Variable-structure amphibious multi-mode robot

Abstract

The invention discloses a variable-structure amphibious multimode robot, which belongs to the field of intelligent robots, and comprises an amphibious motion control system, a flight execution device, a crawling execution device, a structural member, a magnetic adsorption device, a landing gear and a battery, the battery is fixed above the fuselage structural member; the four legs are uniformly distributed on the periphery of the machine body; the flight execution device is fixed above the crawling execution device of the second joint of each leg and foot; the magnetic adsorption device is fixed in the fuselage structural member; and the landing gear is fixed below the fuselage structural member. The robot is different from a traditional air-ground amphibious robot, switching among a flying motion mode, a crawling motion mode and a wall surface adsorption mode can be carried out by changing the structure of the robot, and the wall surface adsorption mode can be formed by directly carrying out air variable structure actions in the flying motion; and the device is suitable for various environments such as air, unstructured earth surface and steel wall surface. The robot is light in weight, high in strength, high in integration degree and flexible in application, and especially the endurance time of a traditional unmanned aerial vehicle for executing tasks such as monitoring and reconnaissance can be greatly prolonged through the crawling motion mode and the wall surface adsorption mode of the robot.

Description

Technical Field

[0001] The invention belongs to the field of intelligent robots, and in particular relates to a variable-structure amphibious multi-mode robot. Background Art

[0002] With the rapid development of unmanned system technology, robots are playing an increasingly important role in many key fields, such as anti-terrorism and riot control, post-disaster search and rescue, engineering monitoring and environmental protection, with their unique advantages in reducing risks and improving task execution efficiency. However, the changing environmental conditions have put forward more stringent requirements on the mobility of robots. At present, the existing land and air amphibious robots often only have amphibious movement modes, and cannot achieve structural changes and wall adsorption in flight, which limits the application scenarios of existing land and air amphibious robots. The variable structure amphibious multi-mode robot is a combination of land and air amphibious robots and flying-attaching robots. It has the functions of both. It can achieve amphibious movement capabilities, and also has the ability to change the structure in the air and adsorb on the wall in flight. It realizes multi-mode switching between crawling, flying and wall adsorption, and can adapt well to various mission scenarios.

[0003] Chinese patent document CN201420742237.2 discloses a land-air amphibious robot. The robot has a fixedly connected flying device and a land-moving device. The flying device adopts a coaxial double propeller with a compact structure, and the land-moving device adopts an incomplete wheel structure with a bionic structure. With a very small weight and size, it has an obstacle-crossing capability higher than that of wheeled and tracked structures. However, in most engineering environments, the incomplete wheel structure still cannot adapt well to the operational requirements, and does not have the flying-adsorption capability, and cannot be adsorbed on the wall for activities.

[0004] Chinese patent document CN202110124993.3 discloses a land-air amphibious robot. The robot features an ellipsoidal shell and a central rotating shaft inside the shell, a ground motion module, and a lift module. The shell is driven by the central rotating shaft to achieve ground rolling, and the four rotors of the lift module drive the whole to achieve flight. The robot has a high rolling efficiency on flat ground, but still lacks the ability to adapt to complex ground environments and cannot be attached to the wall for activities.

[0005] The land and air amphibious robots of the above patents are all fixed structures, the occupied space cannot be changed, they cannot be deformed in the air to pass through narrow spaces, and they cannot be adsorbed on the wall to reduce the power consumption of the whole machine to improve endurance. In order to solve the above problems, it is necessary to invent a new variable structure amphibious multi-mode robot. Summary of the invention

[0006] The purpose of the present invention is to provide a variable structure amphibious multi-mode robot to solve the problems of existing land and air amphibious robots occupying large space, being unable to adapt to complex environments well, and not having the ability to adsorb and inhabit on walls. The variable structure amphibious multi-mode robot has two motion working modes of crawling and flying and a static working mode of adsorbing on walls. In addition, it also has the ability of variable structure flight in the air, and can flexibly change the structure and switch the mode according to the task requirements.

