The invention discloses a reconfigurable water-land-air robot with multiple motion modes. The reconfigurable water-land-air robot is composed of a control unit, a four-foot walking unit and a four-rotor flying unit. The four-foot walking unit comprises four mechanical legs capable of achieving walking movement, and each leg is provided with two joints, namely a thigh joint and a shank joint. The shanks can be folded through connection and control of the steering engine. In addition, rollers are mounted at joint joints, and the wheels can land after the shanks are folded; the four-rotor flight unit comprises a front rotor and a rear rotor which are fixedly installed in the aircraft body and are called fixed rotors. The mounting brackets of the left rotor and the right rotor can rotate by 90 degrees along the axis and are called steering rotors. When the robot moves in water and in the air, the fixed rotors provide upward power, and the steering rotors provide advancing power for the robot and control the advancing direction. When the shanks are folded on the land, the wheels make contact with the ground to move, power is provided by the steerable rotors, and when the shanks are not folded, the robot can walk through the legs.
本发明公开了一种多运动模式可重构水陆空机器人,它由控制单元、四足行走单元、四旋翼飞行单元三部分组成。行四足行走单元包括四条可以实现行走运动的机械腿,每条腿有两个关节:大腿与小腿关节。通过舵机连接和控制,小腿可以实现折叠。另外在关节连接处安装滚轮,小腿折叠后可以实现轮子着地运动;四旋翼飞行单元包括,前后两个旋翼固定安装在机体之中,称为固定旋翼。左右两个旋翼的安装支架可以沿轴线实现90度旋转,称为转向旋翼。在水中和空中运动时,固定旋翼提供向上的动力,转向旋翼提供机器人的前进动力,并控制前进方向。在陆地上时小腿折叠时采用轮子接触地面运动,动力由可转向旋翼提供,小腿不折叠时机器人可以利用腿部行走。
Multi-motion-mode reconfigurable water-land-air robot
一种多运动模式可重构水陆空机器人
2022-04-19
Patent
Electronic Resource
Chinese
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