Sea-land-air triphibian robot

Abstract

The invention discloses a sea-land-air triphibian robot, and belongs to the technical field of unmanned operation equipment, the sea-land-air triphibian robot comprises a bottom plate, a wing conversion mechanism and a flight control assembly are fixedly connected to the bottom plate, and an underwater operation mechanism is fixedly connected to the bottom of the bottom plate; a first propulsion propeller is fixedly connected to the tail end of the bottom plate, a wing bracket is fixedly connected to the front end of the bottom plate, wings are hinged to the two sides of the wing bracket through spherical hinges, a rotor mechanism is fixedly connected to the wings, and an undercarriage is fixedly connected to the tail end of the rotor mechanism; the wing conversion mechanism drives the wings to stretch out, draw back and rotate with the spherical hinge as the axis. The unmanned aerial vehicle can realize cross-domain collaborative operation, can take off and work under various conditions such as a ship-based condition, a land-based condition and a sea-based condition, is compact in overall structure and convenient to transport, solves the problems that a traditional fixed-wing unmanned aerial vehicle is too large in transportation size and needs a large take-off and landing site, and also solves the problem that a traditional rotor unmanned aerial vehicle is low in flight speed.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned operation equipment, and in particular relates to an amphibious robot for land, sea and air. Background Art

[0002] With the development of unmanned operation equipment, it has gradually been widely used in agricultural and forestry plant protection, power inspection, security monitoring, forest fire prevention, medical first aid, express logistics, commercial applications and other aspects.

[0003] However, most of the current unmanned operation equipment cannot be used in three environments at once: sea, land, and air. They can only develop unilaterally and have limitations, such as a single operating environment, poor weather adaptability, and a single information acquisition channel.

[0004] To this end, a sea, land and air amphibious robot is proposed. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention proposes an amphibious robot that can be used on land, sea and air.

[0006] To achieve the above-mentioned objectives, the present invention provides an amphibious robot for land, sea and air, comprising: a base plate, a wing conversion mechanism and a flight control component fixedly connected to the base plate, and an underwater operation mechanism fixedly connected under the base plate; a first propulsion propeller fixedly connected to the tail end of the base plate, a wing bracket fixedly connected to the front end of the base plate, wings hinged on both sides of the wing bracket through ball joints, a rotor mechanism fixedly connected to the wing, and a landing gear fixedly connected to the tail end of the rotor mechanism; the wing conversion mechanism drives the wing to extend and rotate with the ball joint as the axis.

[0007] According to a three-in-one amphibious robot provided by the present invention, the wing conversion mechanism includes a control motor, which is controlled by the flight control component, and the control motor is fixed to the base plate. The control motor is transmission-connected with a screw, and the screw is arranged parallel to the base plate. A slider is threadedly connected to the screw, and the control motor drives the slider to move along the screw; both sides of the slider extend outward and are hinged with a pull rod through a ball bearing, and the end of the pull rod away from the slider is hinged to the inner end of the wing near the wing bracket through a ball bearing.

[0008] According to an amphibious robot provided by the present invention, the underwater operating mechanism includes a water tank and a second propulsion propeller, the water tank is fixedly connected under the bottom plate, and the second propulsion propeller is fixedly connected under the tail end of the bottom plate.

[0009] According to the amphibious robot provided by the present invention, a mobile power supply is fixedly connected to the upper front end of the base plate.

[0010] According to an amphibious robot provided by the present invention, a sensor component is fixedly connected to the lower front end of the base plate for detecting the environment and processing the acquired information. The sensor component is electrically connected to the flight control component, and the sensor component housing is transparent and waterproof.

[0011] According to the amphibious robot provided by the present invention, an obstacle avoidance radar, an onboard computer, an image processor, an ultrasonic barrier module, a camera, and a heat dissipation device are fixedly installed in the sensor assembly.

[0012] According to the amphibious robot provided by the present invention, the onboard computer itself has several interfaces and expansion spaces.

[0013] According to the amphibious robot provided by the present invention, a tail wing is fixedly connected to the tail end of the base plate, and a casing is provided on the top surface of the base plate.

