wire ropes. Similarly, the number of rocker 33, slider 34, retractable gripper 43 and linear guide rail 44 are all 4, arranged in a ring array around the center of the aircraft 2 or around the center of self-centering.

[0045] One set of four wire ropes 42 is controlled by a corresponding worm gear mechanism 41. These four wire ropes pass over the top of the top pulley 45 and the bottom of the bottom pulley 46, and are finally fixed to the top of the retractable gripper 43. The other set of four wire ropes 42 is also controlled by a corresponding worm gear mechanism 41. These four wire ropes pass over the top of another top pulley 45 and are fixed to the top of the retractable gripper 43.

[0046] During operation, each set of wire ropes 42 is pulled synchronously under the control of the corresponding worm gear mechanism 41, and the other set of wire ropes 42 is released synchronously under the control of the corresponding worm gear mechanism 41. The two sets of wire ropes 42 work together to achieve the descent of the retractable gripper 43 and complete the release of the clamped object.

[0047] Each set of wire ropes 42 is released synchronously under the control of the corresponding worm gear mechanism 41, and the other set of wire ropes 42 is pulled synchronously under the control of the corresponding worm gear mechanism 41. The two sets of wire ropes 42 work together to achieve the lifting of the retractable gripper 43, thereby clamping and fixing the object being gripped.

[0048] The worm gear mechanism 41 based on the above concept is specifically as follows: Figure 5 As shown, each worm gear mechanism 41 includes a motor B411, a worm gear 412, a worm 413, and a shaft 414;

[0049] Motor B411 is fixed on support plate 47, and support plate 47 is fixed to frame 35. Worm 413 is installed on the output shaft of motor B411. Worm wheel 412 is rotatably mounted on support plate 47 and meshes with worm 413. A grooved shaft is fixed in the middle of worm wheel 412, and wire rope is wound in the groove. One end of wire rope is fixed in the groove.

[0050] In this embodiment, when the slider 34 moves towards or away from the center under the drive of the self-centering mechanism, the retractable gripper 43 connected to the slider 34 will also move towards or away from the center. In order to keep the retractable gripper 43 from moving up and down at this time, two sets of worm gear mechanisms 41 (two motors B411 working) work together to make the two sets of wire ropes 42 contract or extend at the same time, ensuring that the wire ropes will not become loose and will remain in a taut state, so as to prevent the retractable gripper 43 from sliding freely up and down along the linear guide when the wire ropes are relaxed. This ensures that the wire ropes will not become loose when the retractable gripper 43 contracts or extends in the vertical direction, thus achieving stable clamping and release of objects.

[0051] When the retractable gripper 43 moves upward and is fixed, motor B411 controls the wire rope passing only through the top pulley 45 to retract, while another motor B411 drives the wire rope to lengthen and loosen, causing the gripper to move upward. Conversely, motor B411 controls the wire rope passing only through the top pulley 45 to loosen, while another motor B411 controls the wire rope passing around the top pulley 45 and the bottom pulley 46 to retract, causing the gripper to move downward. This completes the up-and-down retracting movement of the retractable gripper 43, achieving the purpose of gripping or releasing the mobile robot 1.

[0052] Based on the above-mentioned structural scheme, the specific structure of the frame 35 and the connecting frame 5 was designed, as follows: Figure 4 As shown, the frame 35 includes four slide rods arranged in a cross shape and connected together. Each slide rod is slidably provided with a sliding member 34. Two opposite slide rods are fixed to the support plate 47 through a suspension member. The worm gear mechanism 41 is arranged on the support plate 47.

[0053] The connecting frame 5 includes connecting rod A51, connecting rod B52, and connecting plate 53. Connecting rod A51 is fixedly connected to connecting plate 53. Motor A31 is fixed to connecting plate 52. Connecting rod B52 is fixed to frame 35. Connecting rod A51 and connecting rod B52 are fixed to aircraft 2. In the amphibious robot structure design, aircraft 2 is fixed to aircraft 2 via connecting frame 5. The self-centering clamping mechanism 3 and clamping mechanism 4 enable the separation of mobile robot 1 and aircraft 2.

[0054] Example

[0055] Taking the "Flying Dog" robot as an example, the flight end adopts a one-dimensional thrust vector aircraft, and the ground moving end adopts a quadruped mobile robot. Both have good independent operation capabilities. When performing cross-domain operations, the two are combined to obtain an amphibious robot.

