CN102825988B - Amphibious mobile robot platform - Google Patents
Amphibious mobile robot platform Download PDFInfo
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- CN102825988B CN102825988B CN201210202018.0A CN201210202018A CN102825988B CN 102825988 B CN102825988 B CN 102825988B CN 201210202018 A CN201210202018 A CN 201210202018A CN 102825988 B CN102825988 B CN 102825988B
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Abstract
The invention relates to an amphibious mobile robot platform. The platform comprises a support platform, power arms, a rotation fixed shaft, pectoral fins, a reverse bias wheel, a wheel steering mechanism and tail webs, wherein a control module and a drive module are arranged inside the support platform, the control module is used for controlling the drive module to supply drive force to the robot platform, and controlling and regulating the buoyancy of the platform, so that the whole robot can perform floating, diving and horizontal movements; the wheel steering mechanism is arranged under the head part of the support platform; two power arms arranged on the tail part of the support platform oscillate oppositely or reversely in a horizontal plane under driving of a drive motor; the tail ends of the power arms are fixedly connected with the reverse bias wheel; the reverse bias wheel transforms horizontal oscillation into linear movement; and the tail webs are arranged on the power arms, and the pectoral fins are arranged on left and right sides of the tail part of the support platform. The amphibious mobile robot platform can realize driving on the land and in fluid by utilizing the same drive action, so that the robot can move in an amphibious environment on the premise of not changing the drive mode.
Description
Technical field
The invention belongs to robotics, relate to a kind of amphibious mobile robot platform.
Background technology
Along with the development of science and technology, the vital function of Robotics in production and research activities more highlights, robot is senior integral traffic control opinion, mechano-electronic, computing machine, material and bionic product, Robotics is a fast-developing new and high technology, it is the fusion of machinery, electronics, automation and information-handling technique, of many uses in traffic, medical treatment, military affairs, commercial production etc.Robot is generally made up of actuating unit, actuating device, detecting device, control module and complicated machinery etc., and the exploration of its aspect such as mode of motion, perceptive mode is an important research direction in this field.
The robot motion's form proposed at present has wheeled, crawler type, legged, creeping motion type etc., and the robot of these mode of motion has his own strong points in the application.
Traditional wheeled robot has developed very ripe, and the complex-terrain carrying capacity that it has, course control ability are very strong, but is difficult to the work under competent amphibious environment when not additional independent physical construction.Typical wheeled robot is as " Mars Pathfinder " number wheeled robot, similarly, crawler type, the mode of motion such as legged all have superiority on land, but under amphibious environment, especially be difficult in underwater environment realize autokinetic movement, this is the defect of the mode of motion that these robots adopt.
Seem unable to do what one wishes the nanometer robot that above-described mode of motion moves in blood for Future Development, the requirement of amphibious robot of moving in the seawater.Meanwhile, except legged robot motion due to the motion can imitating the mankind thus can transform the stronger Dancing Robot of movement vision impulsive force as except other several mode of motion there is no too large potentiality in this respect.
Summary of the invention
In view of this, the invention provides a kind of amphibious mobile robot platform, same drive actions can be utilized to realize driving in land and fluid, thus the motion enabling robot realize in amphibious environment when not changing type of drive.
A kind of amphibious mobile robot platform, comprise support platform, power arm, rotation anchor shaft, pectoral fin, reverse-biased to wheel, wheel steering wheel structure and tail uncut jade, wherein, reverse-biasedly comprise wheel carrier, wheel and inclination rotating shaft to wheel, together with wheel is movably arranged on wheel carrier, wheel rotates on wheel carrier, together with wheel carrier is movably arranged on inclination rotating shaft, wheel carrier can rotate around the axis of inclination rotating shaft, there is inclination angle after the central axis of wheel carrier and the axes intersect of inclination rotating shaft; Support platform is the watertight structure of inner hollow, control module, driver module are equipped with in its inside, control module controls driver module and provides propulsive effort for robot platform, controls simultaneously and adjusts the buoyancy of platform, thus makes robot entirety realize floating, dive, horizontal motion; Wheel steering wheel structure is the combination mechanism that roller and rudder sheet are fixed with one by horizontal connector, and roller and rudder sheet are connected to the two ends of horizontal connector.