[0014] Compared with the prior art, the present invention has the following advantages and technical effects:

[0015] The flight control component controls the navigation state of the robot, including controlling the wing conversion mechanism to drive the wings to extend and rotate, so that the wings can be converted between the folded rotor state and the fixed-wing flight state; in the folded rotor state, the two wings are set vertically and located on both sides of the base plate, the rotor mechanism is in a vertical state, and the landing gear is downward. In this state, the robot can take off or land vertically through the rotor mechanism, which solves the problem that traditional fixed-wing UAVs are too large to be transported and require a larger take-off and landing site; after take-off, the wing conversion mechanism can be controlled by the flight control component to drive the wings to extend and rotate, switching to the fixed-wing flight state. In the fixed-wing flight state, the wings are unfolded, and the wings are located on both sides of the wing bracket in a horizontal state. At this time, the rotor mechanism and landing gear are also in a horizontal state, the landing gear is retracted, and the first propulsion propeller It provides power for the fixed-wing flight state. The fixed-wing flight state has a faster flight speed and a higher flight altitude than the folded rotor state, which is convenient for carrying out tasks that require quick arrival at distant destinations or operations in higher airspace. When air navigation conditions are limited or underwater operations are required, the robot can land on the water surface or be placed directly on the water surface. At this time, the rotor is in a folded state, the structure is more compact, and it is convenient to reduce water resistance. The underwater operating mechanism can realize the robot's ascent and descent, allowing the robot to sail on the water surface or dive into the water. When the robot dives into the water, the landing gear can also serve as support and cooperate with the underwater operating mechanism to realize underwater crawling. After completing the underwater mission, it can also float to the water surface and complete vertical takeoff on the water surface in the folded rotor state, realizing multi-state switching.

[0016] The present invention mainly realizes the robot's various working states through the wing transformation structure, and uses the underwater operating mechanism to realize the robot's floating and diving, thereby realizing the robot's underwater working requirements. This invention enables the robot to realize cross-domain collaborative operation, and can realize take-off and work under various conditions such as ship-based, land-based and sea-based. The overall structure is compact and easy to transport. It solves the problem of traditional fixed-wing UAVs being too large for transportation and requiring a larger take-off and landing site, and also solves the problem of traditional rotorcraft UAVs having a slow flight speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the fixed-wing flight state of the amphibious robot of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the amphibious robot in the sea, land and air state with its rotors folded;

[0020] Figure 3 This is a front view of the amphibious robot in fixed-wing flight mode according to the present invention;

[0021] Figure 4 This is a schematic diagram of the wing conversion mechanism structure of the amphibious robot of the present invention in the folded rotor state;

[0022] Figure 5 This is a schematic diagram of the wing conversion mechanism structure of the amphibious robot in the fixed-wing flight state of the present invention;

[0023] Figure 6 This is a schematic diagram of the internal structure of the sensor component in the amphibious robot of the present invention.

[0024] In the figure: 1. Base plate; 2. Flight control assembly; 3. First propulsion propeller; 4. Wing bracket; 5. Ball joint; 6. Wing; 7. Rotor mechanism; 8. Landing gear; 9. Control motor; 10. Screw; 11. Slider; 12. Ball bearing; 13. Pull rod; 14. Water tank; 15. Second propulsion propeller; 16. Mobile power supply; 17. Sensor assembly; 18. Obstacle avoidance radar; 19. Onboard computer; 20. Image processor; 21. Ultrasonic barrier module; 22. Camera; 23. Heat dissipation device; 24. Tail; 25. Casing. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] Reference Figures 1 to 6 As shown, this embodiment provides an amphibious robot for land, sea and air, including: a base plate 1, a wing conversion mechanism and a flight control component 2 are fixedly connected to the base plate 1, and an underwater operation mechanism is fixedly connected to the bottom of the base plate 1; a first propulsion propeller 3 is fixedly connected to the tail end of the base plate 1, a wing bracket 4 is fixedly connected to the front end of the base plate 1, wings 6 are hinged on both sides of the wing bracket 4 through a ball joint 5, a rotor mechanism 7 is fixedly connected to the wing 6, and a landing gear 8 is fixedly connected to the tail end of the rotor mechanism 7; the wing conversion mechanism drives the wing 6 to extend and rotate with the ball joint 5 as the axis.

