Multifunctional reconfigurable amphibious robot and control method thereof

Abstract

The present application relates to a multifunctional reconfigurable amphibious robot, comprising: a body; a clamping mechanism, the clamping mechanism comprising two single claw assemblies, the single claw assembly comprising a second motor and a vertical roller in driving connection with the driving end of the second motor; a body deformation mechanism provided on the body, comprising a first driving member provided on the body and two deformation assemblies, a deformation wheel and a driven rotary wheel being rotatably provided on the deformation assembly, the deformation wheel being provided with paddle legs capable of being embedded or expanded, so that the robot can be transformed between the wheeled state and the wheel-claw-paddle state; the two deformation assemblies are rotatably connected on the two sides of the body; the first driving member is movably connected with the two deformation assemblies, so that the robot can be transformed between the ground mode, the water mode and the flight mode. The present application also relates to a control method of the multifunctional reconfigurable amphibious robot, which effectively reduces the number of driving sources by simultaneously linking the two deformation assemblies on the two sides through a single first driving member, and belongs to the technical field of robots.

Claims

1. A multifunctional, reconfigurable amphibious robot, characterized in that, include: fuselage (100); The clamping mechanism (200) provided on the body (100) includes a plurality of relatively movable single-claw assemblies (210), each single-claw assembly (210) including a second motor (211) and a vertical roller (213) that is hygienically connected to the drive end of the second motor (211). The body deformation mechanism (300) provided on the body (100) includes a first driving member and two deformation components (320) provided on the body (100). The deformation components (320) are rotatably provided with a deformation wheel (330) and a driven wheel (340). The deformation wheel (330) is provided with a paddle leg (337) that can be inserted or opened, so that the robot can change between a wheeled state and a wheel-claw-paddle state. The two deformable components (320) are rotatably connected to both sides of the body (100); the first drive member is movably connected to the two deformable components (320), so that the first drive member simultaneously drives the two deformable components (320) to rotate relative to the body (100), so that the robot can switch configurations between ground mode, water mode and flight mode; The clamping mechanism (200) includes a base (220) and an opening / closing servo motor (230) mounted on the base (220). Two opposing single-claw assemblies (210) are slidably connected to the base (220). The single-claw assembly (210) is rotatably connected to a second link (240). The driving end of the opening / closing servo motor (230) is fixedly provided with a second double-headed swing plate (231). The second double-headed swing plate (231) is movably connected to the two single-claw assemblies (210) through the corresponding second link (240). Thus, the opening / closing servo motor (230) can simultaneously drive the two single-claw assemblies (210) to move towards or away from each other. The base (220) includes two sliding strips (221), and the single-claw assembly (210) includes a clamping plate (250) and two sliding frames (260) fixedly connected to the clamping plate (250). The two sliding frames (260) are slidably connected to the two sliding strips (221) respectively. Each sliding frame (260) includes two vertical plates (261). The two adjacent vertical plates (261) of the two sliding frames (260) of the single-claw assembly (210) are connected together. The two vertical plates (261) of the sliding frame (260) are fixedly connected by the clamping plate (250); the two vertical plates (261) facing each other are respectively provided with two rows of horizontally arranged rotating wheels (263), and the corresponding sliding strip (221) slides between the two rows of rotating wheels (263). One of the vertical plates (261) of the single claw assembly (210) is rotatably connected to the second connecting rod (240).

2. The multifunctional reconfigurable amphibious robot according to claim 1, characterized in that, The first driving component is a fuselage morphing servo (310). The morphing assembly (320) further includes an arm rotating shaft (321) rotatably disposed on the side of the fuselage (100), an arm rotating seat (322) fixedly disposed around the arm rotating shaft (321), and a first connecting rod (323) rotatably connected to the arm rotating seat (322). An arm (324) is fixedly disposed on the arm rotating seat (322). The morphing wheel (330) and the driven wheel (340) respectively Installed at both ends of the arm (324), the drive end of the body transformation servo (310) is fixedly provided with a first double-headed swing plate (311). The first double-headed swing plate (311) is movably connected to the arm rotating seats (322) on both sides of the body (100) through the corresponding first connecting rod (323). Thus, the body transformation servo (310) can simultaneously drive the arm rotating seats (322) on both sides of the body (100) to rotate along their arm rotating shaft (321).

