Amphibious posture self-switching power system and amphibious wheel-foot mechanical dog

Abstract

The invention provides an amphibious posture self-switching power system and an amphibious wheel-foot mechanical dog, and the self-switching power system comprises a motor assembly which outputs power through a transmission shaft; the wheel assembly is provided with a second transmission disc with a plurality of second sliding inclined holes; the first transmission disc is provided with a plurality of first sliding inclined holes, the first transmission disc sequentially and annularly sleeves the transmission shaft, and the second sliding inclined holes and the first sliding inclined holes are coaxially communicated to form output posture switching sliding grooves for transmission sliding pins to slide; when the transmission sliding pin leaves the first sliding inclined hole under the action of gravity, the first transmission disc and the second transmission disc are decoupled; when the transmission sliding pin enters the first transmission disc under the action of gravity, the first transmission disc drives the second transmission disc to coaxially rotate. Output modes can be automatically switched between the flight attitude and the walking attitude based on the sliding stroke of the transmission sliding pin under gravity, the self weight is reduced, the endurance time is prolonged, and especially the endurance time of the flight attitude is greatly prolonged.

Description

Technical Field

[0001] The present invention relates to the field of robots, in particular to an amphibious robot capable of automatically switching postures. Background Art

[0002] One of the main reasons why there are no mature amphibious flying robot dogs on the market is that the size and weight of the flying robot dogs must be strictly controlled. The robot dogs cannot achieve autonomous switching between land and flight modes with only one power system. The main product forms currently include:

[0003] (1) The robot dog has multiple rotating parts and uses several power sources. This requires more power source components, which will increase the weight of the entire machine, occupy a large volume, and increase the cost. For example, some flying robot dogs currently use two power systems, one for land operations and one for non-flight operations. Since the two power systems cannot work simultaneously, the additional power system will become an invalid load, resulting in a decrease in overall motion performance and a significant reduction in endurance, especially endurance in flight.

[0004] (2) The robot dog has only one power source and multiple rotating parts, but they need to be replaced manually. Manual replacement of parts is complicated and time-consuming. When using the robot dog outside, the user needs to carry multiple rotating drive parts with him, which is inconvenient. For example, each time the robot dog switches postures, the user needs to manually remove the robot legs and replace the propellers, or lock different output shafts and replace transmission pins. Moreover, when the robot dog is operated in remote mode to a distance, a person needs to go over and replace the parts when switching modes. The application scenarios are inconsistent, which limits the scope of use.

[0005] (3) The robot dog has only one power source and always uses this power source to synchronously drive the propeller and wheel hub to rotate. Although this mode can achieve automatic switching between amphibious motion modes, since the power source always needs to drive the propeller and wheel hub to rotate, the energy consumption is huge. Especially in flight mode, the propeller and wheel hub are driven to rotate at high speed at the same time, which consumes a lot of electricity and greatly reduces the endurance. In addition, since the tires on the wheel hub are usually patterned to increase friction, these patterned tires will also form turbulence or airflow resistance when rotating, further reducing the flight speed and destroying the stability of the flight attitude.

[0006] In view of this, the present invention provides an amphibious posture self-switching power system and an amphibious wheel-footed mechanical dog.

[0007] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0008] In response to the problems in the prior art, the purpose of the present invention is to provide an amphibious posture self-switching power system and an amphibious wheeled and footed mechanical dog, which overcomes the difficulties of the prior art and can automatically switch the output mode between the flying posture and the walking posture based on the sliding stroke of the transmission pin under gravity, thereby greatly reducing the dead weight, improving the overall motion performance and endurance time, and especially greatly extending the endurance time of the flying posture.

[0009] An embodiment of the present invention provides an amphibious posture self-switching power system, comprising:

[0010] A motor assembly outputs power through a transmission shaft;

[0011] A wheel assembly having a second transmission plate with a plurality of second inclined sliding holes distributed thereon; and

[0012] The propeller assembly comprises a first transmission plate having a plurality of first inclined sliding holes distributed thereon, the second transmission plate and the first transmission plate being sequentially sleeved on the transmission shaft, each second inclined sliding hole being coaxially connected to the corresponding first inclined sliding hole to form an output attitude switching slot for sliding a transmission pin;

[0013] When all the transmission pins leave the first inclined sliding hole due to gravity, the first transmission plate and the second transmission plate are decoupled; when at least one transmission pin partially falls into the first transmission plate due to gravity, the first transmission plate drives the second transmission plate to rotate coaxially.

