Cross-medium triphibian robot

Abstract

The invention provides a cross-medium triphibian robot which comprises a flying mechanism component and a walking mechanism component, and the walking mechanism component is arranged below the flying mechanism component. The flight mechanism component comprises a rack, a motor, a rotor wing, a control module and a buoyancy block, and the motor and the rotor wing are arranged on the rack; the buoyancy blocks are arranged below the two sides of the rack; the walking mechanism component comprises a shell, a driven wheel, a push rod, a waterproof motor, an integrated combined wheel paddle, a power supporting frame, a support, a guide shaft, a support, a push rod connecting rod, a connecting rod and a pin shaft, the shell is connected with the flying mechanism component and arranged below the flying mechanism component, and the support is fixedly connected to the lower portion of the shell. According to the cross-medium triphibian robot, the functions of sailing, land walking and flying in different media in water, land and air can be achieved, and different tasks can be efficiently executed according to environment characteristics and operation requirements in the different media.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a cross-media amphibious robot. Background Art

[0002] At present, there are many research and development results of cross-media amphibious robots, and the product forms are diverse. However, there are few domestic research and development results of amphibious robots for the three media of water, land and air. With the development of science and technology and the subdivision and deepening of the field of robot research and development, the ever-changing special environment and complex operational requirements, the demand for amphibious robots is increasing, and amphibious robots will play an important role in more scenarios.

[0003] The cross-media amphibious robot can realize the functions of navigation, walking and flying in different media such as water, land and air respectively. It can efficiently perform tasks in different media according to the environmental characteristics and operational requirements in different media. Summary of the invention

[0004] The invention discloses a cross-medium amphibious robot to solve the problem of poor adaptability of the robot in three medium environments.

[0005] The present invention proposes a cross-medium amphibious robot, which uses a flying propeller and a flying power motor to realize the function of flying in the air. It uses a waterproof motor and an integrated combination wheel paddle, with a high overall integration, and couples the land motion energy and the navigation function into an integrated structure. The waterproof motor drives the integrated combination wheel paddle to rotate in different media, realizing the motion functions on land and in water respectively. The push rod drives the power support frame to drive the waterproof motor and the integrated combination wheel paddle, which can realize the switching between the navigation posture and the land posture.

[0006] A cross-medium amphibious robot of the present invention comprises a flying mechanism component and a walking mechanism component, wherein the walking mechanism component is arranged below the flying mechanism component;

[0007] The flight mechanism components include a frame, a motor, a rotor, a control module, and a buoyancy block. The motor and the rotor are arranged on the frame; the buoyancy blocks are arranged below both sides of the frame; and the control module is arranged inside the skeleton cavity in the middle of the flight mechanism components.

[0008] The walking mechanism components include a shell, a driven wheel, a push rod, a waterproof motor, an integrated combined wheel paddle, a power support frame, a bracket, a guide shaft, a support, a push rod connecting rod, a connecting rod, and a pin shaft. The shell is connected to the flight mechanism components and is arranged below the flight mechanism components. The bracket is fixed below the shell. The power support frame is hingedly connected to the bracket through the pin shaft and can rotate relative to the bracket; the integrated combined wheel paddle is fixed on the rotating shaft of the waterproof motor, and the base of the waterproof motor is fixed on the power support frame; the other end of the power support frame is hinged to the connecting rod, and the other end of the connecting rod is hinged to the push rod connecting rod through the pin shaft; both sides of the push rod connecting rod are hinged to the connecting rod through the pin shaft, and the push rod connecting rod is connected to the guide shaft through the intermediate guide hole structure; both ends of the guide shaft are fixed to the bottom of the shell through supports.

[0009] Preferably, the flight mechanism component includes a visual device and a ranging device, wherein the visual device is arranged above the front end of the flight mechanism component and is used to collect image information near the robot; the ranging device is arranged below the front end of the flight mechanism component and is used to perform ranging sensing in front of the robot.

[0010] Preferably, the flight mechanism component includes a battery mounting frame and a battery, the legs of the battery mounting frame are fixedly connected above the middle of the flight mechanism component to avoid the propeller movement space of the flight mechanism component, and the battery is placed on the battery mounting frame.

