The invention provides a coaxial dual-rotor air-ground amphibious spherical robot based on a variable centroid control principle, which comprises a ducted spherical shell mechanism for protecting an internal mechanism of the spherical robot, providing extra lift force for the spherical robot in a flight mode and providing shell support for the spherical robot in a land rolling mode, the coaxial dual-rotor driving mechanism is used for providing required lift force in the flight mode, the gyro frame driving mechanism is used for providing required torque in the land rolling mode, and the variable centroid driving mechanism is used for providing torque required by attitude adjustment in the two motion modes. The amphibious motion function of the spherical robot is achieved through the synergistic effect of the variable centroid driving mechanism, the coaxial double-rotor driving mechanism and the gyroscope frame driving mechanism. The robot has the advantages of being simple and flexible in structure, variable in movement mode and high in terrain trafficability, and can meet the requirements of rescue and relief work, reconnaissance and detection and other work tasks in unstructured environments such as mine ruins and forest karst caves.
本发明提供一种基于变质心控制原理的共轴双旋翼空地两栖球形机器人,该球形机器人包括具有保护其内部机构、为其在飞行模式下提供额外升力和在陆地滚动模式下提供壳体支撑的类涵道式球壳机构,飞行模式下提供所需升力的共轴双旋翼驱动机构,陆地滚动模式下提供所需力矩的陀螺框架驱动机构,在两种运动模式下提供姿态调整所需力矩的变质心驱动机构。本发明通过变质心驱动机构分别与共轴双旋翼驱动机构、陀螺框架驱动机构的协同作用,实现球形机器人的两栖运动功能。本发明具有结构简单灵活、运动模式可变、地形通过性强的优点,可满足在矿井废墟、森林溶洞等非结构化环境中进行抢险救灾、侦察探测等工作任务的需求。
Coaxial double-rotor air-ground amphibious spherical robot based on variable centroid control principle
基于变质心控制原理的共轴双旋翼空地两栖球形机器人
2024-04-12
Patent
Electronic Resource
Chinese
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