Amphibious robot with adjustable rotor angle and external operation function

Abstract

The present invention discloses an amphibious robot with an adjustable rotor angle and an external operation function, comprising a shell, a frame, a rotor assembly and a mechanical arm, wherein the shell comprises a spherical cap and a rotating shell, wherein the rotating shell comprises a first shell and a second shell, and wherein the spherical cap comprises a first cap and a second cap; wherein the frame is arranged in the inner cavity of the rotating shell, and the spherical cap is arranged in the frame; wherein the rotor assembly is arranged in the frame, and wherein the rotor assembly comprises a base arm, a folding arm, a tilting arm and a rotor, wherein the tilting arm can rotate relative to the folding arm to adjust the rotation direction of the rotor; wherein the mechanical arm is arranged in the frame and located between the rotating shell and the spherical cap, wherein the mechanical arm has an operating form and a retracted form, and wherein the mechanical arm comprises a first mechanical arm and a second mechanical arm. The amphibious robot with an adjustable rotor angle and an external operation function according to an embodiment of the present invention has the advantage of being able to perform external operations while moving.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an amphibious robot with an external operation function and an adjustable rotor angle. Background Art

[0002] The spherical shell of the amphibious robot with adjustable rotor angle and external operation function can make it move quickly and stably without overturning during the task execution. The spherical enclosed space can protect the internal mechanism from interference and damage from various complex terrains and road conditions. The sphere is in point contact with the ground during the movement, and has a small movement resistance. The amphibious robot with adjustable rotor angle and external operation function in the related art cannot perform external operation while moving, and the work efficiency is not high. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, an embodiment of the present invention provides an amphibious robot with an adjustable rotor angle and an external operation function, which has the advantage of being able to perform external operations while moving.

[0004] An amphibious robot with an adjustable rotor angle and an external operation function according to an embodiment of the present invention comprises a shell, wherein the shell comprises a spherical crown and a rotating shell, wherein the rotating shell comprises a first shell and a second shell, wherein the rotating shell has a first form and a second form, wherein in the first form, the first shell and the second shell are separated to be suitable for the robot to fly, and in the second form, the first shell and the second shell are closed to be suitable for the robot to roll, wherein the spherical crown comprises a first crown and a second crown, wherein the rotating shell is located between the first crown and the second crown, and the first crown can be engaged with and separated from the first shell, and the second crown can be engaged with and separated from the second shell; a frame, wherein the frame is arranged in an inner cavity of the rotating shell and the rotating shell can rotate around a first direction relative to the frame, wherein at least one of the first shell and the second shell can be moved along a first direction relative to the frame to enable the rotating shell to switch between the first form and the second form, and the spherical crown is arranged on the frame; a rotor assembly, wherein the rotor assembly is arranged on the frame and has a folded form and a flight form, and wherein the rotor assembly comprises a base arm, A folding arm, a tilting arm and a rotor, wherein the base arm is arranged on the frame, one end of the folding arm is rotatably connected to the base arm, the tilting arm is connected between the rotor and the folding arm, in the folding state, the folding arm, the tilting arm and the rotor are stored in the shell so that the shell can roll, in the flying state, the tilting arm and the rotor are extended to the outside of the shell to be suitable for driving the robot to fly, and the tilting arm is rotatable relative to the folding arm to adjust the rotation direction of the rotor; a mechanical arm, wherein the mechanical arm is arranged on the frame and located between the rotating shell and the spherical crown, the mechanical arm has an operating state and a retracted state, in the operating state, the spherical crown is separated from the rotating shell so that the mechanical arm can extend out of the outside of the shell, and in the retracted state, the spherical crown is closed with the rotating shell so that the mechanical arm can be stored in the shell, the mechanical arm comprises a first mechanical arm and a second mechanical arm, the first mechanical arm is arranged between the first crown and the first shell, and the second mechanical arm is arranged between the second crown and the second shell.

[0005] The amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention has the advantage of being able to perform external operations while moving.

[0006] In some embodiments, the rotor assembly includes a tilt motor, one end of the tilt motor is connected to the end of the folding arm away from the end, and the other end of the tilt motor is connected to the tilt arm to drive the tilt arm to rotate relative to the folding arm.

[0007] In some embodiments, a first support is provided at one end of the folding arm close to the tilt arm, and a second support is provided at one end of the tilt arm close to the folding arm. The tilt motor includes a first part and a second part, the second part is rotatably matched with the first part, the first part is connected to the first support, the second part is connected to the second support, the second part has a through hole, a core shaft is provided in the through hole, and the core shaft passes through the first support and the second support to improve the radial bearing capacity between the folding arm and the tilt arm.

[0008] In some embodiments, the rotor is located at one end of the tilt arm away from the folding arm, and the rotor includes multiple rotor arms and a flight motor. The flight motor is connected to the multiple rotor arms to drive the rotor arms to rotate and generate lift. In the flight form, the multiple rotor arms are evenly spaced along the circumference of the flight motor so that the rotor assembly maintains dynamic balance during rotation. In the folded form, the multiple rotor arms extend along the length direction of the folding arm so that the rotor assembly can be retracted into the outer casing.

[0009] In some embodiments, the flight motor is arranged on the tilt arm, the arm includes a first wing and a second wing, a folder is provided at one end of the output shaft of the flight motor, the folder includes a first drive and a second drive, the rotating shaft of the first drive is arranged parallel to the rotating shaft of the flight motor, the rotating shaft of the second drive is arranged parallel to the rotating shaft of the flight motor, the first drive and the second drive are arranged symmetrically along the rotating shaft of the flight motor, the first drive is connected to the first wing, and the second drive is connected to the second wing.

[0010] In some embodiments, the rotor assembly includes a drive, one end of the drive is rotatably connected to the base arm, and the other end of the drive is rotatably connected to the folding arm. The length of the drive is adjustable to drive the rotor assembly to switch between the flight form and the folding form.

[0011] In some embodiments, the rotor assembly includes a first rotor assembly and a second rotor assembly, and the first rotor assembly and the second rotor assembly are symmetrically arranged along a width direction of the frame.

[0012] In some embodiments, the amphibious robot with adjustable rotor angle and external operation function includes a weight-swing component, which is arranged on the frame. The weight-swing component can be translated relative to the frame in a vertical direction to adjust the center of gravity of the robot.

[0013] In some embodiments, the weight-swinging assembly includes an adjustment assembly and a counterweight, one end of the adjustment assembly is connected to the frame, and the counterweight is arranged at the other end of the adjustment assembly, and the adjustment assembly is suitable for driving the counterweight to translate to adjust the distance between the counterweight and the frame.

[0014] In some embodiments, the adjustment assembly includes an adjustment motor, an adjustment screw, a first guide rod and a second guide rod. The adjustment motor is fixedly connected to the rotating frame, and the adjustment motor is connected to the adjustment screw to drive the adjustment screw to rotate. The first guide rod and the second guide rod are arranged in parallel and spaced apart from the adjustment screw, and the adjustment screw is located between the first guide rod and the second guide rod. The counterweight is slidably matched with the first guide rod and the second guide rod, and the adjustment screw is threadably connected to the counterweight to drive the counterweight to move along the bidirectional screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the rotating shell of the amphibious robot with adjustable rotor angle and external operation function in the second form according to an embodiment of the present invention.

[0016] Figure 2 It is a schematic diagram of a first form of a rotating shell of an amphibious robot with an adjustable rotor angle and an external operation function according to an embodiment of the present invention.

[0017] Figure 3 It is a schematic diagram of a rotor assembly in a folded state of an amphibious robot with an adjustable rotor angle and an external operation function according to an embodiment of the present invention.

[0018] Figure 4 It is a cross-sectional schematic diagram of a rotor assembly of an amphibious robot with an adjustable rotor angle and an external operation function according to an embodiment of the present invention.

[0019] Figure 5 It is a cross-sectional schematic diagram of an amphibious robot with adjustable rotor angle and external operation function according to an embodiment of the present invention.

[0020] Figure 6 yes Figure 5 A partial enlarged view of point A in the middle.

[0021] Figure 7 It is a schematic diagram of a mechanical arm of an amphibious robot with adjustable rotor angle and external operation function in a retracted state according to an embodiment of the present invention.

[0022] Figure 8 It is a schematic diagram of the operating state of the mechanical arm of the amphibious robot with adjustable rotor angle and external operation function according to an embodiment of the present invention.

