Land-air amphibious all-directional robot

Abstract

The invention discloses a land-air amphibious all-directional robot, which comprises a shell and anall-directional aircraft arranged in the shell; the all-directional aircraft comprises a connector and a plurality of actuating mechanisms connected on the connector, the actuating mechanism comprises a connecting mechanism and inclinable rotors connected with the connecting mechanism, the inclinablerotor includes an outer arc-shaped bracket, an inner arc-shaped bracket which is rotatably connected with the outer arc-shaped bracket and a driving mechanism which is rotatably connected with the inner arc-shaped bracket; the outer arc-shaped bracket is provided with a driving motor with an output shaft, the output shaft is connected with a main gear, and a slave gear meshed with the main gear is arranged on the inner arc-shaped bracket. Not only can the robot hover in any attitude in the air and move in any direction in the three-dimensional space, but also the all-directional movement on the opposite side can be realized, and the movement displacement of the robot can be accurately controlled.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a land-air amphibious omnidirectional robot. Background technique [0002] Traditional multi-rotor drones are widely used in various fields of production and life because of their good stability and easy control. Compared with traditional quadrotor drones, omnidirectional drones have higher stability and application prospects. One of the most important features of the omnidirectional UAV is that the UAV body can hover in any posture in the air. This feature is very suitable for the field of inspection, especially in bridge inspection and power inspection. Due to the limitations of the body itself, the traditional four-rotor must add a self-stabilizing gimbal to fix the camera, and because the gimbal camera has a shooting dead angle. For example, when a drone flies under a bridge hole, it cannot capture the scene inside the entire bridge hole. These shortcoming...

AI Technical Summary

Problems solved by technology

However, while the current omnidirectional robots are equipped with omnidirectional wheels, in order to obtain higher control accuracy, a drive motor must be installed for each omnidirectional wheel, which increases the robot's own weight and also increases the cost of the robot.

Moreover, the existing robots have low motion precision on land, and it is impossible to obtain high control precision; they can only hover stably in a few specific attitudes in the air; to the movement

Images