阅读说明：本技术 一种自适应起降-移动一体化起落架机器人 (Self-adaptive take-off and landing-moving integrated undercarriage robot ) 是由 唐鸿雁 张丹 于 2021-07-29 设计创作，主要内容包括：本发明公开了一种自适应起降-移动一体化起落架机器人,属于起落架机器人领域,包括：基座、三个运动支链、传感控制器,三个所述运动支链分别安装在所述基座的底部,所述传感控制器上集成有深度摄像头和控制系统,所述传感控制器固定安装在所述基座的底部,且所述深度摄像头方向面对正下方,用于扫描三维地形,所述控制系统与三个所述运动支链控制连接。本发明的起落架机器人,具有三条运动支链,可以控制改变三个与地面接触的万向轮的位置,从而匹配不同的地形,使无人机保持水平姿态起飞与降落；起落架机器人降落在地面以后,可以通过驱动安装在运动支链末端的三个万向轮转动,实现起落架机器人在地面的全向移动功能。(The invention discloses a self-adaptive lifting-moving integrated undercarriage robot, belonging to the field of undercarriage robots and comprising: the three-dimensional terrain scanning device comprises a base, three moving branch chains and a sensing controller, wherein the three moving branch chains are respectively installed at the bottom of the base, a depth camera and a control system are integrated on the sensing controller, the sensing controller is fixedly installed at the bottom of the base, the direction surface of the depth camera is aligned to the lower side of the base and used for scanning a three-dimensional terrain, and the control system is connected with the three moving branch chains in a control mode. The undercarriage robot is provided with three moving branched chains, and the positions of three universal wheels contacting with the ground can be controlled and changed, so that the undercarriage robot is matched with different terrains, and an unmanned aerial vehicle can take off and land in a horizontal posture; after the undercarriage robot lands on the ground, the three universal wheels arranged at the tail end of the moving branched chain can be driven to rotate, so that the omnidirectional movement function of the undercarriage robot on the ground is realized.)

1. An adaptive take-off and landing-mobile integrated landing gear robot, comprising: base (1), three motion branch chain (2), sensing controller (3), it is three motion branch chain (2) are installed respectively the bottom of base (1), the integration has degree of depth camera and control system on sensing controller (3), sensing controller (3) fixed mounting in the bottom of base (1), just the below is adjusted well to degree of depth camera direction face for scan three-dimensional topography, control system and three motion branch chain (2) control connection.

2. An adaptive take-off, landing-mobile integrated landing gear robot according to claim 1, characterized in that the kinematic branch (2) comprises: the device comprises a branched chain base (21), a sliding block (22), a main cantilever (23), a sliding block motor (24), a connecting rod (25), an auxiliary cantilever (26) and a driving wheel motor, wherein the top of the branched chain base (21) is fixedly connected with the bottom of the base (1), one end of the bottom of the branched chain base (21) is fixedly connected with the sliding block motor (24), the other end of the bottom of the branched chain base is provided with a sliding rail, and the sliding block (22) can slide in the sliding rail of the branched chain base (21) under the driving of the sliding block motor (24); two rotating shafts are respectively arranged on the sliding block (22) and the driving wheel motor, one ends of the main cantilever (23) and the auxiliary cantilever (26) are respectively connected with the two rotating shafts on the sliding block (22), the other ends of the main cantilever (23) and the auxiliary cantilever (26) are respectively connected with the two rotating shafts on the driving wheel motor, and the sliding block (22), the main cantilever (23), the auxiliary cantilever (26) and the driving wheel motor form a parallelogram mechanism together; rotating shafts are respectively arranged at the bottom of the branched chain base (21) and the middle of the main cantilever (23), two ends of the connecting rod (25) are respectively connected with the rotating shaft on the branched chain base (21) and the rotating shaft in the middle of the main cantilever (23), and the branched chain base (21), the sliding block (22), the main cantilever (23) and the connecting rod (25) form a rocker sliding block mechanism; the driving wheel motor is connected with a universal wheel (210) in a driving way.

3. An adaptive take-off, landing and moving integrated landing gear robot according to claim 1 or 2, characterized in that the moving branches are respectively a middle moving branch, a right moving branch and a left moving branch, wherein the middle moving branch is installed on the base (1) along a vertical plane, the right moving branch is installed on the base (1) with 45 degrees of right abduction along the vertical plane, and the left moving branch is installed on the base (1) with 45 degrees of left abduction along the vertical plane.

4. An adaptive take-off, landing and moving integrated landing gear robot according to claim 2, characterized in that a lead screw is connected to an output shaft of the slider motor (24), and the slider motor (24) drives the slider (22) to move through the lead screw.