[0007] The technical solution to achieve the purpose of the present invention is:

[0008] A variable structure amphibious multi-mode robot capable of switching between a crawling mode, a flying mode and a wall adsorption mode, comprising a fuselage structure and four leg structures distributed on the fuselage structure;

[0009] The fuselage structure is provided with a first joint servo of each leg, which is used to drive the first leg segment to rotate around the fuselage structure, so as to realize the yaw movement of the first leg segment parallel to the ground contact in the crawling mode, and to realize the leg posture fixation of the first leg segment in the flight mode and the wall adsorption mode, so as to realize the structure change of the robot when flying in the air to reduce the width of the whole machine so as to pass through a narrow space;

[0010] The fuselage structure is provided with a magnetic adsorption module to realize the robot's adsorption task on the target wall during flight;

[0011] A landing gear structure is fixed below the fuselage structure to reduce the impact and damage to the entire machine structure caused by the robot landing in flight mode;

[0012] The leg-foot structure comprises a first leg section, a second leg section and a foot end structure which are connected in sequence;

[0013] The first leg segment only includes a joint connecting frame, and in order to facilitate the routing of the robot control system and conform to the rotation direction of the joint, the joint connecting frame is in the form of two staggered U shapes;

[0014] The second leg segment includes a second joint servo and a steering wheel, a motor, a propeller blade, a motor base, a joint side plate, and a foot end structure; the second joint servo is used to drive the second leg segment to swing vertically to the ground in the crawling mode and to fix the leg posture in the flight mode and the wall adsorption mode; the motor is used to drive the propeller blade to rotate in the flight mode to provide flight power for the whole machine;

[0015] The foot end structure is provided with a common ground contact end and a special ground (wall) application end. The common ground contact end is equipped with an anti-slip belt to increase the friction between the robot and the ground. The special ground application end can be equipped with structures such as electromagnets, suction cups, etc. for special ground (wall) according to actual needs.

[0016] Compared with the prior art, the present invention has the following significant advantages:

[0017] (1) The variable structure amphibious multi-mode robot of the present invention has the ability to crawl and fly, and can flexibly switch between the flying mode and the crawling mode according to task requirements, and adapt to various complex task environments;

[0018] (2) The present invention realizes that the robot can change its structure while flying in the air to pass through a narrower space through the highly integrated design of the quadruped robot and the quadrotor drone;

[0019] (3) In addition to the ability to move on land and in the air, the present invention also has the ability to adsorb on steel walls. It can achieve the flight-adsorption task on the target wall by changing the structure in the air and controlling the magnetic adsorption module. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a schematic diagram of the overall structure of the crawling motion mode of a variable structure amphibious multi-mode robot.

[0021] Figure 2 The present invention is a schematic diagram of the overall structure of the flight motion mode of a variable structure amphibious multi-mode robot.

[0022] Figure 3 The figure is a schematic diagram of the overall structure of the wall adsorption mode of a variable structure amphibious multi-mode robot of the present invention.

[0023] Figure 4 The three-dimensional schematic diagram of the first leg segment and two joint servos connected thereto in a variable structure amphibious multi-mode robot of the present invention.

[0024] Figure 5 The three-dimensional schematic diagram of the second leg segment and the foot end of a variable structure amphibious multi-mode robot of the present invention.

[0025] Figure 6 This is a three-dimensional schematic diagram of the main structure of the fuselage in a variable structure amphibious multi-mode robot of the present invention.

