阅读说明：本技术 水陆两栖双球机器人 (Amphibious double-ball robot ) 是由 兰晓娟 孙汉旭 贾庆轩 李健 霍东帅 于 2019-11-28 设计创作，主要内容包括：本发明提供了一种水陆两栖双球机器人,它包括车桥、固定在车桥两端的球壳、驱动球壳运动的驱动机构、浮力调节装置、搭载舱和太阳能电池板。搭载舱固定在球壳内,球壳在浮力调节装置的作用下,深入水下或漂浮在水面或行走在陆地；在驱动机构的作用下,球壳搭载着搭载舱在水下、水面、陆地行走,完成相应的作业操作。本发明通过水下推进器与转动电机相结合实现机器人水陆两栖行走,利用太阳能向机器人提供不间断动力,实现机器人长时间、远距离作业。本发明具有不倾覆、转向灵活、续航时间长的特点。本发明可广泛应用于野外救援、近海岸登陆、海洋学研究和调查、海上航道勘测、海洋渔业开发等任务。(The invention provides an amphibious double-ball robot which comprises an axle, ball shells fixed at two ends of the axle, a driving mechanism for driving the ball shells to move, a buoyancy adjusting device, a carrying cabin and a solar cell panel. The carrying cabin is fixed in the spherical shell, and the spherical shell is deep under water or floats on the water surface or walks on the land under the action of the buoyancy regulating device; under the action of the driving mechanism, the spherical shell carries the carrying cabin to walk underwater, on the water surface and on the land, and corresponding operation is completed. The invention realizes amphibious walking of the robot by combining the underwater propeller and the rotating motor, provides uninterrupted power for the robot by utilizing solar energy, and realizes long-time and long-distance operation of the robot. The invention has the characteristics of no overturn, flexible steering and long endurance time. The invention can be widely applied to the tasks of field rescue, offshore landing, oceanographic research and investigation, marine channel survey, marine fishery development and the like.)

1. An amphibious double-ball robot is characterized in that: the vehicle comprises a vehicle axle, two spherical shells which are symmetrically arranged, a driving mechanism for driving the spherical shells to move, a buoyancy adjusting device, a carrying cabin and a solar cell panel;

two ends of the axle are respectively connected with a spherical shell rotating shaft, and the spherical shell rotating shafts penetrate through the spherical shells and are superposed with the central shaft of the spherical shells;

the driving mechanism for driving the spherical shell to move comprises a roll motor arranged at the left end and the right end of the axle and used for driving the spherical shell to walk on land and a propeller rotating motor arranged in the spherical shell and used for driving the spherical shell to walk underwater;

the carrying cabin for completing the underwater, land and water surface operation of the robot is fixed in the spherical shell.

2. An amphibious double-ball robot according to claim 1, characterized in that: the output shaft of the roll motor is connected with the spherical shell rotating shaft through a coupler, and free rolling walking and turning of the spherical robot are realized by adjusting the rotating speed of the roll motor and by means of the friction force between the spherical shell and the ground;

the propeller rotation motor is fixed on the spherical shell rotation shaft, an output shaft of the propeller rotation motor is connected with a propeller rotation shaft through a coupler, a propeller thruster is fixed on the propeller rotation shaft, and the propeller thruster is changed by adjusting the rotation speed of the propeller rotation motor, so that the robot can freely advance and turn underwater.

3. An amphibious double-ball robot according to claim 2, characterized in that: the carrying cabin is fixed on the spherical shell rotation shaft, a telescopic mechanical arm is fixed at the bottom of the carrying cabin, and a replaceable operation tool is designed at the tail end of the mechanical arm.

4. An amphibious double-ball robot according to claim 3, characterized in that: the vehicle-mounted device comprises an axle, and is characterized by further comprising a device carrying cabin, wherein the device carrying cabin is fixed on the axle, and a control system, communication equipment, navigation positioning equipment and detection equipment are carried in the device carrying cabin.

5. An amphibious double-ball robot according to claim 4, characterized in that: the buoyancy adjusting device is fixed at the middle position of the axle.

6. An amphibious double-ball robot according to claim 5, characterized in that: the spherical shell is a reticular spherical shell.

Technical Field

The invention relates to an autonomous amphibious double-ball robot capable of working on land, water surface and underwater for a long time. The invention belongs to the field of robot technology development.

Background

The wave breaking zone, the shoreside wave zone and the beach zone which are connected by the sea and land are key areas concerned in the aspects of scientific research, environmental monitoring, investigation and sampling, military field and the like in recent years. Most robots can only move under a single environment, land robots do not have the ability to navigate in water due to the absence of an underwater propulsion mechanism, and underwater robots mostly do not have the ability to walk on land. Therefore, in order to complete tasks such as detection and operation in an amphibious area, it is of great significance to research high-performance amphibious robots.