5. The adaptive take-off, landing and moving integrated landing gear robot as claimed in claim 2, wherein a signal input end of the control system is connected with a signal output end of the depth camera, and a signal output end of the control system is in control connection with a slider motor (24) and a driving wheel motor of each moving branch chain.

Technical Field

The invention belongs to the field of undercarriage robots, and particularly relates to a self-adaptive take-off and landing-moving integrated undercarriage robot.

Background

The vertical take-off and landing unmanned aerial vehicle is widely applied to various fields because of low requirements on take-off and landing environments. But VTOL unmanned aerial vehicle is because the dead time is limited, its range of application has been restricted, if combine VTOL unmanned aerial vehicle with ground mobile robot, make unmanned aerial vehicle both can move at a high speed on flat topography, can fly when meetting complicated non-structural topography, and can also take off and land on complicated topography (like hillside, ladder etc.), through the advantage that combines unmanned aerial vehicle and mobile robot, can make unmanned aerial vehicle realize more functional tasks, expand its range of application. At present, no unmanned aerial vehicle undercarriage with the functions is available, the existing unmanned aerial vehicle undercarriage requires flat ground environment and does not have a terrain self-adaptive function and a ground moving function. Therefore, a novel undercarriage is required to be designed, and the undercarriage has the functions of self-adaptive landing and ground movement.

Disclosure of Invention

Based on the technical problems in the background art, the invention provides a self-adaptive lifting-landing-moving integrated undercarriage robot.

The technical scheme adopted by the invention is as follows:

an adaptive take-off and landing-mobile integrated landing gear robot, comprising: the three-dimensional terrain scanning device comprises a base, three moving branch chains and a sensing controller, wherein the three moving branch chains are respectively installed at the bottom of the base, a depth camera and a control system are integrated on the sensing controller, the sensing controller is fixedly installed at the bottom of the base, the direction surface of the depth camera is aligned to the lower side of the base and used for scanning a three-dimensional terrain, and the control system is connected with the three moving branch chains in a control mode.

Further, the integrated adaptive take-off, landing and moving landing gear robot is characterized in that the moving branched chain comprises: the top of the branched chain base is fixedly connected with the bottom of the base, one end of the bottom of the branched chain base is fixedly connected with the sliding block motor, the other end of the bottom of the branched chain base is provided with a sliding rail, and the sliding block can slide in the sliding rail of the branched chain base under the driving of the sliding block motor; the sliding block and the driving wheel motor are respectively provided with two rotating shafts, one ends of the main cantilever and the auxiliary cantilever are respectively connected with the two rotating shafts on the sliding block, the other ends of the main cantilever and the auxiliary cantilever are respectively connected with the two rotating shafts on the driving wheel motor, and the sliding block, the main cantilever, the auxiliary cantilever and the driving wheel motor form a parallelogram mechanism together; the bottom of the branched chain base and the middle part of the main cantilever are respectively provided with a rotating shaft, two ends of the connecting rod are respectively connected with the rotating shaft on the branched chain base and the rotating shaft in the middle part of the main cantilever, and the branched chain base, the sliding block, the main cantilever and the connecting rod form a rocker sliding block mechanism together; the driving wheel motor is connected with a universal wheel in a driving mode.

Further, the self-adaptive lifting-moving integrated undercarriage robot is characterized in that the moving branched chains are respectively a middle moving branched chain, a right moving branched chain and a left moving branched chain, wherein the middle moving branched chain is installed on the base along a vertical surface, the right moving branched chain is installed on the base along the vertical surface in a right abduction manner, and the left moving branched chain is installed on the base along the vertical surface in a left abduction manner.

Further, the self-adaptive lifting-moving integrated undercarriage robot is characterized in that an output shaft of the sliding block motor is connected with a lead screw, and the sliding block motor drives the sliding block to move through the lead screw.

Further, the self-adaptive lifting-moving integrated undercarriage robot is characterized in that a signal input end of the control system is connected with a signal output end of the depth camera, and a signal output end of the control system is in control connection with a slider motor and a driving wheel motor of each moving branched chain.

The invention has the advantages that:

1. the undercarriage robot provided by the invention is provided with three moving branched chains, and the positions of three universal wheels contacting with the ground can be controlled and changed, so that the undercarriage robot can be matched with different terrains, and an unmanned aerial vehicle can take off and land in a horizontal posture.

2. After the undercarriage robot lands on the ground, the three universal wheels arranged at the tail end of the moving branched chain can be driven to rotate, so that the omnidirectional movement function of the undercarriage robot on the ground is realized.

3. The undercarriage robot has a smaller longitudinal cross-sectional area when in a folded state, and can effectively reduce the resistance of the unmanned aerial vehicle in the flying process.