[0014] Preferably, the wheel assembly further comprises a hub sleeved on the second transmission disc via spokes, and the second transmission disc is rotatably sleeved on the outer circumference of the transmission shaft;

[0015] The propeller assembly further includes blades surrounding the first transmission disc, wherein the first transmission disc is fixed to the outer end of the transmission shaft;

[0016] When the transmission shaft is perpendicular to the horizontal plane, the transmission sliding pin falls due to gravity and completely sinks into the second sliding inclined hole, so that the first transmission disc and the second transmission disc are decoupled, and the transmission shaft only drives the propeller assembly to rotate;

[0017] When the transmission shaft is parallel to the horizontal plane, at least one transmission pin falls under gravity and partially enters the first transmission disc, causing the first transmission disc and the second transmission disc to rotate coaxially, and the transmission shaft drives the propeller assembly and the wheel assembly to rotate synchronously.

[0018] Preferably, a connecting hole and a first sleeve hole are coaxially connected in the center of the first transmission disc, the first sleeve hole is sleeved on the outer end of the transmission shaft, and a fixing member passes through the connecting hole to press the first transmission disc to the outer end of the transmission shaft, and the first sliding inclined holes are distributed around the first sleeve hole as the center.

[0019] Preferably, a second sleeve hole is provided in the center of the second transmission disc, and a rolling bearing is provided on the inner wall of the second sleeve hole, which is rotatably sleeved on the outer wall of the shell wrapping the transmission shaft, and a tire is sleeved on the outside of the second transmission disc.

[0020] Preferably, the width of the hub is greater than the sum of the height of the propeller assembly and the height of the spokes, so that a blade accommodating space for accommodating the propeller assembly is formed above the spokes in the hub.

[0021] Preferably, the transmission shaft protrudes from the motor assembly housing to form an annular shoulder, and the annular shoulder limits and supports the second transmission plate of the wheel assembly.

[0022] Preferably, the first transmission plate and the second transmission plate are clearance-fitted.

[0023] Preferably, the depth of the first inclined sliding hole is smaller than the length of the transmission sliding pin, and the length of the transmission sliding pin is smaller than the depth of the second inclined sliding hole.

[0024] Preferably, the first inclined sliding hole and the second inclined sliding hole are circular tube blind grooves with the same radius.

[0025] An embodiment of the present invention further provides an amphibious wheeled and footed mechanical dog, comprising:

[0026] a body, wherein a battery pack and a control system are arranged in the body;

[0027] Four robotic arms, the upper ends of the robotic arms being connected to the body respectively;

[0028] Four amphibious posture self-switching power systems as described above are respectively arranged at the lower ends of the robotic arms;

[0029] When the robotic arm is perpendicular to a horizontal plane, at least one of the transmission pins falls due to gravity and enters the first transmission disc, causing the first transmission disc and the second transmission disc to rotate coaxially. The transmission shaft drives the propeller assembly and the wheel assembly to rotate synchronously, thereby achieving rolling of the wheel assembly.

[0030] When the robotic arm is unfolded to be parallel to the horizontal plane, the transmission pin falls due to gravity and is completely immersed in the second sliding inclined hole, so that the first transmission plate and the second transmission plate are decoupled, and the transmission shaft only drives the propeller assembly to rotate, pulling the body into the air.

[0031] The amphibious posture self-switching power system and the amphibious wheeled-foot mechanical dog of the present invention can automatically switch the output mode between the flying posture and the walking posture based on the sliding stroke of the transmission pin under the force of gravity, which greatly reduces the dead weight, improves the overall movement performance and endurance time, and especially greatly extends the endurance time of the flying posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0033] Figure 1 It is a three-dimensional diagram of the amphibious posture self-switching power system of the present invention.

[0034] Figure 2 It is a stereoscopic view of the propeller assembly in the amphibious posture self-switching power system of the present invention.

[0035] Figure 3 It is a cross-sectional view of the propeller assembly in the amphibious posture self-switching power system of the present invention.

[0036] Figure 4 It is a stereoscopic view of the wheel assembly in the amphibious posture self-switching power system of the present invention.

[0037] Figure 5 It is a cross-sectional view of the wheel assembly in the amphibious posture self-switching power system of the present invention.

[0038] Figure 6 It is an exploded view of the amphibious posture self-switching power system of the present invention.

[0039] Figure 7 It is a cross-sectional view of the amphibious posture self-switching power system of the present invention.

[0040] Figure 8 It is a three-dimensional diagram of the amphibious wheel-legged mechanical dog of the present invention in a flying posture.

[0041] Figure 9 It is a cross-sectional view of the amphibious posture self-switching power system of the amphibious wheeled and footed mechanical dog of the present invention when it is in a flying posture.

[0042] Figure 10 It is a three-dimensional diagram of the amphibious wheel-legged mechanical dog of the present invention in a walking posture.

