CN107839419A - A kind of coaxial eight rotor three is dwelt robot - Google Patents

Abstract

The invention discloses a coaxial eight-rotor amphibious robot, which relates to the field of robot technology, including a rotor mechanism for driving, a flexible ball-cylindrical mechanism for self-protection and rolling on land, and an underwater waterproof and land dustproof mechanism. The sealing mechanism; the power supply and the flight control module are installed on the base, which are respectively used to supply power and control the work of the rotor mechanism to control the movement of the robot. The invention uses coaxial eight-rotors as the sole power, integrates the flexible spherical-cylindrical protection mechanism and the waterproof and dust-proof sealing mechanism, and realizes three motion modes of flying in the air, rolling on land and underwater by adjusting the speed and steering of the eight rotors. The amphibious function of the robot is truly realized; each mechanism is based on the same power system, which meets the requirements of robot motion flexibility and stability, and at the same time uses a mature four-rotor control method to reduce the control complexity of the robot and effectively improve the survival of the robot in complex environments ability.

Description

A coaxial eight-rotor amphibious robot

technical field

The invention relates to the technical field of robots, in particular to a robot suitable for complex environment operations.

Background technique

A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Robots are widely used in the production industry, construction industry and other fields, and are especially commonly used to assist or replace humans in dangerous operations or in areas that humans cannot reach.

In recent years, with the rapid development of robot technology, robots can basically be applied in various environments. However, at present, most robots have a single type of movement, such as walking or flying, and cannot perform tasks well in variable environments. For this reason, amphibious robot and amphibious robot arise at the historic moment.

Through patent search, there are the following known technical solutions:

Patent 1:

Application number: 201610205149.2, application date: 2016.04.05, authorized announcement date: 2016.07.06, a spherical amphibious intelligent scout robot, consisting of an eagle eye probe, a fish eye probe, an information transmitter, an external sensor cartilage flower stand, and internal and external connections Mesh, cartilage landing body, first motor, air shock spring, first motor spindle, mechanical octagonal fixed ring inside the ball, first rotor, first coupling shaft, robot intelligent controller, balancer rudder linkage, second coupling Shaft, second rotor, second motor main shaft, second motor, battery, balancer first parachute rudder, balancer second parachute rudder, mechanical octagonal fixing bracket inside the ball, multi-purpose line, second sub-shaft, No. It is composed of two propellers, the first auxiliary shaft, the first propeller, the connecting ring, the first snap button, and the second snap button; it integrates aircraft, submersibles and robots, and completes any space in the water, land and air that its volume allows to enter. For latent and reconnaissance tasks, the beneficial effects of this technology are: small size, reasonable structure, outstanding motion performance, and efficient control.

This invention does not elaborate on how to waterproof underwater, nor does it elaborate on the selection of spherical shell materials that can not only achieve the anti-fall protection effect but also withstand underwater pressure, and at the same time, the rolling path of the spherical shell on land is not easy to control. The camera will roll along with the spherical shell and cannot realize effective detection, and the structure and control method are complicated and not easy to realize.

Patent 2:

Application number: 201510010515.4, application date: 2015.01.09, authorized announcement date: 2015.06.10, an amphibious robot with three blades and paddles, which consists of a propeller, a signal receiver, a chassis, an electric telescopic rod, a transmission shaft, a sensor gyroscope, Composed of motor, remote controller, three-blade paddle, and spherical shell, it is characterized in that: the shape of the shell is spherical, the spherical shape can be transformed into an elliptical egg shape, and the volume is reduced. Charging and discharging, the bottom wheel is composed of three impeller blades. When walking on land, the three impeller blades form a circular wheel type; when swimming in water, it is converted into an impeller paddle type, so as to realize the amphibious function, and can carry cameras and other equipment. Complete tasks such as reconnaissance and search and rescue in complex terrain and fire scenes, and use the remote control to control the sensing gyroscope to direct its movement. The invention can realize the amphibious function of the robot through the transformation of the three-blade impeller, ensure the practicability and multifunctionality of the robot, and increase the service life and safety.

Although the robot can move in the air, on the ground and on the water surface, it can only move on the water surface, and the waterproof measures for the parts in contact with the water have not been elaborated, and it cannot realize underwater diving. At the same time, the wheeled movement method is greatly restricted by the terrain conditions. , In addition, an electric motor drives the entire robot to fly into the sky, which makes it difficult to match the weight and performance requirements of the motor, propeller, battery, and other mechanisms.