Its integrated connection closes: wheel steering wheel structure is arranged on the lower head of support platform by the attaching parts on it, and wheel steering wheel structure can realize 180 degree of rotations around the axis of connecting portion under the control of control module; The afterbody of support platform rotates anchor shaft symmetrical installation two power arms in the horizontal direction by two, two power arm relative or backswings in horizontal surface under the driving of drive motor; The end of power arm is fixedly connected with the reverse-biased inclination rotating shaft to wheel, anti-eccentric inclination rotating shaft and vertical direction have angle, the axis of inclination rotating shaft does not overlap with the intersection point on the intersection point on ground and wheel and ground, but is positioned at front and the robot head direction of intersection point; Tail uncut jade is arranged on top power arm being positioned at reverse-biased heart wheel, and pectoral fin is arranged on the left and right sides of support platform afterbody, and tail uncut jade and pectoral fin are by respective servo driving and deployablely form different angles from horizontal surface, and the angle of expansion is controlled by control module.
Principle of work:
Time on land, pectoral fin horizontal abutment is on the bottom surface of support platform, the roller of wheel steering wheel structure is with to be connected on two power arms reverse-biased to the while of the wheel of take turns and earth surface, realize the supported at three point to robot platform, by horizontal hunting power arm, utilize the reverse-biased interaction force to wheel and ground on power arm to drive, realize robot motion on land;
Time in a fluid, control module controls the roller packing up wheel steering wheel structure, and make rudder sheet position adjust to immediately below support platform, the reverse-biased inner side moving to power arm to wheel, tail uncut jade is expanded to and fluid resistance maximum position simultaneously; Driver module in support platform drives power arm, tail web on power arm and the interaction of fluid produce power driven machine people platform horizontal motion in a fluid, the floating and dive that realize robot platform is assisted by the driver module in support platform, pectoral fin coordinates robot applying rolling moment under the control of control module, control roll attitude in a liquid, by wheel steering wheel structure and the turning to of single leg swing arm motion cooperative achievement robot platform, thus realize the driving in fluid environment.
Beneficial effect:
1, the present invention when not changing self structure and mode of motion, can drive simultaneously in amphibious environment
2, athletic performance expressive force of the present invention is strong, can adapt to the change of passage width.Can be used as experiment and verification platform that multirobot works in coordination with multiple field of researchs such as formation, amphibious robot, reconnaissance robot, pipeline inspecting robot, micro-nano biorobot's motion prototype.
3, weight of the present invention is little, and motion is dexterous light, and speed is fast, has compact and reasonable mechanical structure, the features such as intelligent, practicality, stability, energy saving, economy and commonality are good.
Accompanying drawing explanation
Fig. 1 is land of the present invention driving condition lateral plan;
Fig. 2 is fluid driving condition lateral plan of the present invention;
Fig. 3 is land of the present invention driving condition birds-eye view;
Fig. 4 makes the reverse-biased structural representation to wheel of the present invention.
Wherein, 1-power arm, 2-rotates anchor shaft, 3-pectoral fin, 4-is reverse-biased takes turns steering wheel structure, 6-tail uncut jade, 7-inclination rotating shaft, 8-support platform, 9-wheel, 10-wheel carrier, 11-inclination rotating shaft to wheel, 5-.
Detailed description of the invention
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
As shown in accompanying drawing 1,2 and 3, the invention provides a kind of amphibious mobile robot platform, comprise support platform 8, power arm 1, rotate anchor shaft 2, pectoral fin 3, reverse-biased to wheel 4, wheel steering wheel structure 5 and tail uncut jade 6;
As shown in Figure 4, reverse-biasedly comprise wheel carrier 10, wheel 9 and inclination rotating shaft 11 to wheel 4, together with wheel 9 is movably arranged on wheel carrier 10, wheel 9 rotates on wheel carrier 10, together with wheel carrier 10 is movably arranged on inclination rotating shaft 11, wheel carrier 10 can rotate around the axis of inclination rotating shaft 11, there is inclination angle after the central axis of wheel carrier 10 and the axes intersect of inclination rotating shaft 11; Inclination rotating shaft 11 can use other modes to replace, and namely realizes by adding return spring mode between wheel 9 and wheel carrier 10, its objective is to hinder between wheel 9 and wheel carrier 10 to occur angular separation.