[0023] Fig. 9It is a schematic diagram of a re-swing assembly of an amphibious robot with adjustable rotor angle and external operation function according to an embodiment of the present invention.

[0024] Fig.10 It is a cross-sectional view of a re-swing assembly of an amphibious robot with adjustable rotor angle and external operation function according to an embodiment of the present invention.

[0025] Fig.11 It is a schematic diagram of the opening and closing components of the amphibious spherical robot with adjustable rotor angle and external operation function according to an embodiment of the present invention.

[0026] Fig.12 It is a structural schematic diagram of a frame of an amphibious spherical robot with an adjustable rotor angle and an external operation function according to an embodiment of the present invention.

[0027] Reference numerals:

[0028] Shell 1; rotating shell 11; first shell 111; second shell 112; spherical crown 12; first crown 121; second crown 122;

[0029] Frame 2; screw assembly 21; bidirectional screw 211; first nut portion 212; second nut portion 213; telescopic motor 22; first push frame 23; first push rod 231; second push rod 232; first push plate 233; second push frame 24; third push rod 241; fourth push rod 242; second push plate 243; main frame 25; connecting shaft 26;

[0030] Robotic arm 3; first robot arm 301; second robot arm 302; first joint drive 31; rotating frame 32; second joint drive 33; first arm 34; fixed section 341; free section 342; slide bar 343; first slide bar 3431; second slide bar 3432; slide 344; first slide 3441; second slide 3442; third joint drive 35; second arm 36; first plate 361; second plate 362; clamp 37;

[0031] Rotor assembly 4; first rotor assembly 401; second rotor assembly 402; base arm 41; first avoidance groove 411; folding arm 42; second avoidance groove 421; first support 422; driver 43; first pivot 431; second pivot 432; rotor 44; flight motor 441; swing arm 442; folder 443; tilt arm 45; second support 451; tilt motor 46; first part 461; second part 462; spindle 47;

[0032] The heavy swing assembly 5; the adjustment assembly 51; the adjustment motor 511; the adjustment screw rod 512; the first guide rod 513; the second guide rod 514; the counterweight 52; the avoidance groove 521; the end plate 53;

[0033] Driving motor 6; first driving motor 601; second driving motor 602;

[0034] Opening and closing assembly 7; opening and closing drive 71; opening and closing guide rod 72; first opening and closing guide rod 721; second opening and closing guide rod 722; guide sleeve 73; first guide sleeve 731; second guide sleeve 732. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0036] Combine the following Figures 1 to 11 An amphibious robot with adjustable rotor angle and external operation function according to an embodiment of the present invention is described.

[0037] The amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention includes a shell, a frame, a rotor assembly and a mechanical arm.

[0038] The shell 1 includes a spherical crown 12 and a rotating shell 11, and the rotating shell 11 includes a first shell 111 and a second shell 112. The rotating shell 11 has a first form and a second form. In the first form, the first shell 111 and the second shell 112 are separated to be suitable for the robot to fly. In the second form, the first shell 111 and the second shell 112 are closed to be suitable for the robot to roll. The spherical crown 12 includes a first crown 121 and a second crown 122. The rotating shell 11 is located between the first crown 121 and the second crown 122, and the first crown 121 can be engaged and separated from the first shell 111, and the second crown 122 can be engaged and separated from the second shell 112.

[0039] Specifically, the shell 1 is spherical, and an inner cavity is formed between the first shell 111 and the second shell 112. The frame 2, the robotic arm 3 and the rotor assembly 4 are located in the inner cavity. The first shell 111 and the second shell 112 are symmetrically arranged in the left-right direction. The left end of the first shell 111 and the right end of the second shell 112 can be spliced ​​so that the first shell 111 and the second shell 112 are spliced, and the rotating axis of the first shell 111 and the rotating axis of the second shell 112 coincide and extend in the left-right direction.

[0040] like Figure 1 As shown, in the second form, the first shell 111 and the second shell 112 are combined, and the rotating shell 11 is a part of the sphere, so that the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention can roll on the ground. Figure 2As shown, in the first form, the first shell 111 and the second shell 112 are separated so that the inner cavity of the shell 1 is connected to the outside, so that the first shell 111 and the second shell 112 are respectively in contact with the ground, which increases the distance between the contact point of the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention and the ground, thereby improving the rolling stability of the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention.

[0041] The spherical crown 12 is located on the left and right sides of the rotating shell 11. The spherical crown 12 and the rotating shell 11 can be assembled to form a shell 1. The shell 1 is spherical, so that the amphibious robot with adjustable rotor angle and external operation function in the embodiment of the present invention can roll on the ground.

[0042] The frame 2 is arranged in the inner cavity of the rotating shell 11 and the rotating shell 11 can rotate around the first direction relative to the frame 2. At least one of the first shell 111 and the second shell 112 can move along the first direction relative to the frame 2 to switch the rotating shell 11 between the first form and the second form. The spherical crown 12 is arranged on the frame 2.

[0043] Specifically, the frame 2 extends along the left and right directions, the first direction is the circumferential direction of the extension direction of the frame 2, the left end of the frame 2 is rotatably connected to the second shell 112, and the right end of the frame 2 is rotatably connected to the first shell 111. The distance between the connection point between the frame 2 and the first shell 111 and the connection point between the frame 2 and the second shell 112 is adjustable, thereby adjusting the distance between the first shell 111 and the second shell 112, so that the rotating shell 11 can switch between the first form and the second form.

[0044] The rotor assembly 4 is arranged on the frame 2 and has a folding form and a flying form. The rotor assembly 4 includes a base arm 41, a folding arm 42, a tilt arm 45 and a rotor 44. The base arm 41 is arranged on the frame 2, one end of the folding arm 42 is rotatably connected to the base arm 41, and the tilt arm 45 is connected between the rotor 44 and the folding arm 42. In the folding form, the folding arm 42, the tilt arm 45 and the rotor 44 are stored in the shell 1 so that the shell 1 can roll. In the flight form, the tilt arm 45 and the rotor 44 extend to the outside of the shell 1 to be suitable for driving the robot to fly, and the tilt arm 45 is rotatable relative to the folding arm 42 to adjust the rotation direction of the rotor 44.

[0045] Specifically, Figure 1 As shown, in the folded form, the rotor assembly 4 is stored in the shell 1 to avoid the first shell 111 and the second shell 112, so that the first shell 111 and the second shell 112 can be spliced ​​and closed to form the shell 1, so that the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention is in the second form.

[0046] When the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention is in the first form, the rotor assembly 4 can be in the flight form, as shown in the figure and the figure. In the flight form, the rotor 44 and the tilt arm 45 extend out of the shell 1, and after extending out of the shell 1, the rotor 44 can generate a downward thrust to drive the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention to fly.

[0047] The tilt arm 45 is capable of circumferential rotation along the extension direction of the folding arm 42. Since the rotation axis of the rotor 44 is fixed relative to the upper tilt arm 45, when the tilt arm 45 rotates relative to the folding arm 42, the rotation direction of the rotor 44 also rotates relative to the folding arm 42, thereby changing the direction in which the thrust generated by the rotor 44 is changed. The thrust component along the horizontal direction drives the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention to move horizontally.

[0048] It should be noted that when the shell 1 is in the second form, the rotor assembly 4 is always in a folded form to allow the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention to roll and move; when the shell 1 is in the first form, the rotor assembly 4 can switch between the folded form and the flight form.

[0049] The robotic arm 3 is disposed on the frame 2 and is located between the rotating shell 11 and the spherical crown 12. The robotic arm 3 has an operating form and a retracted form. In the operating form, the spherical crown 12 is separated from the rotating shell 11 so that the robotic arm 3 can extend out of the outside of the shell 1. In the retracted form, the spherical crown 12 and the rotating shell 11 are closed so that the robotic arm 3 can be stored in the shell 1. The robotic arm 3 includes a first robotic arm 301 and a second robotic arm 302. The first robotic arm 301 is disposed between the first crown 121 and the first shell 111, and the second robotic arm 302 is disposed between the second crown 122 and the second shell 112.

[0050] Specifically, when the robot arm 3 is in the retracted form, the spherical crown 12 can be assembled with the rotating shell 11 and the robot arm 3 can be stored in the side cavity formed between the spherical crown 12 and the rotating shell 11. When the robot arm 3 is in the operating form, there is a set distance between the spherical crown 12 and the rotating shell 11. The robot arm 3 passes through the set distance so that part of the robot arm 3 is located on the outer peripheral side of the shell 1 to perform operating operations.