[0011] Preferably, the flight mechanism component includes a protective plate, and the protective plate is arranged around the frame.

[0012] Preferably, the push rod is arranged below the housing, fixed by a clamp, and the axial end of the push rod is fixed to the push rod connecting rod.

[0013] Preferably, the push rod can drive the push rod connecting rod to move in a linear direction, and the guide shaft has a guiding effect on the push rod connecting rod; when the push rod connecting rod moves, the power support frame can be driven to rotate within the range of 0 degrees to 90 degrees through the connecting rod.

[0014] Preferably, the waterproof motor and integrated combined paddle wheel installed on the power support frame can rotate within the range of 0 degrees to 90 degrees under the drive of the push rod to achieve posture changes; a limiting structure is provided on the bracket, and when the power support frame rotates to 0 degrees or 90 degrees, the limiting structure can limit the position of the power support frame.

[0015] Preferably, the hub of the integrated combined wheel-paddle is evenly designed as a plurality of propeller blade structures, and the outer circumference of the integrated combined wheel-paddle is designed as a wheel-type outer edge structure; when the integrated combined wheel-paddle rotates on land, it can provide power for walking on land; when the integrated combined wheel-paddle sails in water, it can provide power for sailing in the water medium.

[0016] Preferably, when the push rod drives the power support frame to drive the waterproof motor and the integrated combination wheel paddle to rotate to a 0 degree posture, the walking mechanism components present a sailing posture, which can provide the robot with forward power in the water, thereby realizing the underwater navigation function; when the push rod drives the power support frame to drive the waterproof motor and the integrated combination wheel paddle to rotate to a 90 degree posture, the walking mechanism components present a land walking posture, which can provide the robot with forward power on land, thereby realizing the land walking function.

[0017] Preferably, the waterproof motors are arranged symmetrically. When walking on land, the waterproof motors symmetrically arranged on both sides drive the integrated combined wheel paddles to rotate differentially, thereby realizing forward, backward, turning and other movements on land; when sailing in water, the integrated combined wheel paddles rotate differentially, thereby realizing forward, backward, turning and other navigation movements in water.

[0018] The present invention has the following beneficial effects:

[0019] The cross-media amphibious robot proposed in the present invention has an integrated design of land function and navigation function, with a smaller overall weight and simpler system control. The push rod drives the connecting rod mechanism to achieve the posture switching of the integrated combination of paddle wheels and waterproof motors. Compared with the prior art, the cross-media amphibious machine of the present invention can be smaller in size and weight, the power system is simpler, the motion control variables are relatively few, and the system reliability is higher. On the basis of solving the problems of water entry and exit and sealing of traditional cross-media robots, the power sharing for navigation and land travel can be achieved, which can further expand the scope of application to cope with the diverse terrain conditions in natural environment areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] In the attached picture:

[0022] Figure 1 It is a schematic side view of the overall structure of a cross-medium amphibious robot according to an embodiment of the present invention;

[0023] Figure 2 It is a schematic top view of the overall structure of a cross-medium amphibious robot according to an embodiment of the present invention;

[0024] Figure 3 A schematic side view of a cross-medium amphibious robot in a land-walking posture according to an embodiment of the present invention;

[0025] Figure 4 It is a front view schematic diagram of a cross-medium amphibious robot in a land-walking posture according to an embodiment of the present invention;

[0026] Figure 5 It is a left-view schematic diagram of a navigation posture of a cross-medium amphibious robot according to an embodiment of the present invention;

[0027] Figure 6 A schematic top view of a navigation posture of a cross-medium amphibious robot according to an embodiment of the present invention;

[0028] Figure 7 A bottom view schematic diagram of a walking mechanism component in a land-running posture according to an embodiment of the present invention;

[0029] Figure 8 A bottom view schematic diagram of the navigation posture of the walking mechanism component according to an embodiment of the present invention;

[0030] Fig. 9 It is a left-side schematic diagram of a walking mechanism component in a land-running posture according to an embodiment of the present invention;

[0031] Fig.10 It is a left schematic diagram of the navigation posture of the walking mechanism component according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use.

