A spherical land-air amphibious robot

Abstract

The application relates to the technical field of robots, and particularly provides a spherical land-air amphibious robot, which comprises an air flight module, a ground rolling module and a supporting module; the air flight module comprises a motor arm and a paddle; the ground rolling module comprises a spherical shell, a central rotating shaft for driving the ground rolling and steering of the robot and a swing block; and the supporting module comprises a central plate. The robot can realize autonomous switching of ground rolling, air flight and two motion modes; when ground motion is performed, straight-line rolling and steering can be realized through a rolling rudder and a steering rudder, and a certain obstacle surmounting capability is possessed; when air motion is performed, the paddle can be automatically recovered when the flight mode is switched to the ground mode through a paddle collecting mechanism, so that the problems of paddle collecting difficulty and complicated execution mechanism are solved; and the paddle collecting mechanism can also assist the motor arm to smoothly open when the flight mode is entered through a folding arm mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a spherical land-air amphibious robot. BACKGROUND

[0002] With the development of science and technology, robot technology plays an increasingly important role in human life and work. Mobile robots play an indispensable role in rescue and rescue and other fields, but the complexity of the working environment makes the traditional single-environment mobile robot gradually unable to meet the requirements of the task, so various amphibious robots have emerged.

[0003] The land-air amphibious robot has the advantages of both unmanned aerial vehicles and ground robots, can easily cross various obstacles in flight mode, has the flexibility and power saving characteristics of ground robots when on the ground, and is suitable for indoor operation; when in the air, it can fly or hover quickly forward, backward, left, right and up and down. In the prior art, the following patents relate to land-air amphibious robots:

[0004] 1. Patent No. "201611037532.8" proposes a land-air amphibious four-legged emergency rescue and reconnaissance robot, including an unmanned aerial vehicle system, a four-legged system and a transmission system, which can realize air flight and ground walking by combining the unmanned aerial vehicle system and the four-legged system. However, the shortcomings of this scheme are: a. the steering of the four-legged robot is not flexible; b. each joint degree of freedom requires a one-stage driving mechanism, which increases the overall mass of the robot and affects the endurance time of the flight mode; c. once the legged robot is tipped over, it is difficult to stand again by itself.

[0005] 2. Patent No. "202110124993.3", patent name "a land-air amphibious robot", the robot in this scheme can continuously rotate 360° in the air, roll forward and backward on the ground, turn left and right, and rotate 360° in place. However, the shortcomings of this scheme are: a. the success rate of the propeller collection scheme is low, and when switching from flight mode to rolling mode, the propeller device needs to forcibly brake the rotating propeller, and the timing of braking cannot be accurately controlled, which is easy to cause physical damage to the propeller; b. the position of the propeller retraction has high requirements for the mode switching, and the error of the propeller retraction position will cause interference between the internal structure and the propeller during rolling, affecting the ground movement of the robot.

[0006] In summary, how to design a robot that combines the advantages of land-air amphibious robots and spherical robots, solves the problem of propeller collection and the problem of complex actuators, and has high stability and reliability is a problem that needs to be solved at the moment. SUMMARY

[0007] The application provides a spherical land-air amphibious robot, which can realize ground rolling and ground turning, has strong obstacle crossing ability and anti-toppling ability, can realize stable flight in the air and automatic propeller folding, and solves the problems of propeller folding difficulty and complicated execution mechanism.

[0008] The spherical land-air amphibious robot comprises an air flight module, a ground rolling module and a support module; the air flight module comprises a motor arm and a propeller; the motor arm is divided into a telescopic motor arm support section and a motor arm rotating section connected with the propeller; the motor arm support section and the motor arm rotating section are connected through a folding arm mechanism; the motor arm rotating section can rotate through the folding arm mechanism; the motor arm rotating section and the propeller are rotationally connected through a propeller folding mechanism; the ground rolling module comprises a spherical shell; a central rotating shaft and a swing block for driving the robot to roll and turn on the ground are arranged in the spherical shell; the central rotating shaft is collinear with a horizontal central shaft of the spherical shell; a window body is formed in the spherical shell and used for allowing the motor arm to extend to the outside of the spherical shell or to be retracted to the inside of the spherical shell; the support module comprises a plurality of central plates arranged between the central rotating shaft and the swing block; a telescopic assembly connected with the motor arm support section is arranged between adjacent central plates; the telescopic assembly is connected to one end of the motor arm support section away from the folding arm mechanism and can drive the motor arm support section to extend or retract at the window body.

[0009] Preferably, the central plates comprise a first layer of central plates, a second layer of central plates and a third layer of central plates arranged in parallel with the central rotating shaft; the two side ends of the first layer of central plates, the second layer of central plates and the third layer of central plates are connected through bearing seats one and two respectively; the telescopic assembly comprises a lead screw one arranged between the first layer of central plates and the second layer of central plates and a lead screw two arranged between the second layer of central plates and the third layer of central plates; the two ends of the lead screw one and the lead screw two are connected to the bearing seats one and two respectively; reverse nuts one and two are threadedly connected to the lead screw one and the lead screw two respectively; the motor arms comprise two groups arranged on both sides of the central rotating shaft; the two groups of motor arms are connected to the reverse nuts one and two respectively.