[0051] Therefore, on the one hand, the spherical crown 12 can protect the robot arm 3 in the retracted state, thereby preventing the robot arm 3 from coming into contact with the outside world and being damaged when the amphibious robot with an adjustable rotor angle and an external operation function in the embodiment of the present invention moves; on the other hand, the shell 1 formed by the spherical crown 12 and the rotating shell 11 is spherical, and the outer peripheral side of the spherical crown 12 can contact the ground so that the spherical shell can deflect a larger angle, thereby improving the maneuverability of the amphibious robot with an adjustable rotor angle and an external operation function in the embodiment of the present invention.

[0052] The rotating shell 11 of the amphibious robot with adjustable rotor angle with external operation function according to the embodiment of the present invention can be opened in the left and right directions, and the shell 1 of the amphibious robot with adjustable rotor angle with external operation function can switch from the second form to the first form when rolling; the mechanical arm 3 of the amphibious robot with adjustable rotor angle with external operation function according to the embodiment of the present invention is directly connected to the frame 2, and when the rotating shell 11 rolls relative to the ground, the frame 2 and the mechanical arm 3 translate relative to the ground and maintain a stable posture, so that the rolling action and the external operation action of the amphibious robot with adjustable rotor angle with external operation function according to the embodiment of the present invention do not interfere with each other, so that the amphibious robot with adjustable rotor angle with external operation function according to the embodiment of the present invention has the advantage of being able to perform external operations while moving.

[0053] The mechanical arm 3 of the amphibious robot with adjustable rotor angle with external operation function in the embodiment of the present invention is directly connected to the frame 2, and the shell 1 is rotatably connected to the frame 2, so that when the shell 1 rotates to drive the amphibious robot with adjustable rotor angle with external operation function to move, the mechanical arm 3 does not rotate with the rotation of the shell 1, so that when the amphibious robot with adjustable rotor angle with external operation function in the embodiment of the present invention moves, only the shell 1 rolls, and the mass distribution of the rotating part of the amphibious robot with adjustable rotor angle with external operation function is uniform, and the dynamic balancing effect is good, thereby improving the stability of the amphibious robot with adjustable rotor angle with external operation function in the embodiment of the present invention when moving.

[0054] The amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention can roll forward in the second form, and has high maneuverability under relatively flat terrain conditions, but when the robot needs to pass through relatively rugged terrain, the robot cannot roll forward. In the first form, the rotor assembly 4 can be adjusted to the flight form, driving the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention to fly, so that the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention can fly over relatively rugged terrain. When the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention is in the flight form, the direction of the thrust generated by the rotor 44 is adjusted by rotating the tilt arm 45, and the thrust component along the horizontal direction drives the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention to move horizontally, thereby improving the maneuverability of the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention in the flight form, so that the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention has the advantages of good passability and high flight maneuverability.

[0055] In some embodiments, the rotor assembly 4 includes a tilt motor 46 , one end of which is connected to the end of the folding arm 42 away from the other end of the tilt motor 46 is connected to the tilt arm 45 to drive the tilt arm 45 to rotate relative to the folding arm 42 .

[0056] Specifically, Figure 3 As shown, the tilt motor 46 is located between the tilt arm 45 and the folding arm 42, the rotation axis of the tilt motor 46 coincides with the extension direction of the folding arm 42, and the extension direction of the tilt arm 45 coincides with the rotation axis of the tilt motor 46. The two ends of the tilt motor 46 can rotate relative to each other, so that the tilt arm 45 and the folding arm 42 rotate relative to each other.

[0057] The tilt motor 46 is a stepper motor, so the tilt motor 46 can accurately control the rotation direction of the rotor 44 to drive the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention to move horizontally in the flight state, thereby improving the maneuverability of the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention in the flight form.

[0058] In some embodiments, a first support 422 is provided at one end of the folding arm 42 near the tilt arm 45, and a second support 451 is provided at one end of the tilt arm 45 near the folding arm 42. The tilt motor 46 includes a first part 461 and a second part 462. The second part 462 is rotatably matched with the first part 461. The first part 461 is connected to the first support 422, and the second part 462 is connected to the second support 451. The second part 462 has a through hole, and a core shaft 47 is provided in the through hole. The core shaft 47 passes through the first support 422 and the second support 451 to improve the radial bearing capacity between the folding arm 42 and the tilt arm 45.

[0059] Specifically, Figure 4 As shown, one end of the folding arm 42 is suitable for being rotatably connected to the frame 2, and the other end of the folding arm 42 is provided with a first support 422, and the first support 422 extends along a plane perpendicular to the extension direction of the folding arm 42. A second support 451 is provided at one end of the tilt arm 45 close to the folding arm 42, and the second support 451 is arranged parallel to the first support 422 and spaced apart, and the tilt motor 46 is connected between the first support 422 and the second support 451.

[0060] The first part 461 of the tilt motor 46 is a stator, and the second part 462 of the tilt motor 46 is a rotor. The geometric axis center of the second part 462 coincides with the geometric axis center of the first part 461. The second part 462 is assembled in the first part 461 and the second part 462 rotates relative to the first part 461. The end of the first part 461 close to the first support 422 is detachably connected to the first support 422 through a connecting piece, and the end of the second part 462 close to the second support 451 is detachably connected to the second support 451 through a connecting piece.

[0061] Thus, driven by electromagnetic force, the second part 462 rotates a set angle relative to the first part 461, so that the tilt arm 45 rotates a set angle relative to the folding arm 42. Since the folding arm 42 remains fixed relative to the frame 2 in the flight form, the tilt motor 46 drives the rotation direction of the rotor 44 to rotate a set angle relative to the frame 2 to drive the amphibious robot with adjustable rotor angle with external operation function of the embodiment of the present invention to move horizontally.

[0062] like Figure 4 As shown, the tilt motor 46 is an annular motor, a channel is provided inside the second part 462, a first through hole coaxial with the channel is provided in the first support 422, a second through hole coaxial with the channel is provided in the second support 451, and the core shaft 47 passes through the first through hole, the channel and the second through hole in sequence, the core shaft 47 is connected to the hole wall of the first through hole by a bearing, and the core shaft 47 is connected to the hole wall of the second through hole by a bearing.

[0063] Therefore, in the flight form, the rotor 44 generates an upward lift for the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention to fly, and the rotor 44 is connected to the tilt arm 45 to generate a torsional moment between the tilt arm 45 and the folding arm 42. By setting the core shaft 47, the structural strength between the tilt arm 45 and the folding arm 42 can be increased without affecting the relative rotation of the tilt arm 45 and the folding arm 42 to bear the torsional moment applied by the rotor 44 to the tilt arm 45 and the folding arm 42.

[0064] In some embodiments, the rotor 44 is located at one end of the tilt arm 45 away from the folding arm 42. The rotor 44 includes multiple rotor arms 442 and a flight motor 441. The flight motor 441 is connected to the multiple rotor arms 442 to drive the rotor arms 442 to rotate and generate lift. In the flight form, the multiple rotor arms 442 are evenly spaced along the circumference of the flight motor 441 to allow the rotor assembly 4 to maintain dynamic balance during rotation. In the folded form, the multiple rotor arms 442 extend along the length direction of the folding arm 42 so that the rotor assembly 4 can be retracted into the outer shell.

[0065] Specifically, the rotor 44 is a foldable rotor 44. In the folded state, multiple rotor arms 442 are folded and stored in the folding arm 42. At this time, the multiple rotor arms 442 extend in a direction substantially parallel to the folding arm 42. The multiple rotor arms 442 are abutted against the side of the folding arm 42 away from the base arm 41 to reduce the width of the multiple rotor arms 442, thereby reducing the width of the rotor assembly 4, so that the width of the rotor assembly 4 is smaller than the distance between the first shell 111 and the second shell 112, so that the rotor assembly 4 can be stored from the outside of the shell 1 to the inside of the shell 1 in the folded state.

[0066] In the flight form, the folding arm 42 moves the rotor assembly 4 to the outside of the shell 1, and the flight motor 441 drives the multiple rotary arms 442 to rotate around the axis of the flight motor 441 to generate lift. The multiple rotary arms 442 are arranged at equal intervals along the outer peripheral side of the flight motor 441, so that the mass of the multiple rotors 44 is evenly distributed along the circumference of the flight motor 441, thereby allowing the rotor assembly 4 to maintain dynamic balance during flight.