[0043] Figure 11It is a cross-sectional view of the amphibious posture self-switching power system of the amphibious wheeled and footed mechanical dog of the present invention when the amphibious posture is in a walking posture.

[0044] Reference numerals

[0045] 1 Amphibious posture self-switching power system

[0046] 11 Motor assembly

[0047] 111 Drive shaft

[0048] 112 fixings

[0049] 113 Circular Shoulder

[0050] 12 Propeller Assembly

[0051] 121 blades

[0052] 122 First transmission plate

[0053] 123 connection hole

[0054] 124 First socket hole

[0055] 125 First sliding inclined hole

[0056] 13 Wheel Assembly

[0057] 131 spokes

[0058] 132 wheels

[0059] 133 tires

[0060] 134 Second transmission plate

[0061] 135 Second sliding inclined hole

[0062] 136 Second socket

[0063] 137 Propeller space

[0064] 14 Transmission pin

[0065] 2 Robotic Arm

[0066] 3 Body DETAILED DESCRIPTION

[0067] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in the present application. The present application can also be implemented or applied through different specific embodiments. The details in the present application can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0068] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0069] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this application, as well as features of different embodiments or examples, unless otherwise contradictory.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include at least one such feature. In the context of this application, "plurality" means two or more, unless otherwise specifically defined.

[0071] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0072] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[0073] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly on" another device, there are no other devices between it.

[0074] Although in some instances the terms first, second, etc. are used to represent various elements in the present invention, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface, etc. are represented. Furthermore, as used in the present invention, the singular forms "one", "an", and "the" are intended to also include the plural forms, unless there is a contrary indication in the context. It should be further understood that the terms "comprise" and "include" indicate the presence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C". An exception to this definition occurs only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0075] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0076] Although not defined differently, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current teachings, and unless otherwise defined, they should not be overly interpreted as ideal or highly formalized meanings.

[0077] Figure 1 It is a three-dimensional diagram of the amphibious posture self-switching power system of the present invention. Figure 2 It is a stereoscopic view of the propeller assembly in the amphibious posture self-switching power system of the present invention. Figure 3 It is a cross-sectional view of the propeller assembly in the amphibious posture self-switching power system of the present invention. Figure 4 It is a stereoscopic view of the wheel assembly in the amphibious posture self-switching power system of the present invention. Figure 5 It is a cross-sectional view of the wheel assembly in the amphibious posture self-switching power system of the present invention. Figure 6 It is an exploded view of the amphibious posture self-switching power system of the present invention. Figure 7It is a cross-sectional view of the amphibious posture self-switching power system of the present invention.

[0078] like Figures 1 to 7 As shown, the amphibious attitude switching power system of the present invention includes: a motor assembly 11, a propeller assembly 12, and a wheel assembly 13. The motor assembly 11 outputs power via a transmission shaft 111. The wheel assembly 13 has a second transmission disc 134 with a plurality of second inclined sliding holes 135. The propeller assembly 12 has a first transmission disc 122 with a plurality of first inclined sliding holes 125. The second transmission disc 134 and the first transmission disc 122 are sequentially encircled around the transmission shaft 111. Each second inclined sliding hole 135 is coaxially connected to the corresponding first inclined sliding hole 125 to form an output attitude switching slot for the transmission pin 14 to slide. When all transmission pins 14 leave the first inclined sliding hole 125 due to gravity, the first transmission disc 122 and the second transmission disc 134 are decoupled. When at least one transmission pin 14 partially falls into the first transmission disc 122 due to gravity, the first transmission disc 122 drives the second transmission disc 134 to coaxially rotate. The purpose of this invention is to overcome the limitation of existing quadruped robots, which are limited to land use, by providing them with flight capabilities in a more practical manner. Furthermore, the added structure to achieve flight functionality does not negatively impact existing land mobility and can even enable faster land movement and lower power consumption. The present invention can automatically switch between flight and walking modes based on the sliding travel of the transmission pin under the force of gravity, significantly reducing its own weight, improving overall motion performance and flight time, and particularly significantly extending flight time in the flight mode.

[0079] In a preferred embodiment, the wheel assembly 13 further includes a hub 132 that is sleeved onto a second transmission disc 134 via spokes 131. The second transmission disc 134 is rotatably encircled around the outer circumference of the drive shaft 111. The propeller assembly 12 further includes blades 121 surrounding a first transmission disc 122. The first transmission disc 122 is fixedly attached to the outer end of the drive shaft 111. When the drive shaft 111 is perpendicular to the horizontal plane, the transmission pins 14 fall due to gravity and completely sink into the second inclined sliding holes 135, decoupling the first and second transmission discs 122 and 134. The drive shaft 111 then drives only the propeller assembly 12. When the drive shaft 111 is parallel to the horizontal plane, at least one transmission pin 14 falls due to gravity and partially enters the first transmission disc 122, causing the first and second transmission discs 122 and 134 to rotate coaxially. The drive shaft 111 then drives the propeller assembly 12 and the wheel assembly 13 to rotate synchronously, but the present invention is not limited to this.