[0026] Figure 7 This is a three-dimensional schematic diagram of the leg and foot structure of a variable structure amphibious multi-mode robot of the present invention. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] The overall structure of the crawling motion mode of a variable structure amphibious multi-mode robot in this embodiment is as follows: Figure 1 As shown, it includes a fuselage main structure 4 and four identical leg-foot structures evenly distributed around the fuselage. The fuselage main structure 4 is as shown in FIG. Figure 6As shown, it includes the first joint servo and steering disc 5 of each leg, the upper main board 12, the lower main board 13, the landing gear 14, the magnetic adsorption module 15, the control system 16 and the battery 17. The upper main board 12, the lower main board 13 and the first joint servo and steering disc 5 of each leg are fastened by driving screws into the screw holes at the edges of each servo. The magnetic adsorption module 15 is fixed in position by driving screws into the screw holes of the upper main board 12 and the lower main board 13. The battery 17 is fixed above the upper main board 12. The control system 16 is fixed at Above the upper main board 12 and the lower main board 13, the landing frame 14 is fixed to the bottom of the lower main board 13 by driving screws into the screw holes of the lower main board 13. The height of the landing frame 14 is lower than the vertical height between the contact surface of the foot-end structure 3 and the lower surface of the lower main board 13 in the crawling movement mode, so as to avoid affecting the crawling movement ability; the four first joint servos and the steering wheel 5 are all fixed between the upper main board 12 and the lower main board 13, and the axis of the rotating shaft of the first joint servo is perpendicular to the upper main board 12, and is used to drive the first leg segment 1 to swing horizontally left and right.

[0029] The leg and foot structure is as follows Figure 7 As shown, it includes a first leg segment 1, a second leg segment 2 and a foot end structure 3. The first leg segment 1 only includes a joint connecting frame 10, and screws are driven into the steering wheel through the screw holes on the connecting frame to realize the connection between the first joint servo and steering wheel 5 and the second joint servo and steering wheel 6.

[0030] Further, the second leg segment 2 is as follows Figure 5 As shown, it includes a second joint steering gear and steering disc 6, a motor 7, a paddle 8, a motor base 9, a joint side plate 11 and a foot end structure 3. The axis of the rotating shaft of the second joint steering gear and steering disc 6 is parallel to the upper main board 12, and is used to drive the second leg segment 2 to swing up and down. The two joint side plates 11 and the second joint steering gear and steering disc 6 are fastened together by driving screws into the screw holes on the edges of the steering gear. The motor base 9 is embedded between the two joint side plates 11 through a slot structure to achieve fixation. The motor 7 is fastened together by driving screws into the screw holes on the motor base 9. The paddle 8 is fastened together with the motor 7 by bolts.

[0031] Furthermore, the rotation radius of the paddle 8 does not exceed the length from the top to the bottom of the joint side plate 11, so as to avoid the paddle contacting the ground in the crawling mode; the rotation radius of the paddle 8 does not exceed the shortest distance from the rotating shaft of the first joint servo and the steering wheel 5 closest to the magnetic adsorption module 15 to the adsorption surface of the magnetic adsorption module 15, so as to avoid the paddle contacting the wall when the wall is adsorbed; the rotation radius of the paddle 8 does not exceed half of the distance between the axes of adjacent first joint servos and steering wheels 5, so as to avoid the paddles of adjacent legs colliding when the wall is adsorbed.

[0032] Furthermore, the foot-end structural component 3 is fastened to the two joint side plates by driving screws into the screw holes on the two joint side plates 11. Various anti-slip rubber pads can be affixed to the contact surface of the foot-end structural component 3 to prevent slipping. The screw holes adjacent to the contact surface on the foot-end structural component 3 can be used to fix various customized foot ends such as electromagnets or suction cups.

[0033] The working principle of the present invention is as follows: when the robot needs to perform ground tasks, the first joint servos and steering discs 5 of the four legs are rotated to make the U-shaped openings of the joint connecting frames 10 connected to the first joint servos along the four diagonal directions of the upper main board 12, and the second joint servos and steering discs 6 of the four legs are rotated to make the foot end structural parts 3 of each leg contact the ground. At this time, the robot is in a crawling motion mode, and the robot can be driven by the joint servos to enable the robot to have crawling ability. When the robot needs to cross a large obstacle or perform an aerial task, the second joint servo and steering disc 6 can be rotated until the motor base 9 is parallel to the upper main board 12, and the posture is maintained by the angle control ability of the servo itself. At this time, the landing gear 14 is in contact with the ground, and the robot is in a flying motion mode, and can imitate the motion mode of a four-rotor drone to perform a flying task. When the robot needs to perform a wall adsorption task, in the flight mode, the first joint servo and steering wheel 5 of each leg rotate until the first leg segment 1 is completely parallel to the battery 17. In this mode, the magnetic adsorption module 15 can contact the adsorbed surface during flight until the adsorption is successful, and then stop the operation of each motor 7. At this time, the robot is in the wall adsorption mode and can perform tasks such as long-term monitoring, effectively reducing the power consumption of the whole machine to extend the battery life.