[0067] Therefore, the flight motor 441 is located at the end of the folding arm 42 away from the base arm 41, and the rotor 44 is a foldable rotor 44. On the one hand, the length of the multiple rotor arms 442 is increased, which facilitates the rotor assembly 4 to provide greater lift in the flight form. On the other hand, the arm length of the lift moment of the rotor assembly 4 in the flight form is increased, thereby increasing the stability of the amphibious robot with adjustable rotor angle and external operation function in the flight form of the embodiment of the present invention.

[0068] In some embodiments, the plurality of rotary arms 442 include a first wing and a second wing, a folder 443 is provided at one end of the output shaft of the flight motor 441, the folder 443 includes a first drive and a second drive, the rotating shaft of the first drive is arranged parallel to the rotating shaft of the flight motor 441, the rotating shaft of the second drive is arranged parallel to the rotating shaft of the flight motor 441, the first drive and the second drive are arranged symmetrically along the rotating shaft of the flight motor 441, the first drive is connected to the first wing, and the second drive is connected to the second wing.

[0069] Specifically, Figure 2 As shown, there are two rotors 44, a first wing and a second wing are connected to the output shaft of the flight motor 441 through a folder 443, and the folder 443 is connected to the output shaft of the flight motor 441. When the output shaft of the flight motor 441 rotates, the folder 443 rotates relative to the tilt arm 45 along the output shaft of the flight motor 441. The folder 443 includes a first drive and a second drive. The first drive and the second drive are arranged at equal intervals along the circumference of the output shaft of the flight motor 441. The first drive is connected to one end of the first wing, and the second drive is connected to one end of the second wing.

[0070] Therefore, on the one hand, there are two rotors 44, which makes it convenient to fold all the rotors 44 to extend along the length direction of the folding arm 42. On the other hand, the first drive can drive the first wing to rotate relative to the folder 443, and the second drive can drive the second wing to rotate relative to the folder 443, thereby driving the rotor 44 to switch between the folded form and the unfolded form.

[0071] In some embodiments, the rotor assembly 4 includes a driver 43, one end of which is rotatably connected to the base arm 41, and the other end of the driver 43 is rotatably connected to the folding arm 42. The length of the driver 43 is adjustable to drive the rotor assembly 4 to switch between the flight form and the folding form.

[0072] Specifically, one end of the driver 43 is rotatably connected to the base arm 41 to form a first connection position, and the driver 43 extends in the left-right direction relative to the rotation axis of the base arm 41. The other end of the driver 43 is rotatably connected to the folding arm 42 to form a second connection position, and the driver 43 extends in the left-right direction relative to the rotation axis of the folding arm 42. The length of the driver 43 is adjustable to adjust the distance between the first connection position and the second connection position, thereby driving the folding arm 42 to rotate relative to the base arm 41.

[0073] In some embodiments, the base arm 41 includes a first pivot 431 , the folding arm 42 includes a second pivot 432 , the extension direction of the first pivot 431 is the same as the extension direction of the second pivot 432 , and the driver 43 is connected between the first pivot 431 and the second pivot 432 .

[0074] Specifically, Figure 3 As shown, the first pivot 431 and the second pivot 432 extend in the left-right direction, and the driver 43 includes a fixed portion and a free section 342 , the free section 342 is guided and matched with the fixed portion, the fixed portion is rotatably connected to the first pivot 431 , and the free section 342 is rotatably connected to the second pivot 432 .

[0075] Thus, in the first position, there is an angle between the extension direction of the driver 43 and the extension direction of the base arm 41, so that the driver 43 is tilted relative to the base arm 41 and the second section, thereby facilitating the storage of the driver 43 between the base arm 41 and the second section in the first position.

[0076] In some embodiments, the base arm 41 is provided with a first avoidance groove 411, the second section is provided with a second avoidance groove 421, the first pivot 431 is located in the first avoidance groove 411, the second pivot 432 is located in the second avoidance groove 421, the first avoidance groove 411 extends along the length direction of the base arm 41, and the second avoidance groove 421 extends along the length direction of the second section.

[0077] Specifically, the extension direction of the first avoidance groove 411 is the same as the extension direction of the base arm 41, and the first avoidance groove 411 runs through the front and rear sides of the base arm 41, the first pivot 431 extends along the width direction of the first avoidance groove 411 and is connected to the base arm 41, the extension direction of the second avoidance groove 421 is the same as the extension direction of the second section, the second pivot 432 extends along the width direction of the second avoidance groove 421 and the second pivot 432 is connected to the second section.

[0078] Therefore, the fixed part of the driver 43 cooperates with the first avoidance groove 411. When the driver 43 rotates relative to the base arm 41, the first avoidance groove 411 avoids the driver 43 to prevent the base arm 41 from affecting the swing stroke of the driver 43. The free section 342 of the driver 43 cooperates with the second avoidance groove 421. When the driver 43 rotates relative to the second section, the second avoidance groove 421 avoids the free section 342 of the driver 43 to prevent the second section from affecting the swing stroke of the driver 43.

[0079] In some embodiments, rotor assembly 4 includes a first rotor assembly 401 and a second rotor assembly 402 , and first rotor assembly 401 and second rotor assembly 402 are symmetrically arranged along the width direction of frame 2 .

[0080] Specifically, Figure 2 As shown, first rotor assembly 401 is rotatably connected to frame 2, second rotor assembly 402 is rotatably connected to frame 2, base arm 41 of first rotor assembly 401 and base arm 41 of second rotor assembly 402 are symmetrically arranged along the front-to-back direction, so that first rotor assembly 401 and second rotor assembly 402 are symmetrical along the front-to-back direction, and first rotor assembly 401 and second rotor assembly 402 move synchronously, that is, when one of first rotor assembly 401 and second rotor assembly 402 is converted from a flight form to a folded form, the other of first rotor assembly 401 and second rotor assembly 402 is also converted from a flight form to a folded form.

[0081] Therefore, on the one hand, the first rotor assembly 401 and the second rotor assembly 402 are symmetrically arranged along the front-to-back direction, so that the amphibious robot with an external operation function and an adjustable rotor angle of the embodiment of the present invention has a uniform weight distribution in the front-to-back direction, so that the center of gravity of the robot in a static state is stable within the vertical geometric center axis of the robot; on the other hand, the first rotor assembly 401 and the second rotor assembly 402 are symmetrically arranged along the front-to-back direction, so that when the amphibious robot with an external operation function and an adjustable rotor angle of the embodiment of the present invention is in flight, the lift torque generated by the first rotor assembly 401 offsets the lift torque generated by the second rotor assembly 402, so that the flight state of the robot is stable.

[0082] In some embodiments, the amphibious robot with adjustable rotor angle and external operation function includes a weight-swing assembly 5, which is arranged on the frame 2. The weight-swing assembly 5 can be translated relative to the frame 2 in the vertical direction to adjust the center of gravity of the robot.

[0083] like Figure 1As shown, when the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention rolls in the second form, the weight-swing assembly 5 can keep the center of gravity of the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention on the lower side of the frame 2, thereby making the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention maintain a stable posture of the frame 2 when rolling.

[0084] In some embodiments, the weight-swinging assembly 5 includes an adjustment assembly 51 and a counterweight 52. One end of the adjustment assembly 51 is connected to the frame 2, and the counterweight 52 is disposed at the other end of the adjustment assembly 51. The adjustment assembly 51 is suitable for driving the counterweight 52 to translate to adjust the distance between the counterweight 52 and the frame 2.

[0085] Specifically, the adjustment component 51 is arranged along the vertical direction, the upper end of the adjustment component 51 is connected to the frame 2, and the counterweight 52 is located at the lower end of the adjustment component 51. The adjustment component 51 drives the counterweight 52 to move along the extension direction of the adjustment component 51 to adjust the distance between the counterweight 52 and the frame 2, thereby adjusting the center of gravity position of the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention.

[0086] Therefore, when the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention rolls spherically, the adjustment component 51 adjusts the position of the counterweight 52 in the up and down directions, thereby adjusting the swing amplitude of the robot's center of gravity, thereby adjusting the sensitivity of the counterweight component 5 to control the rolling of the robot.