[0080] In a preferred embodiment, the center of the first transmission disc 122 has a coaxially connected connecting hole 123 and a first sleeve hole 124. The first sleeve hole 124 is sleeved on the outer end of the transmission shaft 111. The fixing member 112 passes through the connecting hole 123 to press the first transmission disc 122 against the outer end of the transmission shaft 111, ensuring that the propeller assembly 12 always rotates synchronously with the transmission shaft 111. The first sliding inclined holes 125 are distributed around the first sleeve hole 124 as the center, but are not limited to this.

[0081] In the amphibious attitude self-switching power system of the present invention, the positional relationship between the axis of the transmission shaft and the axis of the output attitude switching chute (formed by the coaxial connection between the second sliding inclined hole 135 and the corresponding first sliding inclined hole 125) is similar to the positional relationship between the height of a cone and the generatrix of the cone. Therefore, when the transmission shaft is perpendicular to the horizontal plane, all the transmission pins 14 in the output attitude switching chute fall into the second sliding inclined hole 135 due to gravity. At this time, the transmission pins 14 do not contact any first sliding inclined hole 125, so that the transmission shaft 111 only drives the propeller assembly 12 to rotate, but does not drive the wheel assembly 13 to rotate. When the transmission shaft is parallel to the horizontal plane, the first portion of the transmission pins 14 in the output attitude switching slots below the transmission pins 14 still fall into the second sliding inclined hole 135 due to gravity. However, the second portion of the transmission pins 14 in the output attitude switching slots above the transmission pins 14 are partially reversed and moved into the first sliding inclined hole 125 due to the influence of gravity. At this time, the second portion of the transmission pins 14 can simultaneously contact the first sliding inclined hole 125 and the second sliding inclined hole 135 to achieve the transmission of rotational torque, so that the transmission shaft 111 can simultaneously drive the propeller assembly 12 and the wheel assembly 13 to rotate. As the wheel rolls, each output attitude switching slot is constantly changing position. When the attitude switching slot is rotated to the bottom of the transmission shaft 111, the transmission pins 14 (see Figure 11 The transmission pin 14 located below the transmission shaft 111 will slide toward the second sliding inclined hole 135. However, as long as part of the output attitude switching chute is rotated to be located above the transmission shaft 111, the transmission pin 14 (see FIG. Figure 11 The transmission pin 14 located above the transmission shaft 111 will slide toward the first sliding inclined hole 125 to achieve coupling, so this part of the transmission pin 14 located above the transmission shaft 111 can always ensure that the transmission pin 14 drives the propeller assembly 12 and the wheel assembly 13 to rotate synchronously, which will not be repeated here.

[0082] In a preferred embodiment, a second sleeve hole 136 is provided in the center of the second transmission disc 134, and a rolling bearing is provided on the inner wall of the second sleeve hole 136, which can be rotatably sleeved on the outer wall of the shell that wraps the transmission shaft 111. A tire 133 is sleeved on the outside of the second transmission disc 134, but is not limited to this.

[0083] In a preferred embodiment, the width D of the hub 132 is greater than the sum of the height h1 of the propeller assembly 12 and the height h2 of the spokes 131, so that a blade accommodating space 137 for accommodating the propeller assembly 12 is formed above the spokes 131 in the hub 132, thereby protecting the propeller assembly 12 and preventing the propeller assembly 12 from scratching the user, but the present invention is not limited to this.

[0084] In a preferred embodiment, the transmission shaft 111 protrudes from the housing of the motor assembly 11 to form an annular shoulder 113 , and the annular shoulder 113 supports the second transmission plate 134 of the wheel assembly 13 in a limited manner, but the present invention is not limited thereto.

[0085] In a preferred embodiment, the first transmission plate 122 and the second transmission plate 134 are clearance-fitted with each other, but the present invention is not limited thereto.

[0086] In a preferred embodiment, the depth L1 of the first inclined sliding hole 125 is less than the length L3 of the transmission pin 14, and the length L3 of the transmission pin 14 is less than the depth L2 of the second inclined sliding hole 135, but the present invention is not limited thereto. In specific implementations of the present invention, the length L3 of the transmission pin 14 may also be equal to the depth L2 of the second inclined sliding hole 135.