[0028] The flight control assembly 2 controls the navigation state of the robot, including controlling the wing conversion mechanism to drive the wings 6 to extend and rotate, so that the wings 6 can be converted between the folded rotor state and the fixed-wing flight state; in the folded rotor state, the two wings 6 are arranged vertically and located on both sides of the base plate 1, the rotor mechanism 7 is in a vertical state, and the landing gear 8 is downward. In this state, the robot can take off or land vertically through the rotor mechanism 7, which solves the problem that traditional fixed-wing UAVs are too large to be transported and require a larger take-off and landing area; after take-off, the wing conversion mechanism can be controlled by the flight control assembly 2 to drive the wings 6 to extend and rotate, switching to the fixed-wing flight state. In the fixed-wing flight state, the wings 6 are unfolded, and the wings 6 are located on both sides of the wing bracket 4 in a horizontal state. At this time, the rotor mechanism 7 and the landing gear 8 are also in a horizontal state, and the landing gear 8 is retracted. The first propulsion propeller 3 provides power for the fixed-wing flight state. The fixed-wing flight state has a faster flight speed and a higher flight altitude than the folded rotor state, which is convenient for performing tasks that require quick arrival at distant destinations or operations in higher airspace; when air navigation conditions are limited or underwater operations are required, the robot can land on the water surface or be placed directly on the water surface. At this time, the rotor is in a folded state, the structure is more compact, and it is convenient to reduce the resistance in the water. The underwater operating mechanism can realize the robot's ascent and descent, allowing the robot to sail on the water surface or dive into the water; when the robot dives into the water, the landing gear 8 can also serve as a support, cooperating with the underwater operating mechanism to realize underwater crawling; after completing the underwater task, it can also float to the water surface and complete vertical take-off on the water surface in the folded rotor state, realizing multi-state switching.

[0029] The present invention mainly realizes the robot's various working states through the wing 6 conversion structure, and uses the underwater operating mechanism to realize the robot's floating and diving, thereby realizing the robot's underwater working requirements. This invention enables the robot to realize cross-domain collaborative operation, and can realize take-off and work under various conditions such as ship-based, land-based and sea-based. The overall structure is compact and easy to transport, which solves the problem of traditional fixed-wing UAVs being too large for transportation and requiring a larger take-off and landing site, and also solves the problem of traditional rotorcraft UAVs having a slow flight speed.

[0030] According to a three-dimensional amphibious robot provided by this embodiment, the wing conversion mechanism includes a control motor 9, which is controlled by a flight control component 2. The control motor 9 is fixed to the base plate 1, and the control motor 9 is connected to a screw 10 in a transmission manner. The screw 10 is arranged parallel to the base plate 1, and a slider 11 is threadedly connected to the screw 10. The control motor 9 drives the slider 11 to move along the screw 10; the slider 11 extends outward on both sides and is hinged with a pull rod 13 through a ball bearing 12, and the end of the pull rod 13 away from the slider 11 is hinged to the inner end of the wing 6 near the wing bracket 4 through the ball bearing 12.

[0031] When the robot switches from folded rotors to fixed-wing flight, flight control assembly 2 controls motor 9, which in turn rotates screw 10, causing slider 11 to move along screw 10 away from wing support 4. Slider 11 then drives tie rod 13 and ball bearing 12, ultimately rotating wing 6 around ball joint 5 to folded rotors, completing the state transition. Throughout this process, flight control assembly 2 dynamically adjusts the speed and amount of motor 9 to ensure smooth flight and maintain optimal flight performance during the transformation process.

[0032] It can be inferred that a guide rod is provided parallel to the screw rod 10 , and the slider 11 is slidably connected to the guide rod so that the slider 11 can move along the direction of the screw rod 10 when the screw rod 10 rotates.

[0033] According to the amphibious robot provided in this embodiment, the underwater operation mechanism includes a water tank 14 and a second propulsion propeller 15. The water tank 14 is fixedly connected to the bottom of the base plate 1, and the second propulsion propeller 15 is fixedly connected to the bottom of the tail end of the base plate 1.

[0034] The second propulsion propeller 15 provides power for underwater movement, and the water tank 14 enables the robot to float up and dive down by taking in and out water. Its specific structure is existing technology and will not be described in detail here.

[0035] According to the amphibious robot provided by this embodiment, a mobile power source 16 is fixedly connected to the upper front end of the base plate 1 .

[0036] The mobile power supply 16 provides power to the electrical appliances on the robot.

[0037] According to an amphibious robot provided by this embodiment, a sensor component 17 is fixedly connected to the lower front end of the base plate 1 for detecting the environment and processing the acquired information. The sensor component 17 is electrically connected to the flight control component 2, and the housing of the sensor component 17 is transparent and waterproof.

[0038] The robot can be equipped with a sensor component 17 to detect the environment and feed back to the flight control component 2. The flight control component 2 can realize intelligent control according to the navigation situation and the surrounding environment, and can also detect and record the environment to complete various operational tasks.