[0087] In some embodiments, the adjustment assembly 51 includes an adjustment motor 511, an adjustment screw 512, a first guide rod 513 and a second guide rod 514. The adjustment motor 511 is fixedly connected to the frame 2, and the adjustment motor 511 is connected to the adjustment screw 512 to drive the adjustment screw 512 to rotate. The first guide rod 513 and the second guide rod 514 are arranged in parallel and spaced apart from the adjustment screw 512, and the adjustment screw 512 is located between the first guide rod 513 and the second guide rod 514. The counterweight 52 is slidably matched with the first guide rod 513 and the second guide rod 514, and the adjustment screw 512 is threadedly connected to the counterweight 52 to drive the counterweight 52 to move along the bidirectional screw 211.

[0088] Specifically, Fig. 9 and Fig.10 As shown, the adjustment motor 511 is connected to the frame 2, the adjustment screw 512 extends in the vertical direction, the first guide rod 513 and the second guide rod 514 are arranged parallel to and spaced apart from the adjustment screw 512, and the adjustment motor 511 is connected to the adjustment screw 512 to drive the adjustment screw 512 to rotate along the circumference of the adjustment screw 512.

[0089] When the adjusting screw rod 512 rotates, the counterweight 52 moves along the axial direction of the adjusting screw rod 512 to adjust the distance between the counterweight 52 and the frame 2, so that the mass distribution of the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention is closer to the rotor assembly 4. Therefore, in the flight form, when the first component adjusts the position of the counterweight 52 in the left and right directions, the torsional torque applied by the counterweight 52 to the robot is smaller, thereby improving the stability of the robot in the flight form.

[0090] In some embodiments, the adjustment motor 511 includes a rotor part and a stator part. The stator part of the adjustment motor 511 is connected to the frame 2, and the rotor part of the adjustment motor 511 is sleeved on the outer peripheral side of the screw and connected to the screw. The rotor part of the adjustment motor 511 rotates and cooperates with the stator part of the adjustment motor 511 to drive the screw to rotate. The screw is threadedly connected to the counterweight 52 to drive the counterweight 52 to move along the bidirectional screw 211.

[0091] Specifically, the rotating shaft of the adjustment motor 511 extends in the up and down directions, the upper end of the stator part of the adjustment motor 511 is connected to the lower end of the frame 2, the rotor part of the adjustment motor 511 is rotatably assembled in the stator part of the adjustment motor 511, and the screw is assembled in the rotor part of the adjustment motor 511 and connected to the rotor part of the adjustment motor 511.

[0092] The counterweight 52 is provided with a threaded hole and a guide hole. The threaded hole extends in the up-down direction and passes through the counterweight 52. The extending direction of the guide hole is the same as the extending direction of the threaded hole and passes through the counterweight 52. There are two guide holes, and the lead screw is threadedly assembled in the threaded holes.

[0093] Therefore, when the rotor part of the adjustment motor 511 rotates relative to the stator part of the adjustment motor 511, the lead screw is driven to rotate along the circumferential direction of the adjustment motor 511, so that the counterweight 52 is translated along the axial direction of the lead screw to change the distance between the counterweight 52 and the swing frame.

[0094] The upper end of the lead screw extends out of the rotor portion of the adjustment motor 511 and forms an extended section, which is rotatably mounted on the frame 2 via a bearing. Thus, when the lead screw is subjected to a torsional moment rotating relative to the frame 2, the bearing between the extended section and the connecting portion is subjected to a radial moment of the lead screw, thereby reducing the radial moment to which the adjustment motor 511 is subjected.

[0095] In some embodiments, the re-swing device includes an end plate 53, one end of the lead screw is rotatably engaged with the connecting portion, the other end of the lead screw is rotatably engaged with the end plate 53, and the first guide rod 513 and the second guide rod 514 are connected between the end plate 53 and the connecting portion.

[0096] Thus, the end plate 53 connects the lower ends of the first guide rod 513 and the second guide rod 514 with the lower end of the lead screw, which on the one hand improves the structural strength of the combination of the first guide rod 513, the second guide rod 514, the lead screw and the counterweight 52, and on the other hand improves the guiding accuracy of the first guide rod 513 and the second guide rod 514 for the counterweight 52 when the counterweight 52 translates axially along the first guide rod 513 and the second guide rod 514.

[0097] In some embodiments, the counterweight 52 is provided with an avoidance groove 521 , which extends along the length direction of the lead screw, and the avoidance groove 521 is suitable for avoiding the end plate 53 .

[0098] Specifically, the avoidance groove 521 is located at the lower side of the counterweight 52 and extends in the left-right direction. The width dimension of the avoidance groove 521 is greater than the width dimension of the end plate 53. The lower end of the threaded hole of the counterweight 52 is connected to the avoidance groove 521, and the lower end of the guide hole of the counterweight 52 is connected to the avoidance groove 521.

[0099] Thus, at least part of the lead screw and at least part of the first guide rod 513 and the second guide rod 514 are located in the avoidance groove 521. When the counterweight 52 translates downward, the end plate 53 can move into the avoidance groove 521, thereby increasing the stroke of the counterweight 52 along the axial direction of the lead screw.

[0100] In some embodiments, the counterweight 52 has an inner cavity, and the inner cavity is suitable for accommodating the counterweight 52. Specifically, the counterweight 52 is a hollow structure. Therefore, the counterweight 52 can be arranged with high density components such as batteries of the amphibious robot with external operation function and adjustable rotor angle according to the embodiment of the present invention. On the one hand, the large mass of the counterweight 52 can adjust the center of gravity position of the amphibious robot with external operation function and adjustable rotor angle according to the embodiment of the present invention. On the other hand, installing components such as batteries in the inner cavity can reduce the volume of the robot.

[0101] In some embodiments, the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention includes a drive motor 6, the drive motor 6 includes a first drive motor 601 and a second drive motor 602, the first drive motor 601 is connected between the first shell 111 and the frame 2, the first drive motor 601 is suitable for driving the first shell 111 to rotate around the frame 2, the second drive motor 602 is connected between the second shell 112 and the frame 2, and the second drive motor 602 is suitable for driving the second shell 112 to rotate around the frame 2.

[0102] Specifically, the rotating shafts of the first drive motor 601 and the second drive motor 602 extend in the left-right direction, one end of the first drive motor 601 is connected to the first shell 111, and the other end of the first drive motor 601 is connected to the frame 2, one end of the second drive motor 602 is connected to the second shell 112, and the other end of the second drive motor 602 is connected to the frame 2.

[0103] Thus, the first drive motor 601 can drive the first shell 111 to rotate relative to the frame 2, and the second drive motor 602 can drive the second shell 112 to rotate relative to the frame 2. Therefore, in the second form, the first shell 111 and the second shell 112 rotate relative to the frame 2 to drive the rolling movement of the amphibious robot with adjustable rotor angle and external operation function of an embodiment of the present invention.

[0104] In some embodiments, the drive motor 6 includes a rotor part and a stator part. The rotor part of the drive motor 6 is rotationally matched with the stator part of the drive motor 6. The stator part of the drive motor 6 is connected to the frame 2. The rotor part of the drive motor 6 is connected to the shell 1. The rotor part of the drive motor 6 can rotate relative to the stator part of the drive motor 6 to drive the shell 1 to rotate relative to the frame 2. The frame 2 includes a connecting shaft 26. The rotor part is rotationally assembled on the outer peripheral side of the connecting shaft 26. One end of the connecting shaft 26 extends to the outside of the first shell 111 and is connected to the robotic arm 3.

[0105] Specifically, Figure 6 As shown, one end of the stator part of the driving motor 6 is connected to the frame 2, the right half of the rotor part of the driving motor 6 is rotatably fitted in the stator part of the driving motor 6, and the rotating shaft of the rotor part of the driving motor 6 extends in the left and right directions, and a bearing seat is provided at the right end of the rotor part of the driving motor 6, and the bearing seat is connected to the left end of the first shell 111.

[0106] A through hole is provided in the rotor part, and a connecting shaft 26 is fitted in the through hole. One end of the connecting shaft 26 is connected to the left end of the frame 2, and the right end of the connecting shaft 26 extends to the left end surface of the bearing seat, and a bearing is provided between the connecting shaft 26 and the bearing seat to support the bearing seat.

[0107] Therefore, when the driving motor 6 drives the rotating shell 11 to rotate, the connecting shaft 26 and the robotic arm 3 do not rotate with the rotating shell 11, so that when the amphibious robot with adjustable rotor angle with external operation function of the embodiment of the present invention moves, it does not affect the operation of the robotic arm 3. The robotic arm 3 is connected to the frame 2 through the connecting shaft 26, which improves the radial load-bearing capacity of the connection between the frame 2 and the robotic arm 3.