[0087] In a preferred embodiment, the first inclined sliding hole 125 and the second inclined sliding hole 135 are circular blind grooves with the same radius, but the present invention is not limited thereto. In a specific embodiment of the present invention, the radius of the first inclined sliding hole 125 can be 0.1 mm to 3 mm larger than the radius of the second inclined sliding hole 135 to facilitate the sliding of the transmission pin 14 into the first inclined sliding hole 12, but the present invention is not limited thereto.

[0088] Figure 8 It is a three-dimensional diagram of the amphibious wheel-legged mechanical dog of the present invention in a flying posture. Figure 9 It is a cross-sectional view of the amphibious posture self-switching power system of the amphibious wheeled and footed mechanical dog of the present invention when it is in a flying posture. Figure 10 It is a three-dimensional diagram of the amphibious wheel-legged mechanical dog of the present invention in a walking posture. Figure 11 This is a cross-sectional view of the amphibious posture self-switching power system of the amphibious wheel-footed mechanical dog of the present invention when it is in a walking posture. Figures 8 to 11As shown, the amphibious wheeled robot dog of the present invention includes: a body 3, four robotic arms 2 and four amphibious posture self-switching power systems 1 as described above. A battery pack and a control system are provided in the body 3. The upper ends of the four robotic arms 2 are respectively connected to the body. The four amphibious posture self-switching power systems 1 are respectively arranged at the lower ends of the robotic arms. Each amphibious posture self-switching power system includes: a motor assembly 11, a propeller assembly 12 and a wheel assembly 13. Among them, the motor assembly 11 outputs power through a transmission shaft 111. The wheel assembly 13 has a second transmission disc 134 with a plurality of second sliding inclined holes 135 distributed thereon. The propeller assembly 12 has a first transmission disc 122 with a plurality of first sliding inclined holes 125 distributed thereon. The second transmission disc 134 and the first transmission disc 122 are sequentially annularly arranged on the transmission shaft 111. Each second sliding inclined hole 135 is coaxially connected to the corresponding first sliding inclined hole 125 to form an output posture switching slide groove for the transmission slide pin 14 to slide. When all the transmission pins 14 leave the first inclined sliding hole 125 due to gravity, the first transmission plate 122 is decoupled from the second transmission plate 134. When at least one transmission pin 14 partially falls into the first transmission plate 122 due to gravity, the first transmission plate 122 drives the second transmission plate 134 to rotate coaxially.

[0089] refer to Figure 8 、 9 When the robotic arm is perpendicular to the horizontal plane, at least one transmission slide pin 14 falls due to gravity and enters the first transmission disc 122, causing the first transmission disc 122 and the second transmission disc 134 to rotate coaxially. The transmission shaft 111 drives the propeller assembly 12 and the wheel assembly 13 to rotate synchronously to achieve the rolling of the wheel assembly 13. At this time, the amphibious wheel-footed robotic dog of the present invention expands the wheel drive on land, with faster movement speed and lower power consumption.

[0090] refer to Figure 10 、 11 When the robotic arm is extended parallel to the horizontal plane, the transmission pin 14 falls under gravity and completely sinks into the second inclined sliding hole 135, decoupling the first transmission plate 122 from the second transmission plate 134. The transmission shaft 111 then drives only the propeller assembly 12, pulling the body into flight. At this point, the amphibious wheeled robot dog can be used for aerial inspections and quickly climbing over high obstacles. Furthermore, the amphibious wheeled robot dog of the present invention can automatically switch between land and flight modes, eliminating the need for manual adjustment or component replacement, enabling simple and rapid mode switching.

[0091] The main structure of the amphibious wheel-foot robot dog of the present invention is to add a motor to the foot end of the quadruped robot dog, and the motor is equipped with an amphibious posture self-switching power system 1 (rotor and wheel hub two-in-one assembly). When the robot dog stands, it is in land mode (refer to Figure 10 ), the movement mode can be walking, or the wheel hub can be driven by controlling the low-speed rotation of the motor at the end of the foot (reference Figure 11 ), or walking combined with wheel drive. When the robot dog lies down and uses the shoulder and hip joint motors to spread its limbs outward to a horizontal state, it enters the flight mode (reference Figure 8 、 9 ), the motor at the end of the foot rotates at high speed to drive the rotor to rotate and provide lift, so that the four-legged robot dog can achieve flying movement.

[0092] Compared with the three solutions in the background technology, the difference between the present invention and the first solution is that it uses fewer power sources, greatly reducing the gravity, volume and cost of the entire machine, and extending the endurance, especially the endurance in flight posture.