At present, amphibious robots can be classified into wheel-type amphibious robots, legged-type amphibious robots, and snake-type amphibious robots according to the difference of propulsion principles.

When the wheel-type amphibious robot moves, the energy loss is less, the efficiency is high, but the requirement on the environmental terrain is high, and the wheel-type amphibious robot is not suitable for complex environments; the legged amphibious robot generally comprises thighs, crus, ankles and the like, has strong obstacle-crossing capability and good adaptability to irregular terrains, but has very poor moving performance in water; the snakelike amphibious robot has a complex mechanical structure and high manufacturing cost, and is inconvenient to maintain and maintain.

The spherical robot has the advantages that: the spherical robot has good self-recovery performance after losing the state, and can flexibly move on soft ground such as sand, snow and the like; under water, the symmetry of the shell is such that there is no coupling term when performing shell fluid dynamics modeling, and the fluid dynamics parameters in each direction are equal, facilitating calculation.

The design combines the advantages of the spherical robot and the legged robot, and designs the one-type double-spherical robot with the amphibious function. The double-ball design can enable the robot to carry more task loads, and the robot walking performance is superior by combining the telescopic mechanical arm with the complex terrain and the mechanical foot arranged at the tail end of the mechanical arm.

Disclosure of Invention

In view of the above, the present invention aims to provide an autonomous amphibious double-ball robot capable of working on land, on water and under water for a long time.

In order to achieve the purpose, the invention adopts the following technical scheme: an amphibious double-ball robot comprises an axle, two symmetrically arranged ball shells, a driving mechanism for driving the ball shells to move, a buoyancy adjusting device, a carrying cabin and a solar cell panel;

two ends of the axle are respectively connected with a spherical shell rotating shaft, and the spherical shell rotating shafts penetrate through the spherical shells and are superposed with the central shaft of the spherical shells;

the driving mechanism for driving the spherical shell to move comprises a roll motor which is arranged at the left end and the right end of the axle and drives the spherical shell to walk on land and a propeller rotating motor which is arranged in the spherical shell and drives the spherical shell to walk underwater; the output shaft of the roll motor is connected with the spherical shell rotating shaft through a coupler, and free rolling walking and turning of the spherical robot are realized by adjusting the rotating speed of the roll motor and by means of the friction force between the spherical shell and the ground; the propeller rotation motor is fixed on the spherical shell rotation shaft, an output shaft of the propeller rotation motor is connected with a propeller rotation shaft through a coupler, a propeller thruster is fixed on the propeller rotation shaft, and the propeller thruster is changed by adjusting the rotation speed of the propeller rotation motor, so that the robot can freely advance and turn underwater.

A carrying cabin for completing the underwater, land and water surface operation of the robot is fixed in the spherical shell. The carrying cabin is fixed on the spherical shell rotation shaft, the bottom of the carrying cabin is fixed with a telescopic mechanical arm, and the tail end of the mechanical arm is provided with a replaceable operation tool.

The amphibious double-ball robot further comprises an equipment carrying cabin, wherein the equipment carrying cabin is fixed on the axle, and a control system, communication equipment, navigation positioning equipment and detection equipment are carried in the equipment carrying cabin.

The invention realizes the amphibious walking of the robot by combining the underwater propeller and the rotating motor, can walk by means of the mechanical arm and the mechanical foot arranged at the tail end of the mechanical arm in complex terrain, and provides uninterrupted power for the robot by utilizing solar energy, thereby realizing long-time and long-distance operation of the robot. The invention has the characteristics of no overturn, flexible steering and long endurance time, and has higher maneuverability and complex environment passing capability. The invention can be widely applied to the tasks of field rescue, offshore landing, oceanographic research and investigation, marine channel survey, marine fishery development and the like.

Drawings

FIG. 1 is a schematic perspective view of an amphibious double-ball robot of the invention;

FIG. 2 is a schematic perspective view of the present invention in an unfolded state;

FIG. 3 is a front view of the present invention in an expanded state;

FIG. 4 is a front view of the present invention with the reticulated shell removed;

FIG. 5 is a schematic view of the three-dimensional structure of the present invention with the reticulated shell removed.