Patent 3:

Application number: 201510133102.5, application date: 2015.03.25, authorized announcement date: 2015.06.24, the invention discloses a multi-rotor diving unmanned aerial vehicle and its control method. Distributed rotor arms, each rotor arm is provided with a rotor assembly at the end far away from the body, a pair of landing gears are symmetrically installed on the bottom of the body, airbags are covered on the landing gears, processors, A power supply module, a wireless communication module, a compressed air storage and a control valve, the gas output end of the compressed air storage is connected to the air bag through the control valve; the method includes an air mode and an underwater mode. The invention can effectively control the snorkeling situation in the water by controlling and compressing the air storage to inflate the air bag, thereby realizing unobstructed navigation in the air and water, and effectively solving the problem that the UAV is damaged due to accidental falling into the water during flight. The invention can be widely used in the field of unmanned aerial vehicles.

This invention can realize navigation in both water and air modes, but the airbag inflation control method is complicated, and it does not explain how the motor is waterproof and sealed, and there is no protective structure to prevent falling, and it is impossible to realize land walking.

Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the mutual combination of the above patent documents does not destroy the inventiveness of the present invention.

Contents of the invention

The present invention provides a coaxial eight-rotor amphibious robot just in order to avoid the disadvantages of the above-mentioned prior art.

In order to solve the technical problem, the present invention adopts the following technical solutions: a coaxial eight-rotor amphibious robot, including a rotor mechanism for driving and a flexible ball-cylindrical mechanism for self-protection and land rolling, and for underwater waterproof, land A dust-proof sealing mechanism; a power supply and a flight control module are installed on the base, and are respectively used to supply power and control the work of the rotor mechanism to control the movement of the robot;

A pair of long shafts and a pair of short shafts are fixed on the base in a cross shape, and eight rotors and eight drive motors are divided into four groups and installed symmetrically on the long shafts and the short shafts to form the rotor mechanism The flexible ball-cylindrical mechanism is located outside the rotor mechanism, the outer end of the long axis is fixedly connected to the connecting shaft, and is connected to the flexible spherical-cylindrical mechanism through the connecting shaft so that the rotor mechanism and the The flexible ball-cylindrical mechanism can rotate relatively;

The exterior of the power supply, the flight control module, the radio transceiver module and the drive motor is provided with a waterproof sealing mechanism.

Further, two inner rings and two outer rings are arranged in parallel, the inner rings are located outside the outer rings, and the two outer rings are connected and fixed by the outer ring connecting rods uniformly distributed along the circumferential direction, and the inner rings It is connected and fixed with an adjacent outer ring through the connecting rods of the inner and outer rings evenly distributed along the circumferential direction to form the flexible ball-cylindrical mechanism;

The fixed base is located at the center of the inner ring, and is connected and fixed to the inner ring by connecting rods uniformly distributed along the circumference of the fixed base. The rotor mechanism and the flexible ball-cylindrical mechanism can rotate relative to each other.

Further, the sealing mechanism includes a central sealing shell and four motor sealing shells, the upper part of the central sealing shell and the lower part of the central sealing shell are fastened and glued and connected by bolts to form the central sealing shell, and the central sealing shell located outside the power supply, the flight control module and the radio transceiver module;

The upper cover of the motor sealing case and the lower cover of the motor sealing case are fastened and glued respectively by sealing gaskets and fixedly connected to the top and bottom of the motor sealing case with bolts to form the motor sealing case, and a pair of drive motors are sealed inside the motor sealing case.

Further, the inner ring, the connecting rods of the inner and outer rings and the outer ring are made of polyester resin or nylon with a density of The base connecting rod is obtained by truncating the carbon fiber tube.

Further, the central axes of the inner ring and the outer ring coincide with the major axis, and the radius of the inner ring is smaller than that of the outer ring.

Further, the output shafts of the drive motors are arranged vertically, and the two drive motors in each group are arranged coaxially, and are symmetrically connected to one rotor at the top and bottom, and the rotation directions of the two rotors are opposite.

The invention provides a coaxial eight-rotor amphibious robot, which has the following beneficial effects:

1. With the coaxial eight-rotor as the sole power, it integrates the flexible spherical-cylindrical protection mechanism and the waterproof and dust-proof sealing mechanism. By adjusting the speed and steering of the eight rotors, it realizes three motion modes: air flight, land rolling and underwater diving. It truly realizes the amphibious function of the robot, significantly improves the adaptability of the robot to complex environments, and enables the robot to perform tasks well in variable environments;

2. There is a flexible ball-cylindrical mechanism on the outside of the rotor mechanism that can rotate relative to it. When flying in the air, the ball-cylindrical mechanism acts as a fall protection mechanism. When moving on land, the ball-cylindrical mechanism serves as both a protection mechanism and a rolling mechanism. , which can reduce the impact of collision impact on the robot and improve the stability of the robot's work;

