Air-ground amphibious dual-ring shape-shifting robot

Abstract

An air-ground amphibious dual-ring shape-shifting robot comprises an outer circular ring and an inner circular ring, wherein the inner circular ring is sleeved with the outer circular ring, and the two ends in the radial direction of the inner circular ring and the two ends in the radial direction of the outer circular ring are hinged to each other respectively to achieve rotating matching; the outer diameter surface of the outer circular ring is at least connected with an outer wheel rim capable of rotating in the axial direction of the outer circular ring in a sleeving mode, and the outer diameter surface of the inner circular ring is at least connected with an inner wheel rim capable of rotating in the axial direction of the inner circular ring in a sleeving mode; an included angle motor used for changing the relative folding angle between the outer circular ring and the inner circular ring, an outer ring motor used for being connected with the outer wheel rim and driving the outer wheel rim to rotate, an inner ring motor used for being connected with the inner wheel rim and driving the inner wheel rim to rotate and an electrical modulation module used for a model airplane are fixed in a ring of the inner circular ring, two flight control motors are fixed on the electrical modulation in the center axis direction of the ring of the inner circular ring, and the flight control motors are in driving connection with two rotor wings with opposite rotating directions. The air-ground amphibious dual-ring shape-shifting robot can automatically adapt to terrains in an all-dimensional mode in land traveling and can be folded to move in a narrow space; the direction of an inner circular ring air duct can be changed to adjust flight attitudes by folding, the torque of the two rotor wings can change the flight directions, and flight reconnoitre can be achieved in a narrower space.

Description

technical field [0001] The invention relates to a land-air amphibious double-loop deformation robot, in particular to a multi-purpose robot which can be folded and deformed to change its walking posture on land and flying posture in the air. Background technique [0002] Land-air amphibious robots are widely used in environmental detection, security detection, life-saving detection, aerial reconnaissance and other fields. At present, most land-air amphibious robots cannot be deformed to meet the needs of walking in different narrow spaces, nor can they change their flight posture by deforming in the air . [0003] For example, a Chinese invention patent application (CN104260605A) discloses a ground-air amphibious spherical metamorphic robot based on the principle of metamorphosis. When the robot is ready to fly, the upper hemispherical shell moves upward to give way to the support arm of the folding frame. After the support arm is deployed in place, the upper hemispherical ...

AI Technical Summary

Problems solved by technology

The problems of this robot are as follows: ①When switching between flying and crawling modes, the support arm where the rotor motor is installed needs to be stretched into and out of the spherical shell, and the legs of the four-link need to be stretched into and out of the spherical shell. This complex mechanism design makes the robot The structure is very complicated, and the control is very inconvenient; ② When encountering a space such as high and narrow or low and wide land, the spherical shell cannot shrink and deform, so it cannot pass through the narrow space of high and narrow or low and wide; ③ When quadrotors fly, due to The volume cannot be deformed, so when encountering a narrow flying space, the robot cannot fly through it; ④ uses four-legged crawling, and the walking speed on land is slow

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