[0093] The difference between the present invention and the second solution is that the posture can be switched automatically each time, without the user having to manually remove the mechanical feet and replace them with propellers, etc., which greatly extends the use radius of the robot dog, realizes remote automatic switching of movement postures, and expands the scope of use.

[0094] The difference between the present invention and the third solution is that it can decouple the propeller and the hub in the flight posture, only drive the propeller to rotate, avoid driving the hub to rotate, and prevent the rotation of the tire from generating turbulence or airflow resistance, which is conducive to further increasing the propeller speed, greatly improving the flight altitude and speed, and extending the endurance, and is conducive to enhancing the stability of the flight posture.

[0095] The specific implementation of the amphibious posture self-switching power system and the amphibious wheel-footed mechanical dog of the present invention is as follows:

[0096] refer to Figures 1 to 7 The amphibious attitude self-switching power system 1 of the present invention provides a structure in which the rotor and the hub are coaxial and can rotate synchronously (the rotor and the hub rotate coaxially) or rotate independently (only the rotor rotates), wherein the motor assembly 11 outputs power through a transmission shaft 111. The wheel assembly 13 includes a second transmission disc 134 and a hub 132 connected to the second transmission disc 134 through spokes 131. The second transmission disc 134 is rotatably encircled on the outer periphery of the transmission shaft 111 and is distributed with a plurality of second inclined sliding holes 135. The propeller assembly 12 includes a first transmission disc 122 and blades 121 surrounding the first transmission disc 122. The first transmission disc 122 is fixed to the outer end of the transmission shaft 111 and is distributed with a plurality of first inclined sliding holes 125. The second inclined sliding hole 135 is coaxially connected to the first inclined sliding hole 125 to form a limiting sliding groove for the transmission sliding pin 14 to slide. When the transmission shaft 111 is perpendicular to the horizontal plane, the transmission pins 14 fall due to gravity and completely sink into the second inclined sliding holes 135, decoupling the first transmission plate 122 from the second transmission plate 134. When the transmission shaft 111 is parallel to the horizontal plane, at least one transmission pin 14 falls due to gravity and partially enters the first transmission plate 122, causing the first transmission plate 122 and the second transmission plate 134 to rotate coaxially.

[0097] Specifically, in the amphibious stance self-switching power system 1, the propeller assembly 12 is fixedly connected to the motor shaft. The wheel assembly 13 is connected to the non-rotating portion of the motor body via a bearing, with a certain gap between the propeller assembly 12 and the wheel assembly 13. When the motor shaft rotates, only the propeller assembly 12 rotates, while the wheel assembly 13 remains stationary. Furthermore, a first, centripetally inclined sliding hole 125 and a second, centripetally inclined sliding hole 135 are provided in the propeller assembly 12 and wheel assembly 13, respectively. The inclination angles of the opening axes of the two components are consistent, and the diameter of the propeller assembly 12 hole is slightly larger than that of the wheel assembly 13 hole. For example, in this embodiment, the angle of inclination of the hole with the bottom surface of the components is 60°. The diameter of the propeller assembly 12 hole is 4.2 mm, and the diameter of the wheel assembly 13 hole is 4.1 mm. This diameter difference is not necessarily fixed and can be determined based on user experience. The number of holes is determined by the diameters of the two rotating components; larger diameters require a larger number. In this embodiment, eight holes are provided, evenly distributed around the circumferences of the two components. The bottom of the hole of the propeller assembly 12 is through, but the top is not through (see Figure 3 ), the bottom of the hole of the wheel assembly 13 is not through, and the upper part is through (see Figure 5 ), the depth of the propeller assembly 12 hole is smaller than that of the wheel assembly 13. A transmission sliding pin 14 (see Figure 6 ), the length of the transmission slide pin 14 is greater than the hole depth of the propeller assembly 12, and less than the hole depth of the wheel assembly 13. When the propeller assembly 12 and the wheel assembly 13 are assembled into a mechanism, the holes of the two components are rotated to correspond to each other, and the holes of the propeller assembly 12 and the wheel assembly 13 are connected to each other (see Figure 7 ), at this time the transmission slide pin 14 can slide between the holes of the two components.

[0098] In the amphibious wheel-foot robot dog of the present invention, the foot end portion located at the lower end of the robot arm is rigidly connected to the motor housing of the motor assembly 11 or the motor housing is integrated with the robot dog foot, and the motor adopts a direct-drive motor without a reducer. Since the amphibious posture self-switching power system 1 (the rotor and hub two-in-one assembly) is connected to the output end of the foot end motor, the rotor and the hub can be driven by a common motor, which saves the number of driving components and can effectively reduce the weight and cost of the robot dog. In the rotor and hub two-in-one assembly, the hub diameter is larger than the maximum outer diameter of the rotor end, and the hub wraps the rotor inside to provide protection for the rotor. The robot dog is driven by the hub when standing. The rotor rotates in flight mode, and the mode switching does not require manual adjustment or replacement of parts.

