Cross-medium triphibian robot

Abstract

The utility model 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. The cross-medium triphibian robot provided by the utility model can respectively realize the functions of sailing, walking on the land and flying in different media in water, on the land and in the air, and can efficiently execute different tasks according to environmental characteristics and operation requirements in different media.

Description

Technical Field

[0001] The utility model relates to the field of robot technology, 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. 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 operation 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 navigation, walking and flying functions 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. Utility Model Content

[0004] The utility model discloses a cross-medium three-amphibious robot, which solves the problem of poor adaptability of the robot in three medium environments.

[0005] This utility model proposes a trans-medium amphibious robot that utilizes a flight propeller and a flight motor to achieve flight. A waterproof motor and integrated wheel-paddles achieve a high degree of overall integration, coupling land motion and navigation functions into an integrated structure. The waterproof motor drives the integrated wheel-paddles to rotate in different media, enabling movement on land and in water. A push rod drives the power support frame, driving the waterproof motor and integrated wheel-paddles to switch between navigation and land motion.

[0006] The utility model provides a cross-medium amphibious robot, comprising 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 middle guide hole structure; both ends of the guide shaft are fixed to the bottom of the shell through supports.

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

[0010] Preferably, the flight mechanism component includes a battery holder and a battery, the legs of the battery holder 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 holder.

[0011] Preferably, the flight mechanism components include protective plates, which are arranged around the frame.

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

[0013] Preferably, 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 the range of 0 degrees to 90 degrees through the connecting rod.

[0014] Preferably, the waterproof motor and integrated combination wheel paddle installed on the power support frame can be rotated 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 propeller is evenly designed as a plurality of propeller blade structures, and the outer circumference of the integrated combined wheel propeller is designed as a wheel-type outer edge structure; when the integrated combined wheel propeller rotates on land, it can provide power for walking on land; when the integrated combined wheel propeller 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 arranged symmetrically on both sides drive the integrated combination wheel paddles to rotate differentially, thereby realizing forward, backward, turning and other movements on land; when sailing in water, the integrated combination wheel paddles rotate differentially, thereby realizing forward, backward, turning and other navigation movements in water.

[0018] The utility model has the following beneficial effects:

[0019] The cross-media amphibious robot proposed in this utility model has an integrated design of land function and navigation function. Its overall weight is smaller and the system control is simpler. The push rod drives the connecting rod mechanism to achieve the posture switching of the integrated combination of paddles and waterproof motors. Compared with the existing technology, the cross-media amphibious machine of this utility model 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 is shared during navigation and land travel, which can further expand the scope of application to cope with the diverse terrain conditions in natural environments. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0021] In the attached figure:

[0022] Figure 1 Schematic side view of the overall structure of a trans-medium amphibious robot according to an embodiment of the present utility model;

[0023] Figure 21 is a schematic top view of the overall structure of a trans-medium amphibious robot according to an embodiment of the present utility model;

[0024] Figure 3 This is a side view schematic diagram of a trans-medium amphibious robot in a land-based posture according to an embodiment of the present utility model;

[0025] Figure 4 This is a front view schematic diagram of a trans-medium amphibious robot in a land-based posture according to an embodiment of the present utility model;

[0026] Figure 5 This is a left-side schematic diagram of a cross-medium amphibious robot in navigation posture according to an embodiment of the present utility model;

[0027] Figure 6 This is a schematic top view of a cross-medium amphibious robot in a navigation posture according to an embodiment of the present utility model;

[0028] Figure 7 Schematic diagram of the running mechanism components according to an embodiment of the present invention in a bottom view in a land-based posture;

[0029] Figure 8 Schematic diagram of the bottom view of the navigation posture of the running mechanism component according to an embodiment of the utility model;

[0030] Figure 9 Schematic diagram of the left side of the walking mechanism component in the land-based posture according to an embodiment of the present invention;

[0031] Figure 10 It is a left view schematic diagram of the navigation posture of the walking mechanism component according to an embodiment of the utility model. DETAILED DESCRIPTION

[0032] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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 in no way intended to limit the present application, its application, or use.

[0033] like Figure 1 、 Figure 2 Figure 2 shows the side and top views of the overall structure of a trans-medium amphibious robot. The trans-medium amphibious robot includes a flight mechanism 1 and a walking mechanism 2, with the walking mechanism 2 disposed below the flight mechanism 1. The flight mechanism 1 enables the robot's flight function, while the walking mechanism 2 enables the robot's land and navigation functions.

[0034] The flight mechanism 1 includes a frame 10, motor 11, rotors 12, a visual system 13, a battery holder 14, batteries 15, a rangefinder 16, a control module 17, a protective plate 18, and a buoyancy block 19. The motor 11 and rotors 12 are symmetrically arranged on the frame in a cross-shaped configuration. The rotation of the motor 11 on each axis drives the rotors 12, generating lift thrust. By varying the relative speeds of the rotors 12, the magnitude of the propulsion force on each axis can be varied, thereby controlling the robot's flight trajectory.