3. There is a sealing mechanism. When moving underwater, the sealing mechanism provides waterproof and sealed protection for the motor, flight control module, and power supply. When moving on land and in the air, the sealing mechanism can also provide protection for the motor, flight control module, and power supply. The equipment provides dustproof, waterproof and anti-collision protection;

4. Each mechanism is based on the same power system, while meeting the requirements of robot motion flexibility and stability, the mature four-rotor control method is used to reduce the control complexity of the robot and effectively improve the survivability of the robot in complex environments;

5. Compared with the conventional four-rotor, under the same volume, the coaxial eight-rotor only increases the weight of four rotors and motors compared with the four-rotor, and the lift generated is nearly twice that of the four-rotor. Therefore, the lift and weight of the robot The ratio is increased, the load capacity is enhanced, and it has a greater driving force.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of rotor mechanism of the present invention;

Fig. 3 is a schematic structural view of the flexible ball-cylindrical mechanism of the present invention;

Fig. 4 is a structural schematic diagram of the sealing mechanism of the present invention.

In the picture:

11, base, 121, major axis, 122, minor axis, 13, drive motor, 14, rotor; 21, inner ring, 22, fixed base connecting rod, 23, fixed base, 24, outer ring, 25, Outer ring connecting rod, 26, inner and outer ring connecting rod; 31, connecting shaft, 32, bearing; 4, flight control module; 5, power supply; 61, upper part of the central sealing shell, 62, lower part of the central sealing shell, 63, motor sealing shell , 64, the motor sealing shell upper cover, 65, the motor sealing shell lower cover.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention Examples, not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

As shown in Figures 1 to 4, its structural relationship is as follows: it includes a rotor mechanism for driving, a flexible ball-cylindrical mechanism for self-protection and land rolling, and a sealing mechanism for underwater waterproofing and land dustproofing; The power supply 5 and the flight control module 4 are installed on the base 11, and are respectively used to supply power and control the work of the rotor mechanism to control the motion of the robot;

A pair of long shafts 121 and a pair of short shafts 122 are fixed on the base 11 in a cross shape, and eight rotors 14 and eight drive motors 13 are divided into four groups and installed symmetrically on the long shafts 121 and short shafts 122 to form a rotor. Mechanism; the flexible ball-cylindrical mechanism is located outside the rotor mechanism, and the outer end of the long axis 121 is fixedly connected to the connecting shaft 31, and is connected to the flexible ball-cylindrical mechanism through the connecting shaft 31 so that the rotor mechanism and the flexible ball-cylindrical mechanism can rotate relatively ;

The power supply 5, the flight control module 4, the radio transceiver module and the drive motor 13 are provided with a waterproof sealing mechanism.

Preferably, two inner rings 21 and two outer rings 24 are arranged in parallel, the inner rings 21 are located outside the outer rings 24, and the two outer rings 24 are connected and fixed by each outer ring connecting rod 25 uniformly arranged along the circumferential direction, and the inner rings 21 and an adjacent outer ring 24 are connected and fixed by the inner and outer ring connecting rods 26 evenly distributed along the circumferential direction, forming a flexible spherical cylindrical mechanism;

The fixed base 23 is located at the center of the inner ring 21, and is connected and fixed with the inner ring 21 by each fixed base connecting rod 22 evenly distributed along the circumferential direction, and the connecting shaft 31 is connected with the bearing 32 arranged inside the fixed base 23, so that the rotor mechanism It can rotate relative to the flexible ball-cylindrical mechanism.

Preferably, the sealing mechanism includes a central sealing shell and four motor sealing shells, the upper part 61 of the central sealing shell and the lower part 62 of the central sealing shell are glued together and connected by bolts to form a central sealing shell, and the central sealing shell is arranged on the power supply 5 , outside the flight control module 4 and the radio transceiver module;

The motor sealing case upper cover 64 and the motor sealing case lower cover 65 are fastened and glued respectively by sealing gaskets and fixedly connected to the top and bottom of the motor sealing case 63 with bolts to form a motor sealing case. A pair of drive motors 13 are sealed in the motor sealing case.

Preferably, the inner ring 21, the inner and outer ring connecting rods 26 and the outer ring 24 are made of polyester resin or nylon with a density of 100% and a Young's modulus greater than 3D printing, and the outer ring connecting rods 25 and the fixed base connecting rods 22 are made of carbon fiber Tube truncated to get.

Preferably, the central axes of the inner ring 21 and the outer ring 24 coincide with the major axis 121 , and the radius of the inner ring 21 is smaller than that of the outer ring 24 .

Preferably, the output shafts of the driving motors 13 are arranged vertically, and the two driving motors 13 of each group are coaxially arranged, and are symmetrically connected to one rotor 14 up and down, and the rotation directions of the two rotors 14 are opposite.