[0033] like Figure 1 , Figure 2 As shown, a schematic diagram of the overall structure of a cross-medium amphibious robot in side view and top view. A cross-medium amphibious robot includes a flight mechanism component 1 and a walking mechanism component 2, and the walking mechanism component 2 is arranged below the flight mechanism component 1. The flight mechanism component 1 can realize the flight function of the robot, and the walking mechanism component 2 can realize the land walking and navigation functions of the robot.

[0034] The flight mechanism component 1 includes a frame 10, a motor 11, a rotor 12, a visual device 13, a battery holder 14, a battery 15, a distance measuring device 16, a control module 17, a protective plate 18, a buoyancy block 19, etc. The motor 11 and the rotor 12 are arranged on the frame and are symmetrically arranged in a cross-shaped configuration. The motor 11 on each axis rotates to drive the rotor 12, thereby generating a lift thrust. By changing the relative speed between different rotors 12, the size of the single-axis propulsion force can be changed, thereby controlling the flight trajectory of the robot.

[0035] The visual device 13 is arranged above the front end of the flight mechanism component 1, and is used to collect image information near the robot. The video or picture information collected by the visual device 13 is sent to the robot control module 17. The robot control module 17 calculates and analyzes the video or picture information to obtain parameters such as the robot motor speed adjustment and sends them to the robot, and the robot performs the corresponding action. The distance measuring device 16 is arranged below the front end of the flight mechanism component 1, and is used to perform distance sensing in front of the robot.

[0036] The flight mechanism component 1 also includes a battery fixing frame 14 and a battery 15, wherein the legs of the fixing frame 14 are fixedly connected to the upper middle of the flight mechanism component 1 to avoid the propeller movement space of the flight mechanism component; the battery 15 is placed on the battery fixing frame 14; the protective plate 18 is arranged around the frame 10 to protect the robot propeller and robot components during flight or land or sailing; the buoyancy blocks 18 are arranged below both sides of the frame 10 to provide buoyancy for the robot when the robot is sailing in the water. As an example, the buoyancy blocks are made of lightweight foam materials such as EVA.

[0037] As an example, the frame 10 of the flight mechanism component is made of carbon fiber material to ensure that the robot body has a low weight and high strength. The control module 17 is arranged inside the skeleton cavity in the middle of the flight mechanism component. The control module completes functions such as motion control, motor control, sensor data processing, signal transmission and reception, parameter adjustment, monitoring and fault detection, recording and storage.

[0038] like Figure 3 , Figure 4 As shown, it is a side view and a front view schematic diagram of a cross-medium amphibious robot on land according to an embodiment of the present invention; Figure 5 , Figure 6The figure shows a left-view and top-view schematic diagram of the navigation posture of a cross-media amphibious robot according to an embodiment of the present invention; a flying propeller and a flying power motor are used to realize the function of flying in the air. A waterproof motor and an integrated combined wheel paddle are used, with a high overall integration, and the land motion energy and the navigation function are coupled and designed into an integrated structure. The integrated combined wheel paddle is driven by the waterproof motor to rotate in different media, realizing the movement functions on land and in water respectively. The push rod drives the power support frame to drive the waterproof motor and the integrated combined wheel paddle, which can realize the switching between the navigation posture and the land posture.

[0039] like Figure 7 , Fig. 9 As shown, it is a schematic diagram of the bottom view and left view of the walking mechanism component of the embodiment of the present invention in the land running posture; Figure 8 , Fig.10 The figure shows the schematic diagram of the navigation posture of the walking mechanism component according to the embodiment of the present invention from the top and left. The walking mechanism component 2 includes a housing 20, a driven wheel 21, a push rod 22, a waterproof motor 23, an integrated wheel paddle 24, a power support frame 25, a bracket 26, a guide shaft 27, a support 28, a push rod connecting rod 29, a connecting rod 30, a pin 31, a clamp 32, etc.

[0040] The running mechanism component 2 is connected to the flying mechanism component 1 through a housing 20 and is arranged below the flying mechanism component 1 .