[0035] A visual device 13 is located above the front end of the flight mechanism 1 and is used to capture image information near the robot. The video or image information captured by the visual device 13 is transmitted to the robot control module 17. The robot control module 17 calculates and analyzes the video or image information to obtain parameters such as the robot's motor speed adjustment and transmits them to the robot, which then executes the corresponding actions. A distance measuring device 16 is located below the front end of the flight mechanism 1 and is used for 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, land or sailing; the buoyancy block 18 is 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 block is made of lightweight foam material such as EVA.

[0037] For example, the flight mechanism's frame 10 is constructed from carbon fiber to ensure the robot's low weight and high strength. A control module 17 is located within the framework cavity in the center of the flight mechanism. This module handles motion control, motor control, sensor data processing, signal transmission and reception, parameter adjustment, monitoring and fault detection, and 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 in a land-walking posture according to an embodiment of the present utility model; Figure 5 、 Figure 6Figure 2 shows schematic left and top views of a trans-medium amphibious robot in navigational posture, according to an embodiment of the present invention. The robot utilizes a flight propeller and a flight motor to achieve aerial flight. A waterproof motor and integrated wheel-paddles achieve a high degree of overall integration, coupling land motion and navigational functions into an integrated structure. The waterproof motor drives the integrated wheel-paddles to rotate in different media, enabling movement on land and in water, respectively. A push rod drives the power support frame, driving the waterproof motor and integrated wheel-paddles to switch between navigational and land motion.

[0039] like Figure 7 、 Figure 9 As shown, it is a schematic diagram of the walking mechanism components of the embodiment of the present utility model in a land-based posture viewed from above and from the left; Figure 8 、 Figure 10 Figure 2 shows schematic diagrams of the traveling mechanism components according to an embodiment of the present invention, viewed from above and from the left, in a navigational position. The traveling mechanism components 2 include 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, and a clamp 32.

[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] Bracket 26 is fixed to the bottom of housing 20. Power support frame 25 is hingedly connected to bracket 26 via a pin 31, allowing relative rotation with bracket 26. Integrated paddle wheel 24 is fixed to the rotating shaft of waterproof motor 23, the base of waterproof motor 23 is fixed to power support frame 25. The other end of power support frame 25 is hinged to connecting rod 30, and the other end of connecting rod 30 is hinged to push rod connecting rod 29 via a pin 31.

[0042] The walking mechanism components, the two sides of the push rod connecting rod 29 are hinged together with the connecting rod 30 through the pin shaft 31, and the push rod connecting rod 29 is connected to 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 integrated paddle wheel 24 mounted on the power support frame 25 of the walking mechanism are driven by a push rod 22 and can rotate within a range of 0-90 degrees to achieve posture changes. A limit structure is provided on the bracket 26 to limit the position of the power support frame 25 when it rotates to the 0-degree or 90-degree position.

[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 combination 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, 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 combination 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, realizing the land walking function.

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

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

[0050] This cross-medium amphibious robot features an integrated design for both land and navigation functions. This results in a lighter overall weight, a simpler power system, relatively few motion control variables, and higher system reliability. The land and navigation functions are switched between by levers driving a connecting rod mechanism, which integrates paddle wheels and a waterproof motor.

[0051] The cross-medium amphibious robot provided by this utility model can provide multiple and rapid air, land and underwater support. It has the shielding properties of submarine navigation, which can avoid the aerial threat of electromagnetic anti-drone weapons to the body, and has the long cruising characteristics of ground vehicles and surface ships, and also has 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 for navigation and land travel, which can further expand the scope of application to cope with the diverse terrain of natural environments.

[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 which protection is requested in the present invention.

Claims

1. A trans-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 the middle 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 flying mechanism component includes a visual device and a ranging device. The visual device is arranged above the front end of the flying mechanism component and is used to collect image information near the robot; the ranging device is arranged below the front end of the flying mechanism component and is used to perform ranging sensing in front of the robot.

3. The robot according to claim 1, characterized in that The flying mechanism component includes 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 includes a protective plate, which 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 the 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 be rotated 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 is rotated 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, wherein: The hub of the integrated combined wheel propeller is evenly designed as a plurality of propeller blade structures, and the outer circumference of the integrated combined wheel propeller is designed as a wheel-type outer edge structure; when the integrated combined wheel propeller rotates on land, it can provide power for walking on land; when the integrated combined wheel propeller 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 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, 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, 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, realizing forward, backward and turning movements on land; the integrated combined wheel paddles, when sailing in water, rotate differentially, realizing forward, backward and turning sailing movements in water.

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