When in use, the robot is powered by a coaxial eight-rotor. The specific method is to supply electric energy by the power supply 5. The flight control module 4 uses a four-rotor flight control control method to control each drive motor 13 to drive each rotor 14 to rotate to drive the robot.

When moving on land, the flexible ball-cylindrical mechanism is used as a protection mechanism and as a rolling mechanism, which can reduce the adverse effects of collision impact on the robot; the sealing mechanism provides dustproof, Waterproof and anti-knock protection.

When flying in the air, the flexible ball-cylindrical mechanism serves as an anti-fall protection mechanism; the sealing mechanism provides dustproof, waterproof and anti-collision protection for the drive motor 13, the flight control module 4 and the power supply 5 and other equipment.

When moving underwater, the sealing mechanism provides waterproof sealing protection for the driving motor 5, the flight control module 7, the power supply 8 and other equipment.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. any such actual relationship or order exists between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments Modifications are made to the recorded technical solutions, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. A coaxial eight-rotor amphibious robot, characterized in that: comprise a rotor mechanism for driving and a flexible ball-cylindrical mechanism for self-protection and land rolling, and a sealing mechanism for underwater waterproofing and land dustproofing ; The power supply (5) and the flight control module (4) are installed on the base (11), and are respectively used to supply power and control the work of the rotor mechanism to control the motion of the robot; A pair of long shafts (121) and a pair of short shafts (122) are fixed on the base (11) in a cross shape, and eight rotors (14) and eight drive motors (13) are divided into four groups and installed symmetrically on the base (11). The long axis (121) and the short axis (122) constitute the rotor mechanism; the flexible ball-cylindrical mechanism is arranged outside the rotor mechanism, and the outer end of the major axis (121) is fixedly connected to the connecting shaft (31 ), and through the connecting shaft (31) is rotationally connected with the flexible ball-cylindrical mechanism, so that the rotor mechanism and the flexible ball-cylindrical mechanism can rotate relatively; The power supply (5), the flight control module (4), the radio transceiver module and the drive motor (13) are provided with a waterproof sealing mechanism. 2. A kind of coaxial eight-rotor amphibious robot according to claim 1, is characterized in that: two inner rings (21) and two outer rings (24) are arranged in parallel, and described inner ring (21) is positioned at described On the outer side of the outer ring (24), the two outer rings (24) are connected and fixed by the outer ring connecting rods (25) uniformly distributed along the circumferential direction. The inner and outer ring connecting rods (26) arranged evenly along the circumference are connected and fixed to form the flexible ball-cylindrical mechanism; The fixed base (23) is located at the center of the inner ring (21), and is connected and fixed to the inner ring (21) by each fixed base connecting rod (22) uniformly distributed along the circumference, and the connecting shaft (31) is connected to the inner ring (21). The bearing (32) arranged inside the fixed base (23) is matched and connected so that the rotor mechanism and the flexible ball-cylindrical mechanism can rotate relative to each other. 3. A kind of coaxial eight-rotor amphibious robot according to claim 1 or 2, it is characterized in that: said sealing mechanism comprises a central sealing shell and four motor sealing shells, the central sealing shell top (61) and the central sealing shell The lower part of the shell (62) is fastened and glued and connected by bolts to form the central sealed shell, and the central sealed shell is arranged on the power supply (5), the flight control module (4) and the radio transceiver module external; The motor sealing case upper cover (64) and the motor sealing case lower cover (65) are fastened and glued respectively by sealing gaskets and fixedly connected to the top and bottom of the motor sealing case (63) with bolts to form the motor sealing case, and the motor A pair of drive motors (13) are sealed in the sealed case. 4. A kind of coaxial eight-rotor amphibious robot according to claim 2, is characterized in that: described inner ring (21), described inner and outer ring connecting rod (26) and described outer ring (24) are by density: 1.2g/cm ³ , Young's modulus of elasticity greater than 5GPa polyester resin or nylon 3D printing, the outer ring connecting rod (25) and the fixed base connecting rod (22) carbon fiber tube cut off. 5. A coaxial eight-rotor amphibious robot according to claim 2, characterized in that: the central axis of the inner ring (21) and the outer ring (24) coincides with the axis of the major axis (121) , the radius of the inner ring (21) is smaller than that of the outer ring (24). 6. A kind of coaxial eight-rotor amphibious robot according to claim 1, is characterized in that: the output shaft of described driving motor (13) is vertically arranged, and two driving motors (13) of every group are coaxially arranged, And a rotor (14) is symmetrically connected up and down, and the directions of rotation of the two rotors (14) are opposite.