[0099] See also Figure 8 、 9As shown, when the transmission shaft 111 in the amphibious posture self-switching power system 1 is erected, the transmission slide pin 14 in the amphibious posture self-switching power system 1 slides downward into the hole of the wheel assembly 13 due to gravity. At this time, there is no connection between the propeller assembly 12 and the wheel assembly 13, and when the motor shaft rotates, it only drives the propeller assembly 12 to rotate.

[0100] See also Figure 10 、 11 As shown, when the amphibious posture self-switching power system 1 is in a horizontal position, the propeller assembly 12 is slightly rotated by the motor. When the holes in the two components align, the transmission pin 14 at the upper end slides downward due to its weight into the hole in the propeller assembly 12. Because the transmission pin 14 is longer than the hole depth of the propeller assembly 12, the propeller assembly 12 and the wheel assembly 13 are now connected. Rotation of the motor shaft drives the propeller assembly 12 and the wheel assembly 13 to rotate simultaneously. When the transmission pin 14 connecting the two components rotates to the lower end and the motor stops, the transmission pin 14 is freed from force and may slide downward into the hole in the wheel assembly 13, causing the two components to disconnect at this point. However, at this point, the transmission pin 14 at the upper end slides into the hole in the propeller assembly 12, maintaining the connection between the propeller assembly 12 and the wheel assembly 13. Therefore, when the amphibious posture self-switching power system 1 is in a horizontal position, the motor can always drive the wheel assembly 13.

[0101] The present invention utilizes the principle of the above scheme to form a two-in-one assembly of rotor and hub, which is installed at the foot end of the amphibious flying robot dog. When the robot dog stands, the amphibious posture self-switching power system 1 is in the above-mentioned horizontal state (see Figure 10 、 11 ), at this time the motor can drive the rotor and the hub to rotate together, because the robot dog does not need a very fast rotation speed when using the hub to move on land, and the rotor is light, so in land mode, the motor drives the rotor and the hub to rotate at the same time, which has little effect on efficiency. The flight mode of the machine requires the rotor to rotate at high speed to provide lift, and the hub is relatively heavy, and the hub has spokes and tire anti-skid grooves, all of which will affect the efficiency of the motor's high-speed rotation. Therefore, when the robot dog's four legs are unfolded to a horizontal state to enter the flight mode, the amphibious posture self-switching power system 1 is in the above-mentioned upright state (see Figure 8 、 9 ), the amphibious posture self-switching power system 1 automatically switches to the motor driving only the rotor, causing the rotor to rotate at high speed to achieve the robot dog's flight function. Similarly, when the robot dog switches from flight mode to land mode, the amphibious posture self-switching power system 1 also automatically switches the rotating components, without the need for human intervention.

[0102] The amphibious wheeled and footed mechanical dog of the present invention has the following technical effects based on the above structure:

[0103] 1. The structure is simple, and no additional motor or electromagnetic device is required to control the position of the transmission slide pin 14, which has great benefits in terms of weight, volume and cost;

[0104] 2. The power system 1 automatically switches between upright and horizontal positions using an amphibious posture. The weight of the internal transmission slide pin 14 enables one of the rotating components to be indirectly connected or disconnected from the motor without the need for manual insertion and removal of the transmission slide pin 14 or replacement of the rotating component.

[0105] 3. The amphibious attitude self-switching power system 1 is applied to an amphibious flying robot dog, which enables the robot dog to autonomously complete the switching from land mode → flight mode → land mode without human intervention, thereby greatly improving the practicality of the robot dog.

[0106] In summary, the amphibious posture self-switching power system and the amphibious wheeled-foot mechanical dog of the present invention can automatically switch the output mode between the flying posture and the walking posture based on the sliding stroke of the transmission pin under gravity, which greatly reduces the dead weight, improves the overall movement performance and endurance time, and especially greatly extends the endurance time of the flying posture.

[0107] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. An amphibious posture self-switching power system, characterized in that: include: The motor assembly (11) outputs power through a transmission shaft (111); A wheel assembly (13) having a second transmission plate (134) with a plurality of second inclined sliding holes (135); and The propeller assembly (12) has a first transmission plate (122) on which a plurality of first sliding inclined holes (125) are distributed. The second transmission plate (134) and the first transmission plate (122) are sequentially sleeved on the transmission shaft (111). Each second sliding inclined hole (135) is coaxially connected to the corresponding first sliding inclined hole (125) to form an output attitude switching slot for sliding a transmission pin (14). When all the transmission pins (14) leave the first inclined sliding hole (125) due to gravity, the first transmission disc (122) and the second transmission disc (134) are decoupled; when at least one transmission pin (14) partially falls into the first transmission disc (122) due to gravity, the first transmission disc (122) drives the second transmission disc (134) to rotate coaxially.