3. The multifunctional reconfigurable amphibious robot according to claim 2, characterized in that, The deformable wheel (330) is mounted on the machine arm (324) via a second rotating shaft (336); the deformable assembly (320) further includes a first motor (326), the deformable wheel (330) includes a central gear (331), planetary gears (332), a belt (333), a first bearing (334), and a drive gear (335) mounted on the drive end of the first motor (326), the first motor (326) is mounted on the machine arm (324), and the central gear (331) is mounted on the first bearing (334). The first bearing (334) is mounted on the second rotating shaft (336), the deformable wheel (330) is mounted on the second rotating shaft (336) through another first bearing (334), the planetary gear (332) is rotatably mounted on the deformable wheel (330), the belt (333) is simultaneously connected to the rotating end of the planetary gear (332) and the paddle leg (337), the drive gear (335) is meshed with the center gear (331), and the center gear (331) is meshed with the planetary gear (332).

4. The multifunctional reconfigurable amphibious robot according to claim 2, characterized in that, It also includes a wing assembly (400), which includes a rotor (410) and a wing motor (420). The wing motor (420) is fixedly connected to the arm (324). The rotor (410) is mounted on the output shaft of the wing motor (420). The deformable wheel (330) is sleeved on the wing motor (420), or the driven wheel (340) is sleeved on the wing motor (420).

5. The multifunctional reconfigurable amphibious robot according to claim 1, characterized in that, A second horizontal plate (264) and a third horizontal plate (265) are fixedly connected between the two vertical plates (261) of the sliding frame (260). The second motor (211) is fixedly mounted on the second horizontal plate (264). A first gear (212) is fixedly connected to the drive end of the second motor (211). The vertical roller (213) is rotatably connected between the first horizontal plate (262) and the third horizontal plate (265). The end of the vertical roller (213) near the third horizontal plate (265) has a second gear (214). The first gear (212) meshes with the second gear (214). The vertical roller (213) is truncated cone-shaped, with its small diameter end facing the base (220).

6. The multifunctional reconfigurable amphibious robot according to claim 5, characterized in that, The sliding frame (260) is rotatably connected to the outer side of the vertical plate (261) away from the clamping plate (250) by a ceiling wheel (270), the ceiling wheel (270) is driven by a third gear (271), and the third gear (271) meshes with the corresponding first gear (212).

7. The multifunctional reconfigurable amphibious robot according to claim 5, characterized in that, The clamping mechanism (200) further includes an auxiliary support moving assembly (280), which includes a bracket (281) disposed on the base (220), a first servo motor (282) mounted on the base (220), a horizontal roller (283) rotatably disposed on the bracket (281), a fifth gear (284), a fourth gear (285) meshing with the fifth gear (284), a first bevel gear (286), and a gear meshing with the first bevel gear. (286) The second bevel gear (287) meshes with the horizontal roller (283) which is located between the lower parts of the two single-claw assemblies (210). The fifth gear (284) is fixedly connected to the drive end of the first servo motor (282). The second bevel gear (287) is coaxially connected to the horizontal roller (283). A third rotating shaft is rotatably connected to the bracket (281). The fourth gear (285) and the first bevel gear (286) are both fixedly mounted on the third rotating shaft.

8. A control method for a multifunctional, reconfigurable amphibious robot, characterized in that, The multifunctional, reconfigurable amphibious robot according to any one of claims 1 to 7, wherein the robot further includes a control system, and the control method includes the following steps: When the control system receives a command to enter flight mode, it controls the first drive unit to drive the two deformable components (320) to rotate, so that the deformable wheels (330) and the driven wheels (340) of the two deformable components (320) are both horizontally set, and the deformable wheels (330) are in the wheel state; when the robot grips the cylindrical object (500), the control system controls the second motor (211) to drive the vertical roller (213) to rotate, so that the robot moves along the cylindrical object (500) to complete the operation with the movement requirement; When the control system receives the command to enter the ground mode, it controls the first driving component to drive the two deformable components (320) to rotate, so that the deformable wheels (330) and the driven wheels (340) of the two deformable components (320) are both vertically set, and at the same time, the deformable wheels (330) are in the wheel state to allow the robot to roll on the ground, or the deformable wheels (330) are in the wheel-paw propeller state to provide ground adhesion; When the control system receives the command to enter the water surface mode, it controls the first driving member to drive the two deformable components (320) to rotate, so that the deformable wheels (330) and the driven wheels (340) of the two deformable components (320) are both vertically set, and at the same time, the deformable wheels (330) are in the wheel claw propeller state to provide propulsion power as the propeller legs (337).

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