Drawings

Fig. 1 is a schematic diagram of a landing state of an adaptive take-off, landing and movement integrated landing gear robot according to the invention.

Fig. 2 is a schematic structural diagram of a middle moving branch chain of the adaptive take-off, landing and movement integrated landing gear robot.

Fig. 3 is a top view of an adaptive take-off, landing and movement integrated landing gear robot of the present invention.

Fig. 4 is a schematic view of the folding state of the adaptive take-off, landing and moving integrated landing gear robot of the invention.

Reference numbers in the figures: the device comprises a base 1, three moving branched chains 2, a sensing controller 3, a branched chain base 21, a sliding block 22, a main suspension arm 23, a sliding block motor 24, a connecting rod 25, an auxiliary suspension arm 26, a middle driving wheel motor 27, a right driving wheel motor 28, a left driving wheel motor 29 and a universal wheel 210.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example 1.

An adaptive take-off and landing-mobile integrated landing gear robot comprising: the three-dimensional terrain scanning device comprises a base 1, three moving branch chains 2 and a sensing controller 3, wherein the three moving branch chains 2 are respectively installed at the bottom of the base 1, a depth camera and a control system are integrated on the sensing controller 3, the sensing controller 3 is fixedly installed at the bottom of the base 1, the direction surface of the depth camera is aligned to the lower side of the base 1 and used for scanning a three-dimensional terrain, and the control system is in control connection with the three moving branch chains 2.

The moving branch 2 comprises: the device comprises a branched chain base 21, a sliding block 22, a main cantilever 23, a sliding block motor 24, a connecting rod 25, an auxiliary cantilever 26 and a driving wheel motor, wherein the top of the branched chain base 21 is fixedly connected with the bottom of the base 1, one end of the bottom of the branched chain base 21 is fixedly connected with the sliding block motor 24, the other end of the bottom of the branched chain base 21 is provided with a sliding rail, and the sliding block 22 can slide in the sliding rail of the branched chain base 21 under the driving of the sliding block motor 24; an output shaft of the sliding block motor 24 is connected with a screw rod, and the sliding block motor 24 drives the sliding block 22 to move through the screw rod; two rotating shafts are respectively arranged on the sliding block 22 and the driving wheel motor, one ends of the main cantilever 23 and the auxiliary cantilever 26 are respectively connected with the two rotating shafts on the sliding block 22, the other ends of the main cantilever 23 and the auxiliary cantilever 26 are respectively connected with the two rotating shafts on the driving wheel motor, and the sliding block 22, the main cantilever 23, the auxiliary cantilever 26 and the driving wheel motor form a parallelogram mechanism together; the bottom of the branched chain base 21 and the middle part of the main cantilever 23 are respectively provided with a rotating shaft, two ends of the connecting rod 25 are respectively connected with the rotating shaft on the branched chain base 21 and the rotating shaft in the middle part of the main cantilever 23, and the branched chain base 21, the sliding block 22, the main cantilever 23 and the connecting rod 25 form a rocker sliding block mechanism together; the driving wheel motor is connected with a universal wheel 210 in a driving way.

The moving branched chains are respectively a middle moving branched chain, a right moving branched chain and a left moving branched chain, wherein the middle moving branched chain is installed on the base 1 along a vertical surface, the right moving branched chain is installed on the base 1 along the vertical surface in a mode of extending 45 degrees to the right, and the left moving branched chain is installed on the base 1 along the vertical surface in a mode of extending 45 degrees to the left. The driving wheel motor of the middle moving branch chain is a middle driving wheel motor 27, the driving wheel motor of the right moving branch chain is a right driving wheel motor 28, and the driving wheel motor of the left moving branch chain is a left driving wheel motor 29. The signal input end of the control system is connected with the signal output end of the depth camera, and the signal output end of the control system is connected with the slide block motor 24 and the driving wheel motor of each moving branched chain in a control mode.

The working principle of the invention is as follows:

in the present invention, the adaptive landing gear first scans the landing terrain through the sensing controller 3 and then matches different landing terrain by changing the position of the 3 universal wheels 210. After the sensing controller 3 calculates the position of the universal wheel 210, the slider motor 24 is driven to rotate, and further the lead screw on the output shaft is driven to rotate, so that the slider 22 is driven to move on the branched chain base 21. The movement of the slider 22 rotates the main suspension arm 23 through the rocker-slider mechanism, and further moves the driving wheel motor at the end of the main suspension arm 23 through the parallelogram mechanism, and the parallelogram mechanism ensures that the direction of the rotation axis of the driving wheel motor is always unchanged. The three drive wheel motors respectively drive the three universal wheels 210 to rotate, so that the undercarriage robot can move on the ground in an omnidirectional manner.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.