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CN-122008751-A - Spherical air-ground amphibious robot based on coaxial reverse pitch technology

CN122008751ACN 122008751 ACN122008751 ACN 122008751ACN-122008751-A

Abstract

The invention discloses a spherical aeroamphibious robot based on a coaxial reverse pitch technology, which comprises a spherical shell, a triaxial internal rotating mechanism and a coaxial double-rotor system. The three-shaft type internal rotating mechanism comprises an outer ring and an inner ring, wherein the outer ring is fixedly connected with the spherical shell, the inner ring is connected with the outer ring through a bearing, a servo motor is arranged at a joint of the outer ring, the inner ring and a supporting rod, active driving is achieved, a camera and a laser range finder are arranged at the bottom of the outer ring, and a flight/rolling dual-mode controller automatically switches ground rolling, wall crawling and aerial flight modes according to sensor data. The invention realizes high-efficiency power transmission through the active driving three-axis mechanism, combines visual perception and intelligent control, greatly improves movement flexibility and terrain adaptability, adopts a straight rod splicing structure and a modularized design, reduces manufacturing cost and maintenance difficulty, and can be widely applied to the fields of emergency rescue, pipe gallery inspection, material transportation and the like.

Inventors

  • CHENG YUFENG
  • Lei Qianyu

Assignees

  • 湖北丝音科技有限公司

Dates

Publication Date
20260512
Application Date
20260407

Claims (10)

  1. 1. Spherical land-air amphibious robot based on coaxial anti-oar technique, characterized by comprising: the spherical reticular hollow shell (1) is formed by splicing a plurality of joints and straight rods and is used for omnidirectional protection and ground rolling; the three-shaft type internal rotating mechanism comprises an outer ring (2) and an inner ring (3), wherein the outer ring (2) is fixedly connected with the spherical shell (1), and the inner ring (3) is connected with the outer ring (2) through a rotating bearing and can rotate around a Y axis; The coaxial double-rotor system comprises two rotors which are arranged up and down, and is connected with the inner ring (3) through a supporting rod (4) and a rotating bearing and can rotate around an X axis; a servo motor is arranged at the connecting node of the outer ring (2) and the inner ring (3) and the connecting node of the inner ring (3) and the coaxial double-rotor system and is used for actively driving rotation; and the flight/rolling dual-mode controller is used for automatically switching the motion mode according to the sensor data and controlling the cooperative work of the rotor wing and the servo motor.
  2. 2. The spherical land-air amphibious robot according to claim 1, wherein the spherical shell (1) is formed by splicing 60 three-fork joints and 90 straight rods through bolts, a football-shaped net-shaped hollow structure is formed, the three-fork joints are of an obtuse angle structure, and the straight rods are of equal length design.
  3. 3. The spherical amphibious robot according to claim 1, wherein the bottom of the outer ring (2) is provided with a camera and a laser range finder for acquiring ground images in real time, identifying the grounding state, the terrain gradient and the material, and transmitting data to a controller to dynamically adjust driving parameters.
  4. 4. The spherical amphibious robot of claim 1, wherein the distance between two rotors of the coaxial dual-rotor system is set to be 1-3 times of the diameter of the rotors, and a collective pitch and cyclic pitch-variable dual-control mode is adopted.
  5. 5. The spherical amphibious robot according to claim 1, wherein the three-axis internal rotating mechanism realizes active rotation of an inner ring, an outer ring and a coaxial double rotor wing, wherein the rotation angle control precision is +/-0.1 degrees, and the rotating speed range is 0-30 degrees/s.
  6. 6. The spherical aero-amphibious robot of claim 1, wherein the controller supports automatic switching of three motion modes: the ground rolling mode is to generate moment along the X axis or the Y axis through the periodic torque variation of the rotor wing to drive the spherical shell to roll; The wall surface/slope surface crawling mode is to generate a pressure component force vertical to the contact surface and a crawling component force along the contact surface by adjusting the inclination angle of the machine body; And in the air flight mode, six-degree-of-freedom flight is realized through total pitch and periodic pitch control.
  7. 7. The spherical amphibious robot according to claim 1, wherein a plurality of standardized quick release interfaces are reserved on the inner side of the spherical shell (1) for adding functional modules, including one or more of a mechanical arm, a thermal infrared imager and a small delivery cabin.
  8. 8. The spherical land-air amphibious robot according to claim 1 is characterized in that the spherical shell (1) adopts a segmented splicing structure and is divided into an upper section, a middle section and a lower section, the diameter of the shell can be adjusted according to task requirements, a polyurea elastic coating is sprayed on the surface of a straight rod, the temperature resistant range is-40 ℃ to 85 ℃, and the spherical shell has the functions of corrosion resistance and dust adhesion resistance.
  9. 9. The spherical amphibious robot of claim 1, wherein the controller integrates a multi-sensor fusion algorithm to support terrain classification, path planning, real-time obstacle avoidance and status self-diagnosis functions, and can automatically switch standby control modes in case of failure.
  10. 10. The spherical land-air amphibious robot according to claim 1, wherein the end part of the three-fork joint is provided with a magnetic attraction interface for rapid magnetic attraction splicing among a plurality of robots to realize multi-machine collaborative operation.