Support platform 8 is the watertight structure of inner hollow, control module, drive motor, gear, water tank and compressed gas cylinder are equipped with in its inside, control module controls drive motor driven wheel for robot platform provides propulsive effort, the content ratio simultaneously controlling compressed gas cylinder adjustment support platform 8 internal water and air obtains the buoyancy needed, thus makes robot entirety realize floating, dive, horizontal motion; Power arm 1 inside is hollow structure, and wheel steering wheel structure 5 is the combination mechanism that roller and rudder sheet are fixed with one by horizontal connector, and roller and rudder sheet are connected to the two ends of horizontal connector.
Its integrated connection closes: wheel steering wheel structure 5 is arranged on the lower head of support platform 8 by the attaching parts on it, and wheel steering wheel structure 5 can realize 180 degree of rotations around the axis of connecting portion under the control of control module; The afterbody of support platform 8 rotates anchor shaft 2 symmetrical installation two power arms 1, two power arms 1 relative or backswing in horizontal surface under the driving of drive motor in the horizontal direction by two; The end of power arm 1 is fixedly connected with the reverse-biased inclination rotating shaft to wheel 4, the reverse-biased inclination rotating shaft 7 to wheel 4 has angle with vertical direction, the axis of inclination rotating shaft 7 does not overlap with the intersection point on the intersection point on ground and wheel and ground, but is positioned at front and the robot head direction of intersection point; Tail uncut jade 6 is arranged on top power arm 1 being positioned at reverse-biased heart wheel 4, pectoral fin 3 is arranged on the left and right sides of support platform 8 afterbody, tail uncut jade 6 and pectoral fin 3 are by respective servo driving and deployablely form different angles from horizontal surface, and the angle of expansion is controlled by control module.
Principle of work:
When moving on land, pectoral fin 3 horizontal abutment is on the bottom surface of support platform 8, the roller of wheel steering wheel structure 5 and the reverse-biased wheel to wheel 4 be connected on two power arms 1 are simultaneously and earth surface, realize the supported at three point to robot platform, by horizontal hunting power arm 1, due to the effect of inclination rotating shaft 7, in the process that wheel 9 swings at power arm 1 and can angle be produced between inclination rotating shaft 7, and then the friction force suppressing angle to generate between wheel 9 and ground, can be produced, the component of friction force on Platform movement direction can drive machines people travel forward.
Time in a fluid, control module controls the roller packing up wheel steering wheel structure 5, and make rudder sheet position adjust to immediately below support platform 8, the reverse-biased inner side moving to power arm 1 to wheel 4, tail uncut jade 6 is expanded to and fluid resistance maximum position simultaneously; Drive motor driven wheel in support platform 8 drives power arm 1, tail web 6 on power arm 1 produces power driven machine people platform with the interaction of fluid and moves in a fluid, the floating and dive that realize robot platform is assisted by compressed gas cylinder, water tank, pectoral fin 3 coordinates robot applying rolling moment under the control of control module, control roll attitude in a liquid, swing turning to of power arm cooperative achievement robot platform by wheel steering wheel structure 5 with independent, thus realize the driving in fluid environment.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. an amphibious mobile robot platform, is characterized in that comprising support platform (8), power arm (1), rotates anchor shaft (2), pectoral fin (3), reverse-biased to wheel (4), wheel steering wheel structure (5) and tail uncut jade (6); Reverse-biased to wheel (4) comprise wheel carrier (10), wheel (9) and inclination rotating shaft (11), together with wheel (9) is movably arranged on wheel carrier (10), wheel (9) is in the upper rotation of wheel carrier (10), together with wheel carrier (10) is movably arranged on inclination rotating shaft (11), wheel carrier (10) can rotate around the axis of inclination rotating shaft (11), there is inclination angle after the central axis of wheel carrier (10) and the axes intersect of inclination rotating shaft (11); The combination mechanism that wheel steering wheel structure (5) is fixed with one by horizontal connector for roller and rudder sheet, roller and rudder sheet are connected to the two ends of horizontal connector;
Its integrated connection closes: wheel steering wheel structure (5) is arranged on the lower head of support platform (8) by the horizontal connector on it, and wheel steering wheel structure (5) can realize 180 degree of rotations around the axis of connecting portion under the control of control module; The afterbody of support platform (8) rotates anchor shaft (2) symmetrical installation two power arms (1) in the horizontal direction by two, two power arm (1) relative or backswings in horizontal surface under the driving of drive motor; The end of power arm (1) is fixedly connected with the reverse-biased inclination rotating shaft to wheel (4), the reverse-biased inclination rotating shaft (11) to wheel (4) has angle with vertical direction, the axis of inclination rotating shaft (11) does not overlap with the intersection point on the intersection point on ground and wheel and ground, but is positioned at front and the robot head direction of wheel and ground intersection point; Tail uncut jade (6) is arranged on power arm (1) and is positioned at the reverse-biased top to wheel (4), pectoral fin (3) is arranged on the left and right sides of support platform (8) afterbody, and tail uncut jade (6) and pectoral fin (3) are by respective servo driving and deployablely form different angles from horizontal surface.