[0041] The bracket 26 is fixed to the bottom of the housing 20, and the power support frame 25 is hingedly connected to the bracket 26 through a pin shaft 31, and can rotate relative to the bracket 26. The integrated combined wheel paddle 24 is fixed on the rotating shaft of the waterproof motor 23, and the base of the waterproof motor 23 is fixed on the power support frame 25; the other end of the power support frame 25 is hinged to the connecting rod 30, and the other end of the connecting rod 30 is hinged to the push rod connecting rod 29 through a pin shaft 31.

[0042] The walking mechanism components, the two sides of the push rod connecting rod 29 are hinged with the connecting rod 30 through the pin shaft 31, and the push rod connecting rod 29 is connected with the guide shaft 27 through the middle guide hole structure; the two ends of the guide shaft 27 are fixed to the bottom of the shell 20 through the support 28.

[0043] The push rod 22 is arranged below the housing 20, and the clamp 32 is used to fix the push rod 22. The axial end of the push rod 22 is fixed to the push rod connecting rod 29.

[0044] The posture switching of the walking mechanism component 2 is driven by the push rod as the power source. The push rod 22 can drive the push rod connecting rod 29 to move in a straight line direction, and the guide shaft 27 has a guiding effect on the push rod connecting rod 29; when the push rod connecting rod 29 moves, the power support frame 25 can be driven to rotate within the range of 0 degrees to 90 degrees through the connecting rod 30.

[0045] The waterproof motor 23 and the integrated wheel paddle 24 installed on the power support frame 25 of the walking mechanism can be rotated within the range of 0-90 degrees under the drive of the push rod 22 to achieve posture changes. A limiting structure is provided on the bracket 26. When the power support frame 25 rotates to the position of 0 or 90 degrees, the limiting structure can limit the position of the power support frame 25.

[0046] The hub of the integrated combined wheel-paddle 24 of the walking mechanism component is evenly designed as a plurality of propeller blade structures, and the outer circumference of the integrated combined wheel-paddle 24 is designed as a wheel-type outer edge structure; when the integrated combined wheel-paddle 24 rotates on land, it can provide power for walking on land; when the integrated combined wheel-paddle 24 sails in water, it can provide power for sailing in the water medium.

[0047] When the push rod 22 of the walking mechanism component 2 drives the power support frame 25 to drive the waterproof motor 23 and the integrated combined wheel paddle 24 to rotate to a 0 degree posture, the walking mechanism component 2 presents a sailing posture, which can provide the robot with forward power in the water, thereby realizing the underwater navigation function; when the push rod 22 drives the power support frame 25 to drive the waterproof motor 23 and the integrated combined wheel paddle 24 to rotate to a 90 degree posture, the walking mechanism component 2 presents a land walking posture, which can provide the robot with forward power on land, thereby realizing the land walking function.

[0048] The driven wheel 21 is arranged at the bottom front end of the housing 20, and the unpowered driven wheel is a passive wheel when walking on land.

[0049] The waterproof motor 23 and the integrated combined wheel paddle 24 are arranged symmetrically. When walking on land, the waterproof motors 23 arranged symmetrically on both sides drive the integrated combined wheel paddle 24 to rotate differentially, thereby realizing forward, backward, turning and other movements on land; when sailing in water, the integrated combined wheel paddle 24 rotates differentially, thereby realizing forward, backward, turning and other sailing movements in water.

[0050] The cross-medium amphibious robot proposed in the present invention has an integrated design of land function and navigation function, with a smaller overall weight, a simpler power system, relatively fewer motion control variables, and higher system reliability. The land function and navigation function are realized by pushing the connecting rod mechanism through the push rod to realize the posture switching of the integrated combined wheel paddle and waterproof motor.

[0051] The cross-medium amphibious robot provided by the present invention can provide multiple and rapid air, land and underwater support. It has the shielding property of submerged navigation, which can avoid the air threat of electromagnetic anti-UAV weapons to the body, and has the long cruising characteristics of ground vehicles and surface ships, as well as the advantage of the height of aircraft. On the basis of solving the problems of water entry and exit and sealing of traditional cross-medium robots, it realizes the common power during navigation and land travel, which can further expand the scope of application to cope with the diverse terrain conditions in natural environment areas.

[0052] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the present invention, they should all be included in the scope of the technical solution for protection of the present invention.