[0108] In some embodiments, the robotic arm 3 has an operating form and a retracted form. In the operating form, the robotic arm 3 extends to the outside of the shell 1 to be suitable for performing operations. In the retracted form, the robotic arm 3 is retracted to the outer peripheral contour of the shell 1 and the robotic arm 3 is symmetrically arranged about the swing axis of the heavy swing assembly 5.

[0109] When the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention is moving, the robotic arm 3 is in a retracted state, and the robotic arm 3 is symmetrically arranged along the front-to-back direction, so that the mass of the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention is evenly distributed along the front-to-back direction, so that when the shell 1 rolls, the postures of the frame 2 and the robotic arm 3 remain stable, so that the amphibious robot with adjustable rotor angle and external operation function according to the embodiment of the present invention has the advantages of good motion adaptability and high motion stability of the robotic arm 3.

[0110] In some embodiments, Figure 1 As shown, there are two robotic arms 3 , which are a first robotic arm 301 and a second robotic arm 302 . The first robotic arm 301 and the second robotic arm 302 are symmetrically arranged along the left-right direction.

[0111] Therefore, on the one hand, two-handed clamping operation can be achieved through the first robotic arm 301 and the second robotic arm 302. On the other hand, the symmetrical arrangement of the first robotic arm 301 and the second robotic arm 302 along the left-right direction can make the mass of the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention evenly distributed in the left-right direction, thereby improving the stability of the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention during movement.

[0112] In some embodiments, the robotic arm 3 includes a first arm 34 and a second arm 36, one end of the first arm 34 is rotatably connected to the frame 2 and has a first set interval with the rotating shell 11, and the other end of the first arm 34 is rotatably connected to one end of the second arm 36. In the retracted form, at least a portion of the second arm 36 is stored in the first set interval, and the second arm 36 extends along the length direction of the first arm 34 to reduce the outline size of the robotic arm 3.

[0113] Specifically, the first arm 34 extends radially along the frame 2, and one end of the first arm 34 is rotatably connected to the frame 2, the first arm 34 rotates around the extension direction of the frame 2, the other end of the first arm 34 is rotatably connected to one end of the second arm 36, the second arm 36 rotates relative to the first arm 34, so that the other end of the second arm 36 can rotate relative to the first arm 34, so that the free end of the robot arm 3 can extend to the set position.

[0114] In the retracted state, the first arm 34 extends in the vertical up and down direction, the second arm 36 extends in the vertical up and down direction, one end of the first arm 34 is connected to the frame 2, and the other end of the first arm 34 extends vertically downward. The first arm 34 is located between the second arm 36 and the frame 2, and the projection of the second arm 36 in the left and right direction coincides with the projection of the first arm 34 in the left and right direction.

[0115] Thus, in the retracted form, on the one hand, the second arm 36 is received in the first set interval between the first arm 34 and the rotating shell 11, thereby reducing the outline size of the robot arm 3 in the retracted form along the left-right direction; on the other hand, the projections of the first arm 34 and the second arm 36 in the left-right direction roughly overlap, thereby reducing the outline size of the robot arm 3 in the vertical direction in the retracted form, making the mass distribution of the robot arm 3 in the retracted form more concentrated, thereby improving the stability of the amphibious robot with adjustable rotor angle and external operation function in motion according to the embodiment of the present invention.

[0116] In some embodiments, the robotic arm 3 includes a first joint drive 31, a second joint drive 33, a third joint drive 35 and a turntable 32. The first joint drive 31 is connected between the turntable 32 and the frame 2 to drive the turntable 32 to rotate, the second joint drive 33 is connected between the turntable 32 and the first arm 34 to drive the first arm 34 to rotate, and the third joint drive 35 is arranged between the first arm 34 and the second arm 36 to drive the second arm 36 to rotate.

[0117] Specifically, the robot arm 3 includes a first joint drive 31, a rotating frame 32, a second joint drive 33, a first arm 34, a third joint drive 35 and a second arm 36 connected in sequence, one end of the first joint drive 31 is connected to the frame 2, and the rotating shaft of the first joint drive 31 extends along the length direction of the frame 2, the other end of the first joint drive 31 is connected to the rotating frame 32 to drive the rotating frame 32 to rotate, the second joint drive 33 is connected between the rotating frame 32 and the first arm 34 and is suitable for driving the first arm 34 to swing, the third joint drive 35 is connected between the first arm 34 and the second arm 36 and is suitable for driving the second arm 36 to swing, the length of the first arm 34 is adjustable to adjust the distance between the second joint drive 33 and the third joint drive 35, and the robot arm is arranged at the free end of the second arm 36.

[0118] The stator of the first joint drive 31 is connected to the frame 2 via fasteners, and the rotor of the first joint drive 31 is connected to the rotating frame 32. The stator of the first joint drive 31 and the rotor of the first joint drive 31 rotate in coordination and rotate relative to the rotating shaft of the first joint drive 31, thereby driving the rotating frame 32 to rotate around the rotating shaft of the first joint drive 31, and the rotating shaft of the first joint drive 31 extends along the length direction of the frame 2.

[0119] Thus, the rotation axis of the third joint drive 35 extends along the radial direction of the second joint drive 33. When the second joint drive 33 rotates, the rotation axis of the third joint drive 35 is adjusted accordingly, thereby adjusting the swing direction of the second arm 36, and one end of the second arm 36 is connected to the third joint drive 35. Thus, the degree of freedom of the free end of the second arm 36 is improved, and the free end of the second arm 36 is convenient for external operation.

[0120] In some embodiments, the rotating shaft of the first joint drive 31 extends along the length direction of the frame 2 , the rotating shaft of the second joint drive 33 extends along the radial direction of the first joint drive 31 , and the rotating shaft of the third joint drive 35 extends along the radial direction of the second joint drive 33 .

[0121] Specifically, the rotating shaft of the first joint drive 31 extends in the left-right direction, the stator part of the second joint drive 33 is connected to the rotor part of the first joint drive 31, and the rotating shaft of the stator part of the second joint drive 33 rotating relative to the rotor part of the second joint drive 33 extends along the radial direction of the first joint drive 31, and the first arm 34 is connected to the rotor part of the second joint drive 33, so that the first arm 34 can be driven to rotate in a circular direction along the circumference of the first joint drive 31, and the first arm 34 can also rotate along the axis of the second joint drive 33.

[0122] The axis of the third joint drive 35 extends radially along the first arm 34, that is, the stator part of the third joint drive 35 is connected to the first arm 34, and the rotor part of the third joint drive 35 is connected to the second arm 36. The rotating shaft of the rotor part of the third joint drive 35 relative to the stator part of the third joint drive 35 extends radially along the first arm 34, so that the third joint drive 35 drives the second arm 36 to rotate relative to the free end of the first arm 34, thereby increasing the swing range of the free end of the robot arm 3, that is, increasing the operating range of the robot arm 3.

[0123] In some embodiments, the robot arm 3 includes a clamp 37 rotatably connected to the other end of the second arm 36 , and a rotation axis of the clamp 37 relative to the second arm 36 extends along the axial direction of the third joint drive 35 .

[0124] Specifically, the clamp 37 is provided at the free end of the second arm 36 , and the clamp 37 rotates relative to the free end of the second arm 36 . The extending direction of the rotating axis of the clamp 37 relative to the second arm 36 is the same as the extending direction of the rotating axis of the third joint drive 35 .

[0125] Thus, the clamp 37 is rotatable relative to the second arm 36, and the clamp 37 can perform external operations, so that when the free end of the second arm 36 swings relative to the frame 2, the clamp 37 extends to a set position as the second arm 36 swings to perform external operations.

[0126] In some embodiments, the second arm 36 includes a first plate 361 and a second plate 362, the first plate 361 is connected to the third joint drive 35, the second plate 362 is located on the side of the first plate 361 close to the first arm 34, and there is a second set interval between the second plate 362 and the first plate 361. In the retracted form, the clamp 37 is located in the second set interval to avoid the first joint drive 31.

[0127] Specifically, the first plate 361 and the second plate 362 are arranged at intervals, and the second plate 362 is located on the side of the first plate 361 close to the first arm 34, so that the thickness dimension of the second arm 36 coincides with the axial dimension of the third joint drive 35. As a result, part of the second arm 36 is located on the outer peripheral side of the third joint drive 35, thereby reducing the thickness of the combination of the third joint drive 35 and the second arm 36, making it easier for the second arm 36 to be retracted into the first set interval.