2. amphibious mobile robot platform as claimed in claim 1, it is characterized in that the watertight structure that described support platform (8) is inner hollow, control module, drive motor, gear, water tank and compressed gas cylinder are equipped with in its inside, control module controls drive motor driven wheel for robot platform provides propulsive effort, and the content ratio simultaneously controlling compressed gas cylinder adjustment support platform (8) internal water and air obtains the buoyancy needed.
3. amphibious mobile robot platform as claimed in claim 1 or 2, is characterized in that the angle that described tail uncut jade (6) and pectoral fin (3) launch is controlled by control module.
4. amphibious mobile robot platform as claimed in claim 1, is characterized in that described power arm (1) inside is for hollow structure.
5. amphibious mobile robot platform as claimed in claim 1, it is characterized in that described inclination rotating shaft (11) realizes by by adding return spring mode between wheel (9) and wheel carrier (10), return spring hinders between wheel (9) and wheel carrier (10) and occurs angular separation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210202018.0A CN102825988B (en) | 2012-06-15 | 2012-06-15 | Amphibious mobile robot platform |
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| CN201210202018.0A CN102825988B (en) | 2012-06-15 | 2012-06-15 | Amphibious mobile robot platform |
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| CN102825988A CN102825988A (en) | 2012-12-19 |
| CN102825988B true CN102825988B (en) | 2014-12-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104443092B (en) * | 2014-11-05 | 2017-07-25 | 上海大学 | A kind of apery slides frog board robot |
| CN104898720B (en) * | 2015-04-24 | 2017-07-14 | 北京理工大学 | A kind of method for control speed of frog board robot |
| CN110450587B (en) * | 2019-09-18 | 2024-04-16 | 苏州市职业大学 | Amphibious all-terrain robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2349213A1 (en) * | 2001-05-29 | 2002-11-29 | Florencio Neto Palma | Modular robotic mobile |
| CN101758741A (en) * | 2009-12-02 | 2010-06-30 | 哈尔滨工程大学 | All-in-one robot wheel suitable for amphibious ground |
| CN101918230A (en) * | 2007-08-24 | 2010-12-15 | 吉布斯技术有限公司 | Amphibian vehicle |
| CN102486648A (en) * | 2010-12-03 | 2012-06-06 | 北京理工大学 | Autonomic mobile robot platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7427220B2 (en) * | 2006-08-02 | 2008-09-23 | Mcgill University | Amphibious robotic device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2349213A1 (en) * | 2001-05-29 | 2002-11-29 | Florencio Neto Palma | Modular robotic mobile |
| CN101918230A (en) * | 2007-08-24 | 2010-12-15 | 吉布斯技术有限公司 | Amphibian vehicle |
| CN101758741A (en) * | 2009-12-02 | 2010-06-30 | 哈尔滨工程大学 | All-in-one robot wheel suitable for amphibious ground |
| CN102486648A (en) * | 2010-12-03 | 2012-06-06 | 北京理工大学 | Autonomic mobile robot platform |
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