Wherein, 1: an axle; 2: a spherical shell rotation shaft; 3: a spherical shell; 4: a carrying cabin; 5: a roll motor; 6: a propeller rotation motor; 7: a propeller rotating shaft; 8: a propeller thruster; 9: a mechanical arm; 10: a work tool; 11: an equipment carrying cabin; 12: a buoyancy adjusting device; 13: a solar cell panel.

Detailed Description

The structural features of the present invention will be further described with reference to the accompanying drawings and examples.

As shown in fig. 1-4, the amphibious double-ball robot disclosed by the invention is composed of an axle, two symmetrically arranged ball shells, a driving mechanism for driving the ball shells to move, a buoyancy adjusting device, a carrying cabin and a solar panel. Two ends of the axle are symmetrically connected with a spherical shell respectively, and a carrying cabin is fixed in the spherical shell; the spherical shell goes deep into the water or floats on the water surface or walks on the land under the action of the buoyancy regulating device; under the action of the driving mechanism, the spherical shell carries the carrying cabin to walk underwater, on the water surface and on the land, and corresponding operation is completed.

As shown in the figure, two ends of the axle 1 are respectively connected with a spherical shell rotating shaft 2, and a spherical shell 3 is fixed through the spherical shell rotating shaft 2. The spherical shell 3 is a reticular spherical shell, and a carrying cabin 4 for complete corresponding operation and a mechanism for driving the spherical shell to move underwater are fixed in the spherical shell.

As shown in the figure, the driving mechanism for driving the spherical shell to move comprises roll motors 5 arranged at the left and right ends of the axle 1 and propeller rotating motors 6 arranged in the left and right spherical shells.

An output shaft of the roll motor 5 is connected with the spherical shell rotating shaft 2 through a coupler, and the spherical shell rotating shaft 2 penetrates through the spherical shell 3 and is overlapped with a central shaft of the spherical shell 3. On the land, the free rolling walking and turning of the spherical robot are realized by adjusting the rotating speed of the rolling motor 5 and by means of the friction force between the spherical shell and the ground.

The propeller rotating motor 6 is fixed on the spherical shell rotating shaft 2 in the left spherical shell and the right spherical shell, the output shaft of the propeller rotating motor 6 is connected with the propeller rotating shaft 7 through a coupler, and the propeller rotating shaft 7 is fixed with the propeller thruster 8. Under water or on the water surface, the propelling direction of the propeller thruster 8 is changed by adjusting the rotating speed of the propeller rotating motor 6, and the robot freely advances and turns under water by combining the adjustment of the rotating speeds of the two propeller thrusters and depending on the cooperative force of the thrusters.

In order to enable the robot to carry various task loads and realize tasks such as scientific investigation, field operation, rescue and the like on the underwater, land and water surfaces, as shown in the figure, the invention is characterized in that a carrying cabin 4 is fixed on a rotating shaft of the spherical shell in the spherical shell, a telescopic mechanical arm 9 is fixed at the bottom of the carrying cabin 4, and a replaceable operation tool 10, such as a mechanical arm, a mechanical foot and the like, is designed at the tail end of the mechanical arm. According to the underwater or land or water surface operation requirement of the robot, the mechanical arm 9 can extend out of the reticular spherical shell, the tail end of the mechanical arm is provided with a mechanical foot or a mechanical arm, and after the corresponding operation is finished, the mechanical arm is folded and retracted into the carrying cabin 4.

In addition, the axle 1 is further provided with an equipment carrying cabin 11, a control system, communication equipment, navigation positioning equipment, detection equipment and the like are carried in the equipment carrying cabin 11, and the equipment carrying cabin 11 can realize control of the robot, receive road command instructions and transmit corresponding data, and can also realize tasks such as scientific investigation, patrol and the like.

In order to enable the robot to freely go deep into the water and float on the water surface, as shown in the figure, the vehicle axle 1 of the invention is also provided with a buoyancy adjusting device 12, and the buoyancy adjusting device 12 can adjust the operation depth of the robot in the water and enable the robot to keep a floating state on the water surface. The buoyancy adjusting device can be fixed at the middle position of the axle 1 and can also be installed in the equipment carrying cabin 11.

In order to ensure that the robot can finish long-time and long-distance operation, the invention is also provided with a solar cell panel 13 with an energy storage function, thereby providing uninterrupted power supply for the robot.

The invention realizes amphibious walking of the robot by combining the underwater propeller and the rotating motor, provides uninterrupted power for the robot by utilizing solar energy, and realizes long-time and long-distance operation of the robot. The invention has the characteristics of no overturn, flexible steering and long endurance time. The invention can be widely applied to the tasks of field rescue, offshore landing, oceanographic research and investigation, marine channel survey, marine fishery development and the like.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.