[0128] In some embodiments, the second arm 36 is symmetrically arranged along the radial direction of the third joint drive 35 , and in the retracted state, the first plate 361 and the second plate 362 are arranged perpendicular to the axis of the frame 2 .

[0129] Specifically, the second plate 362 is located on the side of the first plate 361 facing the third joint drive 35, and the second plate 362 and the first plate 361 are arranged parallel to each other along the axial direction of the third joint drive 35. There is a second set interval between the second plate 362 and the first plate 361. When the robot arm 3 switches from the operating form to the retracted form, the clamp 37 rotates relative to the second arm 36 to the second set interval, so that the clamp 37 is stored between the first plate 361 and the second plate 362, and in the retracted form, the clamp 37 is symmetrically arranged along the front-to-back direction.

[0130] Therefore, in the retracted state, the clamp 37 is stored in the second set interval. On the one hand, the length of the second arm 36 and the clamp 37 combination is reduced, which facilitates the storage of the second arm 36 and the clamp 37 combination into the first set interval. On the other hand, the mass distribution of the clamp 37 and the second arm 36 is more concentrated, thereby improving the stability of the amphibious robot with adjustable rotor angle and external operation function during movement.

[0131] In some embodiments, the first arms 34 are symmetrically arranged along the radial direction of the second joint drive 33 , and the length of the first arms 34 is adjustable to adjust the distance between the second joint drive 33 and the third joint drive 35 .

[0132] Specifically, the rotating frame 32 is connected to the second joint drive 33, and the rotating shaft of the second joint drive 33 extends radially along the first joint drive 31, thereby driving the first arm 34 to rotate around the rotating shaft of the second joint drive 33. The first arm 34 includes a fixed section 341 and a free section 342. The free section 342 of the first arm 34 is slidably connected to the fixed section 341 of the first arm 34. One end of the fixed section 341 of the first arm 34 is connected to the second joint drive 33, and the other end of the fixed section 341 of the first arm 34 is slidably matched with one end of the free section 342 of the first arm 34. The other end of the free section 342 of the first arm 34 is connected to the third joint drive 35. The positions of the fixed section 341 of the first arm 34 and the free section 342 of the first arm 34 are adjustable, so that the length of the first arm 34 is adjustable. The spacing between the second joint drive 33 and the third joint drive 35 changes with the length of the first arm 34, thereby adjusting the length of the robot arm 3.

[0133] Therefore, the length of the first arm 34 is adjustable. In the operating mode, the maximum distance between the free end of the second arm 36 and the frame 2 can be adjusted by adjusting the length of the first arm 34, so that the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention has a larger external operation range.

[0134] In some embodiments, the first arm 34 includes a fixed section 341, a free section 342, a sliding rod 343 and a slide 344, the free section 342 is guided and matched with the fixed section 341, the slide 344 is connected to the free section 342, the sliding rod 343 is connected to the fixed section 341, and the sliding rod 343 is guided and matched with the slide 344.

[0135] Specifically, the slide bar 343 includes a first slide bar 3431 and a second slide bar 3432, the first slide 3441 includes a first slide bar 3441 and a second slide bar 3442, one end of the fixed section 341 is connected to the rotor part of the second joint drive 33, one end of the free section 342 is connected to the stator part of the third joint drive 35, the other end of the free section 342 is guided and assembled on the other end of the fixed section 341, the first slide bar 3431 and the second slide bar 3432 are connected to the rotor part of the second joint drive 33, the first slide 3441 and the second slide 3442 are connected to the stator part of the third joint drive 35, the first slide bar 3431 is guided to match the first slide bar 3441, the second slide bar 3432 is guided to match the second slide bar 3442, the first slide bar 3431 and the second slide bar 3432 are symmetrically arranged along the width direction of the first arm 34, and the first slide 3441 and the second slide 3442 are symmetrically arranged along the width direction of the first arm 34.

[0136] Thus, on the one hand, the free section 342 and the fixed section 341 are guided and matched, and the free section 342 can slide relative to the fixed section 341 along the length direction of the first arm 34, thereby adjusting the length dimension of the first arm 34 and increasing the swing range of the robot arm 3. On the other hand, the slide bar 343 and the slide frame 344 cooperate to improve the radial bearing capacity of the first arm 34 while improving the guiding property of the free section 342 sliding relative to the fixed section 341. In addition, the first slide bar 3431 and the second slide bar 3432 are symmetrically arranged along the width direction of the first arm 34, and the first slide frame 3441 and the second slide frame 3442 are symmetrically arranged along the width direction of the first arm 34, so that the mass of the first arm 34 is symmetrically arranged along the width direction of the first arm 34.

[0137] In some embodiments, the amphibious robot with adjustable rotor angle and external operation function of the embodiment of the present invention includes an opening and closing component 7, the opening and closing component 7 includes an opening and closing drive 71, an opening and closing guide rod 72 and a guide sleeve 73, one end of the opening and closing drive 71 is connected to the rotating frame 32, and the other end of the opening and closing drive 71 is connected to the spherical crown 12. The length of the opening and closing drive 71 is adjustable to be suitable for adjusting the distance between the spherical crown 12 and the rotating shell 11. One of the opening and closing guide rod 72 and the guide sleeve 73 is connected to the rotating frame 32, and the other is connected to the spherical crown 12. The opening and closing guide rod 72 is guided and fitted in the guide sleeve 73.

[0138] Specifically, the opening and closing assembly 7 includes a first opening and closing assembly and a second opening and closing assembly, the first opening and closing assembly is connected between the first crown 121 and the first shell 111 , and the second opening and closing assembly is connected between the second crown 122 and the second shell 112 .

[0139] The opening and closing guide rod 72 includes a first opening and closing guide rod 721 and a second opening and closing guide rod 722, and the guide sleeve 73 includes a first guide sleeve 731 and a second guide sleeve 732. The first opening and closing guide rod 721 and the second opening and closing guide rod 722 are symmetrically arranged along the front-to-back direction, and the first opening and closing guide rod 721 and the second opening and closing guide rod 722 have the same extension direction. The first opening and closing guide rod 721 is fitted in the first guide sleeve 731, and the second opening and closing guide rod 722 is fitted in the second guide sleeve 732.

[0140] Thus, the fixed part of the opening and closing drive 71 and the driving part of the opening and closing drive 71 slide relative to each other, so that the length of the opening and closing drive 71 is adjustable, and the distance between the first ball crown 12 and the robotic arm 3 changes with the change of the length of the opening and closing drive 71, so that the opening and closing drive 71 changes the distance between the ball crown 12 and the rotating shell 11 to open and close the ball crown 12, and the opening and closing guide rod 72 and the guide sleeve 73 cooperate to improve the guiding property of the ball crown 12 when it slides relative to the robotic arm 3, and the first opening and closing guide rod 721 and the second opening and closing guide rod 722 are symmetrically arranged in the front-to-back direction to make the force on the ball crown 12 uniform, thereby avoiding uneven force in the front-to-back direction.

[0141] In some embodiments, the frame 2 includes a main frame 25, a screw assembly 21, a telescopic motor 22, a first push frame 23 and a second push frame 24. The main frame 25 extends along the length direction of the frame 2. The first push frame 23 is connected to the first drive motor 601 and is guided and assembled with the main frame 25 along the length direction of the main frame 25. The second push frame 24 is connected to the second drive motor 602 and is guided and assembled with the main frame 25 along the length direction of the main frame 25. The telescopic motor 22 is connected to the screw assembly 21 to drive the screw assembly 21 to rotate. The screw assembly 21 extends along the length direction of the main frame 25 and is connected to the first push frame 23 and the second push frame 24 to drive the first push frame 23 and the second push frame 24 to move relative to the main frame 25.

[0142] Specifically, Fig.12 As shown, the outer peripheral side of the telescopic motor 22 is fixedly connected to the frame 2, and the rotating part of the telescopic motor 22 is connected to the screw assembly 21 to drive the first push frame 23 and the second push frame 24 to move toward or away from each other along the left and right directions, while changing the spacing between the first drive motor 601 and the second drive motor 602, making the first shell 111 and the second shell 112 symmetrical in the left and right directions, thereby adjusting the spacing between the first shell 111 and the second shell 112.