Claims

1. A cross-medium amphibious robot, comprising a flight mechanism component and a walking mechanism component, characterized in that: The walking mechanism component is arranged below the flying mechanism component; The flight mechanism components include a frame, a motor, a rotor, a control module, and a buoyancy block. The motor and the rotor are arranged on the frame; the buoyancy blocks are arranged below both sides of the frame; and the control module is arranged inside the skeleton cavity in the middle of the flight mechanism components. The walking mechanism components include a shell, a driven wheel, a push rod, a waterproof motor, an integrated combined wheel paddle, a power support frame, a bracket, a guide shaft, a support, a push rod connecting rod, a connecting rod, and a pin shaft. The shell is connected to the flight mechanism components and is arranged below the flight mechanism components. The bracket is fixed below the shell. The power support frame is hingedly connected to the bracket through a pin shaft and can rotate relative to the bracket; the integrated combined wheel paddle is fixed on the rotating shaft of the waterproof motor, and the base of the waterproof motor is fixed on the power support frame; the other end of the power support frame is hinged to the connecting rod, and the other end of the connecting rod is hinged to the push rod connecting rod through the pin shaft; both sides of the push rod connecting rod are hinged to the connecting rod through the pin shaft, and the push rod connecting rod is connected to the guide shaft through an intermediate guide hole structure; both ends of the guide shaft are fixed to the bottom of the shell through supports.

2. The robot according to claim 1, characterized in that: The flight mechanism component includes a visual device and a distance measuring device. The visual device is arranged above the front end of the flight mechanism component and is used to collect image information near the robot; the distance measuring device is arranged below the front end of the flight mechanism component and is used to perform distance measuring sensing in front of the robot.

3. The robot according to claim 1, characterized in that: The flying mechanism component comprises a battery fixing frame and a battery. The legs of the battery fixing frame are fixedly connected above the middle of the flying mechanism component to avoid the propeller movement space of the flying mechanism component. The battery is placed on the battery fixing frame.

4. The robot according to claim 1, characterized in that: The flying mechanism component comprises a protective plate, and the protective plate is arranged around the frame.

5. The robot according to claim 1, characterized in that: The push rod is arranged below the housing and is fixed by a clamp. The shaft end of the push rod is fixed to the push rod connecting rod.

6. The robot according to claim 5, characterized in that: The push rod can drive the push rod connecting rod to move in a straight line direction, and the guide shaft has a guiding effect on the push rod connecting rod; when the push rod connecting rod moves, the power support frame can be driven to rotate within a range of 0 degrees to 90 degrees through the connecting rod.

7. The robot according to claim 1, characterized in that: The waterproof motor and integrated combined wheel paddle installed on the power support frame can rotate within the range of 0 degrees to 90 degrees under the drive of the push rod to achieve posture changes; a limiting structure is provided on the bracket, and when the power support frame rotates to 0 degrees or 90 degrees, the limiting structure can limit the position of the power support frame.

8. The robot according to claim 1, characterized in that: The hub of the integrated combined wheel-paddle is evenly designed as a plurality of propeller blade structures, and the outer circumference of the integrated combined wheel-paddle is designed as a wheel-type outer edge structure; when the integrated combined wheel-paddle rotates on land, it can provide power for walking on land; when the integrated combined wheel-paddle sails in water, it can provide power for sailing in the water medium.

9. The robot according to claim 7, characterized in that: When the push rod drives the power support frame to drive the waterproof motor and the integrated combined wheel paddle to rotate to a 0 degree posture, the walking mechanism components present a sailing posture, which can provide the robot with forward power in the water, thereby realizing the underwater navigation function; when the push rod drives the power support frame to drive the waterproof motor and the integrated combined wheel paddle to rotate to a 90 degree posture, the walking mechanism components present a land walking posture, which can provide the robot with forward power on land, thereby realizing the land walking function.

10. The robot according to claim 1, characterized in that: The waterproof motors are symmetrically arranged. When walking on land, the waterproof motors symmetrically arranged on both sides drive the integrated combined wheel paddles to rotate differentially, thereby realizing forward, backward, turning and other movements on land; when sailing in water, the integrated combined wheel paddles can rotate differentially, thereby realizing forward, backward, turning and other sailing movements in water.

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