Description

Spherical air-ground amphibious robot based on coaxial reverse pitch technology Technical Field The invention relates to the technical field of robots, in particular to a spherical air-ground amphibious robot based on a coaxial reverse pitch technology. Background The spherical amphibious robot is a mobile robot platform with the ground rolling and air flying capabilities, and has wide application prospects in complex environment detection, emergency rescue, pipe gallery inspection and other scenes due to the protection characteristics of the spherical shell. The existing spherical robot mostly adopts a four-axis unmanned aerial vehicle as a propulsion system, the four-axis unmanned aerial vehicle is fixed inside a spherical shell, flying is realized through lift force generated by a rotor wing, and ground rolling depends on contact passive rolling of the shell and the ground or additional wheel type mechanism driving. The four-axis unmanned aerial vehicle rotor wing is exposed or is simply wrapped by a shell, the rotor wing is easy to interfere with the internal structure of the shell in the flying process, the risk of damage of the rotor wing is high in collision, a four-axis power system is distributed, a plurality of motors work simultaneously to cause larger power consumption, higher power output is required to be maintained when the ground rolls, the cruising ability is limited, the utilization rate of the four-axis configuration in the internal space of the spherical shell is low, the expansion of the rotor wing diameter is limited, the lift efficiency is insufficient, the flying speed is low, and the transmission mechanism of the traditional spherical robot is mostly driven passively, the ground roll depends on the lift component of the rotor wing to drive indirectly, the steering flexibility is poor, and the complex terrain adaptability is weak. Aiming at the problems, the Chinese patent application with the publication number of CN110203386A proposes a novel-configuration omnidirectional coaxial unmanned aerial vehicle, adopts a spherical shell spliced by a bent rod to be combined with a coaxial unmanned helicopter, and transmits the lift force of the helicopter to the shell through a triaxial rotating mechanism so as to realize the functional integration of ground rolling and air flight. The scheme adopts coaxial double rotor wings to replace four-axis layout, and improves the space utilization to a certain extent. However, the scheme still has the following defects that firstly, the three-axis internal rotating mechanism realizes the passive connection of an outer ring and an inner ring and the inner ring and a helicopter only through a rotating bearing, an active driving part is not needed, the ground is completely driven by a rotor wing lifting force component force during rolling, the dynamic response is lagged, the rolling efficiency is low and easy to be blocked under complex terrains such as slopes and rugged roads, secondly, the grounding state judgment is only dependent on a flexible stress sensor wrapped on the surface of a curved rod, the grounding/ungrounded binary state can be only identified through the triggering judgment of a pressure threshold, the environmental information such as the gradient of the terrains, the ground materials and the like can not be perceived, the intelligent degree is low, thirdly, the spherical shell is in a curved rod splicing structure, the curved rod is required to be precisely bent according to the spherical radian, the production cost is high, the assembly precision requirement is strict, the curved rod body is easy to form blocking with the ground protrusion in the rolling process, the movement smoothness is influenced, the coaxial rotor wing spacing of the helicopter is only used for carrying out ' greatly increased ' qualitative description ', the standardized design is not formed, the pneumatic coupling problem is not fully solved, the lifting efficiency is improved, the whole structure is a fixed, the modularized splicing structure is free, and the function can not be expanded according to the requirements, and the function is still can not be provided. Disclosure of Invention The invention aims to provide a spherical land-air amphibious robot based on a coaxial reverse propeller technology, which solves the technical problems of low transmission efficiency, large ground movement power consumption, poor terrain adaptability and single function of the conventional spherical unmanned aerial vehicle in the background technology. In order to achieve the above purpose, the present invention provides the following technical solutions: A spherical aero-amphibious robot based on coaxial counter-paddle technology, comprising: The spherical reticular hollow shell is formed by splicing a plurality of joints with a straight rod and is used for omnidirectional protection and ground rolling; the three-shaft internal rotating mechanism comprises an outer ring