[0056] The clamping mechanism 2 has four retractable grippers, each with one degree of translational freedom in the vertical direction, used to clamp and fix the ground mobile robot in the vertical direction. The retractable grippers can slide along the guide rail via linear bearings. The four retractable grippers 43 are located in four directions and driven by the same drive source, fixing the ground mobile robot 1 in the front, back, left, and right directions respectively. When the aircraft 2 docks with the ground mobile robot 1, errors are unavoidable. The self-centering structure allows for errors during docking, only requiring the four grippers to be lowered to the lower abdomen of the ground mobile robot, reducing the docking accuracy requirement. The self-centering mechanism 3 places the ground mobile robot 1 below its center of gravity, avoiding eccentric loads. Then, the worm gear mechanism drives the rope, and the retractable grippers 43 retract, tightly fixing the ground mobile robot 1 and the aircraft 2 together. The reverse self-locking characteristic of the worm gear ensures safety.

[0057] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and all such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. A detachable amphibious robot assembly and separation mechanism, characterized in that: It includes a self-centering mechanism (3), a clamping mechanism (4), and a connecting frame (5); The self-alignment mechanism (3) is connected to the aircraft (2) through the connecting frame (5). The clamping mechanism (4) is driven by the self-alignment mechanism (3) to realize the synchronous alignment clamping or synchronous release of the mobile robot (1), so that the mobile robot (1) and the aircraft (2) are connected or separated. The self-centering mechanism (3) includes a motor A (31), a crank (32), rockers (33), a slider (34), and a frame (35). The motor A (31) is mounted on the connecting frame (5), the crank (32) is mounted on the output shaft of the motor A (31), the crank (32) is rotatably connected to one end of a plurality of rockers (33), and the other end of the plurality of rockers (33) is rotatably connected to the corresponding slider (34). The slider (34) is set on the frame (35) and can slide relative to the frame (35). The moving part (34) moves synchronously toward or away from the axis of motor A (31). The clamping mechanism (4) is connected to multiple sliding parts (34). The connecting frame (5) includes connecting rod A (51), connecting rod B (52) and connecting plate (53). Connecting rod A (51) is fixed to connecting plate (53). Motor A (31) is fixed on connecting plate (53). Connecting rod B (52) is fixed on frame (35). Connecting rod A (51) and connecting rod B (52) are fixed on aircraft (2). The clamping mechanism (4) includes two sets of worm gear mechanisms (41), two sets of wire ropes (42), and multiple retractable grippers (43). The two sets of worm gear mechanisms (41) are fixed on the frame (35). One set of worm gear mechanisms (41) controls the retraction of one set of wire ropes (42), and the other set of worm gear mechanisms (41) controls the extension of another set of wire ropes (42). The multiple retractable grippers (43) are controlled by the two sets of wire ropes (42) to move up and down in the vertical direction to clamp or release the mobile robot (1). The self-centering mechanism (3) controls the multiple retractable grippers (43) to move synchronously toward or away from the axis of motor A (31).

2. The detachable amphibious robot combination and separation mechanism according to claim 1, characterized in that: The retractable gripper (43) moves up and down along the linear guide rail (44), which is vertically fixed on the sliding member (34).

3. The detachable amphibious robot combination and separation mechanism according to claim 2, characterized in that: Each linear guide (44) has a top pulley (45) rotatably mounted on both sides of its top, and a bottom pulley (46) rotatably mounted on the outer side of its bottom. The top pulley (45) and the bottom pulley (46) are perpendicular to each other. One end of one of the wire ropes (42) is driven by one of the worm gears (41). The wire rope passes over the top of one top pulley (45) and the bottom of one bottom pulley (46). The other end of the wire rope is fixed to the top of the retractable gripper (43). One end of another wire rope in the other set of wire ropes (42) is driven by another worm gear mechanism (41). The wire rope passes over another top pulley (45). The other end of the wire rope is fixed to the top of the retractable gripper (43).

4. The detachable amphibious robot combination and separation mechanism according to claim 1, characterized in that: Each worm gear mechanism (41) includes a motor B (411), a worm wheel (412), a worm (413), and a shaft (414). Motor B (411) is fixed on support plate (47), support plate (47) is fixed to frame (35), worm (413) is installed on output shaft of motor B (411), worm wheel (412) is rotatably set on support plate (47), worm wheel (412) meshes with worm (413), grooved shaft is fixed in the middle of worm wheel (412), wire rope is wound in groove, and one end of wire rope is fixed in groove.

5. The detachable amphibious robot combination and separation mechanism according to claim 1, characterized in that: The sliding element (34) is a linear bearing.

6. The detachable amphibious robot combination and separation mechanism according to claim 4, characterized in that: The frame (35) includes four slide rods arranged in a cross shape and connected together. Each slide rod is slidably provided with a sliding element (34). Two opposite slide rods are fixed to the support plate (47) through a suspension element. The worm gear mechanism (41) is arranged on the support plate (47).

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