[0039] According to the amphibious robot provided by this embodiment, an obstacle avoidance radar 18, an onboard computer 19, an image processor 20, an ultrasonic barrier module 21, a camera 22, and a heat dissipation device 23 are fixedly installed in the sensor assembly 17.

[0040] The robot uses obstacle avoidance radar 18 and an ultrasonic obstacle avoidance module to autonomously plan its route during fixed-wing flight. When the robot operates underwater or crawls on the seabed, the transparent, waterproof sensor assembly 17 protects the internal sensors while ensuring the proper operation of the camera 22. The obstacle avoidance radar 18 and ultrasonic obstacle avoidance module can also be activated to enable the robot to autonomously avoid obstacles in water and on the seabed. The camera 22 and image processor 20 collect captured images and transmit them to the onboard computer 19 for subsequent processing, storage, and transmission.

[0041] It should be noted that the detection devices installed in the sensor assembly 17 include but are not limited to the above-mentioned devices, and may also include temperature sensors, fill light equipment, collection equipment, etc.

[0042] According to the amphibious robot provided by this embodiment, the onboard computer 19 itself has several interfaces and expansion spaces.

[0043] The reserved interfaces and expansion space facilitate the addition of new functional modules or the upgrading of existing functions, so that the onboard computer 19 can be compatible with a variety of sensors and auxiliary equipment and adapt to a variety of operation modes.

[0044] According to the amphibious robot provided by this embodiment, a tail wing 24 is fixedly connected to the tail end of the base plate 1, and a housing 25 is provided on the top surface of the base plate 1.

[0045] The tail wing 24 increases the stability of the robot during navigation and protects the structure inside the base plate 1.

[0046] Any details not provided in the present invention are conventional technical means known to those skilled in the art.

[0047] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An amphibious robot capable of operating on land, sea and air, characterized in that: include: A base plate (1), a wing conversion mechanism and a flight control component (2) are fixedly connected to the base plate (1), and an underwater operation mechanism is fixedly connected to the base plate (1); a first propulsion propeller (3) is fixedly connected to the tail end of the base plate (1), a wing bracket (4) is fixedly connected to the front end of the base plate (1), wings (6) are hinged on both sides of the wing bracket (4) through ball joints (5), a rotor mechanism (7) is fixedly connected to the wing (6), and a landing gear (8) is fixedly connected to the tail end of the rotor mechanism (7); the wing conversion mechanism drives the wing (6) to extend and rotate with the ball joint (5) as the axis.

2. The amphibious robot according to claim 1, characterized in that: The wing conversion mechanism comprises a control motor (9), the control motor (9) is controlled by the flight control assembly (2), the control motor (9) is fixedly connected to the base plate (1), the control motor (9) is drivingly connected to a screw rod (10), the screw rod (10) is arranged parallel to the base plate (1), a slider (11) is threadedly connected to the screw rod (10), and the control motor (9) drives the slider (11) to move along the screw rod (10); the slider (11) extends outward on both sides and is hinged with a pull rod (13) through a ball bearing (12), and the end of the pull rod (13) away from the slider (11) is hinged to the inner side end of the wing (6) close to the wing bracket (4) through the ball bearing (12).

3. The amphibious robot according to claim 1, characterized in that: The underwater operation mechanism comprises a water tank (14) and a second propulsion propeller (15); the water tank (14) is fixedly connected below the bottom plate (1); and the second propulsion propeller (15) is fixedly connected below the tail end of the bottom plate (1).

4. The amphibious robot according to claim 1, characterized in that: A mobile power source (16) is fixedly connected above the front end of the bottom plate (1).

5. The amphibious robot according to claim 1, characterized in that: A sensor component (17) is fixedly connected below the front end of the base plate (1) for detecting the environment and processing the acquired information. The sensor component (17) is electrically connected to the flight control component (2). The housing of the sensor component (17) is transparent and waterproof.

6. The amphibious robot according to claim 5, characterized in that: An obstacle avoidance radar (18), an onboard computer (19), an image processor (20), an ultrasonic barrier module (21), a camera (22), and a heat dissipation device (23) are fixedly installed in the sensor assembly (17).

7. The amphibious robot according to claim 6, characterized in that: The onboard computer (19) itself has a number of interfaces and expansion spaces.

8. The amphibious robot according to claim 1, characterized in that: A tail wing (24) is fixedly connected to the rear end of the bottom plate (1), and a casing (25) is provided on the top surface of the bottom plate (1).

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