[0143] The screw assembly 21 includes a bidirectional screw 211, a first nut portion 212 and a second nut portion 213. The first nut portion 212 and the second nut portion 213 are threadedly assembled with the bidirectional screw 211. The rotation direction of the matching parts of the bidirectional screw 211 and the first nut portion 212 is opposite to the rotation direction of the matching parts of the bidirectional screw 211 and the second nut portion 213. The first nut portion 212 is connected to the first push frame 23 to drive the first push frame 23, and the second nut portion 213 is connected to the second push frame 24 to drive the second push frame 24.

[0144] Therefore, when the telescopic motor 22 drives the bidirectional screw rod 211 to rotate, the first nut portion 212 and the second nut portion 213 move along the axial direction of the bidirectional screw rod 211, driving the first push frame 23 and the second push frame 24 to move in the left and right directions, thereby driving the first drive motor 601 and the second drive motor 602 to move left and right relative to the main frame 25, and causing the first shell 111 and the second shell 112 to move left and right relative to the frame 2 to open and close the outer shell.

[0145] The first push frame 23 includes a first push rod 231, a second push rod 232 and a first push plate 233, the first push plate 233 is connected to the first nut portion 212, the first push rod 231 and the second push rod 232 are arranged in parallel and spaced apart, the first push rod 231 and the second push rod 232 extend along the length direction of the frame 2 and are guided and assembled with the frame 2, one end of the first push rod 231 and the second push rod 232 extending out of the frame 2 is connected to the first drive motor 601, and one end of the first push rod 231 and the second push rod 232 extending into the frame 2 is connected to the first push plate 233.

[0146] The second push frame 24 includes a third push rod 241, a fourth push rod 242 and a second push plate 243, the second push plate 243 is connected to the second nut portion 213, the third push rod 241 and the fourth push rod 242 are arranged in parallel and spaced apart, the third push rod 241 and the fourth push rod 242 extend along the length direction of the frame 2 and are guided and assembled with the frame 2, the third push rod 241 and the fourth push rod 242 extend out of the frame 2 One end is connected to the second drive motor 602, and the third push rod 241 and the fourth push rod 242 extend into the frame 2 One end is connected to the second push plate 243.

[0147] Therefore, when the telescopic motor 22 drives the bidirectional screw rod 211 to rotate, the first nut portion 212 and the second nut portion 213 move along the axial direction of the bidirectional screw rod 211, driving the first push plate 233 and the second push plate 243 to move in the left and right directions, the first push rod 231 and the second push rod 232 are connected between the first push plate 233 and the first drive motor 601, and the third push rod 241 and the fourth push rod 242 are connected between the second push plate 243 and the second drive motor 602, thereby driving the first drive motor 601 and the second drive motor 602 to move left and right relative to the frame 2, so that the first shell 111 and the second shell 112 move left and right relative to the frame 2 to open and close the outer shell.

[0148] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0149] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0150] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0151] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0152] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean 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 the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0153] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. An amphibious robot with adjustable rotor angle and external operation function, characterized in that: include: A shell, the shell includes a spherical crown and a rotating shell, the rotating shell includes a first shell and a second shell, the rotating shell has a first form and a second form, in the first form, the first shell and the second shell are separated to be suitable for the robot to fly, in the second form, the first shell and the second shell are closed to be suitable for the robot to roll, the spherical crown includes a first crown and a second crown, the rotating shell is located between the first crown and the second crown, and the first crown is engageable and separable with the first shell, and the second crown is engageable and separable with the second shell; a frame, the frame being arranged in the inner cavity of the rotating shell and the rotating shell being rotatable about a first direction relative to the frame, at least one of the first shell and the second shell being movable along the first direction relative to the frame so that the rotating shell switches between the first form and the second form, and the spherical cap being arranged on the frame; A rotor assembly, the rotor assembly is arranged on the frame and has a folding form and a flight form, the rotor assembly comprises a base arm, a folding arm, a tilt arm and a rotor, the base arm is arranged on the frame, one end of the folding arm is rotatably connected to the base arm, the tilt arm is connected between the rotor and the folding arm, in the folding form, the folding arm, the tilt arm and the rotor are stored in the shell so that the shell can roll, in the flight form, the tilt arm and the rotor extend to the outside of the shell to be suitable for driving the robot to fly, and the tilt arm is rotatable relative to the folding arm to adjust the rotation direction of the rotor; A robotic arm, the robotic arm is arranged on the frame and located between the rotating shell and the spherical crown, the robotic arm has an operating form and a retracted form, in the operating form, the spherical crown is separated from the rotating shell so that the robotic arm can extend out of the outside of the shell, in the retracted form, the spherical crown and the rotating shell are closed so that the robotic arm can be stored in the shell, the robotic arm includes a first robotic arm and a second robotic arm, the first robotic arm is arranged between the first crown and the first shell, and the second robotic arm is arranged between the second crown and the second shell.

2. The amphibious robot with adjustable rotor angle and external operation function according to claim 1, characterized in that: The rotor assembly comprises a tilt motor, one end of which is connected to an end of the folding arm away from the base arm, and the other end of the tilt motor is connected to the tilt arm to drive the tilt arm to rotate relative to the folding arm.

3. The amphibious robot with adjustable rotor angle and external operation function according to claim 2, characterized in that: A first support is provided at one end of the folding arm close to the tilt arm, and a second support is provided at one end of the tilt arm close to the folding arm. The tilt motor includes a first part and a second part, the second part is rotatably matched with the first part, the first part is connected to the first support, the second part is connected to the second support, the second part has a through hole, a core shaft is provided in the through hole, and the core shaft passes through the first support and the second support to improve the radial bearing capacity between the folding arm and the tilt arm.

4. The amphibious robot with adjustable rotor angle and external operation function according to claim 3, characterized in that: The rotor is located at one end of the tilt arm away from the folding arm. The rotor includes a plurality of rotor arms and a flight motor. The flight motor is connected to the plurality of rotor arms to drive the rotor arms to rotate and generate lift. In the flight form, the plurality of rotor arms are evenly spaced along the circumference of the flight motor so that the rotor assembly maintains dynamic balance during rotation. In the folded form, the plurality of rotor arms extend along the length direction of the folding arm so that the rotor assembly can be retracted into the shell.

5. The amphibious robot with adjustable rotor angle and external operation function according to claim 4, characterized in that: The multiple rotary arms include a first wing and a second wing, a folder is provided at one end of the output shaft of the flight motor, and the folder includes a first drive and a second drive. The rotating shaft of the first drive is arranged parallel to the rotating shaft of the flight motor, and the rotating shaft of the second drive is arranged parallel to the rotating shaft of the flight motor. The first drive and the second drive are symmetrically arranged along the rotating shaft of the flight motor. The first drive is connected to the first wing, and the second drive is connected to the second wing.

6. The amphibious robot with adjustable rotor angle and external operation function according to claim 5, characterized in that: The rotor assembly includes a driver, one end of which is rotatably connected to the base arm, and the other end of the driver is rotatably connected to the folding arm. The length of the driver is adjustable to drive the rotor assembly to switch between the flight form and the folding form.

7. The amphibious robot with adjustable rotor angle and external operation function according to claim 6, characterized in that: The rotor assembly includes a first rotor assembly and a second rotor assembly, and the first rotor assembly and the second rotor assembly are symmetrically arranged along a width direction of the frame.

8. The amphibious robot with adjustable rotor angle and external operation function according to any one of claims 1 to 7, characterized in that: The robot comprises a heavy-swing assembly, which is arranged on the frame and can translate relative to the frame in a vertical direction to adjust the center of gravity of the robot.

9. The amphibious robot with adjustable rotor angle and external operation function according to claim 8, characterized in that: The weight-swinging assembly includes an adjustment assembly and a counterweight, one end of the adjustment assembly is connected to the frame, the counterweight is arranged at the other end of the adjustment assembly, and the adjustment assembly is suitable for driving the counterweight to translate to adjust the distance between the counterweight and the frame.

10. The amphibious robot with adjustable rotor angle and external operation function according to claim 9, characterized in that: The adjustment assembly includes an adjustment motor, an adjustment screw, a first guide rod and a second guide rod. The adjustment motor is fixedly connected to the frame, and the adjustment motor is connected to the adjustment screw to drive the adjustment screw to rotate. The first guide rod and the second guide rod are arranged in parallel and spaced apart from the adjustment screw, and the adjustment screw is located between the first guide rod and the second guide rod. The counterweight is slidably matched with the first guide rod and the second guide rod, and the adjustment screw is threadably connected to the counterweight to drive the counterweight to move along the adjustment screw.

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