Claims

1. A variable structure amphibious multi-mode robot capable of switching between crawling mode, flying mode and wall adsorption mode, characterized in that: It includes a fuselage structure and a magnetic adsorption module fixed therein, four leg structures evenly distributed on the fuselage structure, and a landing gear structure fixed under the fuselage structure; The magnetic adsorption module is used to adsorb the whole machine to the target steel wall during flight; The landing gear structure is used to reduce the impact and damage to the entire structure of the robot caused by landing in flight mode; The leg-foot structure comprises a first leg segment, a second leg segment connected in sequence, and a foot-end structure fixed to the second leg segment; The fuselage structure is provided with a first joint steering gear, which is used to drive the first leg segment to rotate around the fuselage structure, so as to realize the yaw movement of the first leg segment parallel to the ground contact in the crawling mode, to realize the leg posture fixation of the first leg segment in the flight mode and the wall adsorption mode, and to realize the structure change of the robot when flying in the air to reduce the width of the whole machine so as to pass through a narrow space; The first leg section is used to connect a first joint steering gear on the fuselage structure and a second joint steering gear on the second leg section; The second leg segment is provided with a second joint steering gear and a motor, which are used to drive the second leg segment to rotate around the first leg segment, so as to realize the longitudinal swing of the second leg segment perpendicular to the ground contact in the crawling mode and the fixed posture of the leg in the flight mode and the wall adsorption mode; the motor is used to drive the blades to rotate in the flight mode to provide flight power for the whole machine; The foot end structure is provided with a common ground contact end and a special ground (wall) application end. The common ground contact end is equipped with an anti-slip belt to increase the friction between the robot and the ground. The special ground application end can be equipped with structures such as electromagnets, suction cups, etc. for special ground (wall) according to actual needs.

2. The variable structure amphibious multi-mode robot according to claim 1, characterized in that: The foot end structure is provided with an assembly space for an electromagnet or a suction cup, so as to realize the multi-surface adaptability of the robot.

3. The variable structure amphibious multi-mode robot according to claim 1, characterized in that: The fuselage structural parts include an upper main board, a lower main board, a first joint servo of each leg, a magnetic adsorption module and a landing gear structure. The upper main board and the lower main board are fastened together by fixing screw holes on the edges of the servo and fixing screw holes on the magnetic adsorption module, and the landing gear is fastened together by bolts.

4. The variable structure amphibious multi-mode robot according to claim 1, characterized in that: The first leg segment only includes a joint connecting frame. The steering wheel of each servo is fastened to the rotating shaft of the servo by screws. In order to facilitate the routing of the robot control system and conform to the rotation direction of the joint, the joint connecting frame is in the form of two staggered U shapes. The joint connecting frame and the steering wheel of the servo are fastened to each other by screws.

5. The variable structure amphibious multi-mode robot according to claim 1, characterized in that: The second leg section includes a second joint servo and steering disc, a motor, a paddle, a motor base, a joint side plate, and a foot end structure. The second joint servo and steering disc are fastened together by screws, the paddle is fastened together with the motor by bolts, the motor is fastened together with the motor base by screws, the motor bottom is fixed in position with the joint side plate by a slot structure, the joint side plate is fastened together with the second joint servo by means of fixing screw holes on the edge of the servo, and the foot end structure is fastened together with the joint side plate by means of screw holes on the joint side plate for positioning.

6. The variable structure amphibious multi-mode robot according to claim 1, characterized in that: The rotation radius of the blade does not exceed half of the spacing between adjacent first joint servos, does not exceed the distance from the center of the first joint servo steering wheel to the center of the second joint servo steering wheel, and does not exceed the distance from the center of the second joint servo steering wheel to the foot end structure touching the ground.

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