2. The amphibious posture self-switching power system according to claim 1 is characterized in that: The wheel assembly (13) further includes a hub (132) sleeved on the second transmission disc (134) via spokes (131), and the second transmission disc (134) is rotatably sleeved on the outer periphery of the transmission shaft (111); The propeller assembly (12) further includes blades (121) surrounding the first transmission disc (122), wherein the first transmission disc (122) is fixed to the outer end of the transmission shaft (111); When the transmission shaft (111) is perpendicular to a horizontal plane, the transmission sliding pin (14) falls under gravity and completely sinks into the second sliding inclined hole (135), so that the first transmission disc (122) and the second transmission disc (134) are decoupled, and the transmission shaft (111) only drives the propeller assembly (12) to rotate; When the transmission shaft (111) is parallel to a horizontal plane, at least one transmission sliding pin (14) falls due to gravity and partially enters the first transmission disc (122), causing the first transmission disc (122) and the second transmission disc (134) to rotate coaxially, and the transmission shaft (111) drives the propeller assembly (12) and the wheel assembly (13) to rotate synchronously.

3. The amphibious posture self-switching power system according to claim 1, characterized in that: The center of the first transmission disc (122) has a coaxially connected connecting hole (123) and a first sleeve hole (124), the first sleeve hole (124) is sleeved on the outer end of the transmission shaft (111), and the fixing member (112) passes through the connecting hole (123) to press the first transmission disc (122) against the outer end of the transmission shaft (111), and the first sliding inclined holes (125) are distributed around the first sleeve hole (124) as the center.

4. The amphibious posture self-switching power system according to claim 1, characterized in that: A second sleeve hole (136) is provided at the center of the second transmission disc (134), and a rolling bearing is provided on the inner wall of the second sleeve hole (136) and is rotatably sleeved on the outer wall of the housing that wraps the transmission shaft (111). A tire (133) is sleeved on the outside of the second transmission disc (134).

5. The amphibious posture self-switching power system according to claim 2, characterized in that: The width (D) of the hub (132) is greater than the sum of the height (h1) of the propeller assembly (12) and the height (h2) of the spokes (131), so that a blade accommodating space (137) for accommodating the propeller assembly (12) is formed above the spokes (131) in the hub (132).

6. The amphibious posture self-switching power system according to claim 1, characterized in that: The transmission shaft (111) protrudes from the housing of the motor assembly (11) to form an annular shoulder (113), and the annular shoulder (113) supports the second transmission disc (134) of the wheel assembly (13) in a limited manner.

7. The amphibious posture self-switching power system according to claim 1, characterized in that: The first transmission disc (122) and the second transmission disc (134) are clearance-fitted with each other.

8. The amphibious posture self-switching power system according to claim 1, characterized in that: The depth (L1) of the first inclined sliding hole (125) is smaller than the length (L3) of the transmission sliding pin (14), and the length (L3) of the transmission sliding pin (14) is smaller than the depth (L2) of the second inclined sliding hole (135).

9. The amphibious posture self-switching power system according to claim 1, characterized in that: The first inclined sliding hole (125) and the second inclined sliding hole (135) are circular tube blind grooves with the same radius.

10. An amphibious wheeled mechanical dog, characterized in that: include: A body (3), wherein a battery pack and a control system are arranged in the body (3); Four mechanical arms (2), the upper ends of the mechanical arms (2) being respectively connected to the body; Four amphibious posture self-switching power systems (1) as claimed in claim 1, respectively arranged at the lower end of the robotic arm; When the robotic arm is perpendicular to a horizontal plane, at least one of the transmission sliding pins (14) falls due to gravity and partially enters the first transmission disc (122), causing the first transmission disc (122) and the second transmission disc (134) to rotate coaxially, and the transmission shaft (111) drives the propeller assembly (12) and the wheel assembly (13) to rotate synchronously, thereby achieving rolling of the wheel assembly (13); When the robotic arm is unfolded to be parallel to the horizontal plane, the transmission sliding pin (14) falls under gravity and completely sinks into the second sliding inclined hole (135), so that the first transmission disc (122) and the second transmission disc (134) are decoupled, and the transmission shaft (111) only drives the propeller assembly (12) to rotate, pulling the body into flight.

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