[0010] Preferably, the shaft ends one of the lead screw one and the lead screw two pass through the bearing seat one and are connected with gears one and two respectively; the lead screw one is driven to rotate by a speed reducer; when the lead screw one rotates, the gear one rotates in the same direction, the gear two and the lead screw two rotate in the opposite direction; at the same time, the reverse nuts one and two move in opposite directions on the lead screw one and the lead screw two respectively and drive the two groups of motor arms to extend or retract.

[0011] Preferably, the two groups of motor arms each include motor arm one and motor arm two symmetrically arranged, and the motor arm support sections of the two groups of motor arm one and motor arm two are respectively connected to the radial two ends of the reverse nut one and the reverse nut two; the motor arm support sections are provided with guide slots in the length direction, the motor arm one and the motor arm two are provided with guide sliders clamped on the guide slots, and the two ends of the guide sliders are respectively provided with guide shafts clamped in the guide slots of the motor arm one and the motor arm two; when the reverse nut one and the reverse nut two move towards the bearing seat one and the bearing seat two respectively, the two groups of motor arm one and motor arm two are both opened to the two sides along the guide shafts through the guide slots and extended to the outside of the window body.

[0012] Preferably, the retraction mechanism includes a retraction driving element connected with the motor arm rotating section and a paddle clamp base connected with the retraction driving element, the paddle clamp base is rotatably connected with a paddle clamp through a retraction rotating shaft, and the paddle is connected with the paddle clamp through a paddle clamp shaft; the retraction rotating shaft and the paddle clamp base are provided with a retraction torsion spring, after the retraction driving element is stopped, the paddle clamp drives the paddle to move around the retraction rotating shaft to a position parallel to the motor arm support section and below the motor arm support section through the weight of the paddle and the auxiliary torsion force provided by the retraction torsion spring.

[0013] Preferably, the folding arm mechanism includes a folding arm pull piece and a folding arm rotating shaft fixedly connected with the folding arm pull piece; the folding arm rotating shaft is fixedly connected with the motor arm rotating section and rotatably connected with the motor arm support section, and the folding arm rotating shaft can drive the motor arm rotating section to rotate 90° relative to the motor arm support section; the folding arm rotating shaft and the motor arm support section are provided with a folding arm torsion spring, and in the initial state, the motor arm rotating section and the motor arm support section are kept perpendicular through the folding arm torsion spring.

[0014] Preferably, the first layer center plate and the second layer center plate are provided with a center vertical plate including a connecting hole near the bearing seat one, and the second layer center plate and the third layer center plate are provided with a center vertical plate including a connecting hole near the bearing seat two; the folding arm pull piece is further rotatably connected with a folding arm pull rod movably connected with the center vertical plate; the folding arm pull rod passes through the connecting hole of the center vertical plate and can be telescoped in the connecting hole with the motor arm support section, and the end of the folding arm pull rod inside the center vertical plate is provided with a limiting boss which can be limited inside the connecting hole; when the folding arm pull rod moves to the limit position with the motor arm support section, the folding arm pull rod is stopped on the center vertical plate through the limiting boss, at the same time, the folding arm pull rod drives the folding arm pull piece and the folding arm rotating shaft to rotate, and the motor arm rotating section is rotated to a position parallel to the motor arm support section.

[0015] Preferably, the two ends of the center rotating shaft are connected with the spherical shell, and the center rotating shaft includes a driving shaft and a driven shaft in line; the first layer center plate is provided with a rolling rudder on the side of the bearing seat two to drive the driving shaft to rotate, and the first layer center plate is provided with a driven shaft bearing seat on the side of the bearing seat one to support the driven shaft; the ground rolling of the robot is realized by driving the driving shaft to rotate through the rolling rudder and driving the spherical shell and the driven shaft to move.

[0016] Preferably, the third layer center plate lower end is provided with a swing arm one and a swing arm two parallel to each other, and a swing block fixed to the lower ends of the swing arm one and the swing arm two for steering; the swing arm one is driven to swing by a steering engine, and the swing arm two follows the swing arm one, and the position of the swing block is changed by the swing arm one and the swing arm two to change the overall center of the robot and realize steering.

[0017] Preferably, two windows matched with the two groups of motor arms are arranged on the two sides of the spherical shell respectively, when the motor arms are extended from the spherical shell and push away the windows, the upper end surfaces of the motor arms limit the windows; an opening and closing rotating shaft is arranged between the window and the spherical shell, and an opening and closing torsional spring is arranged between the opening and closing rotating shaft and the spherical shell to assist the window to stably close in the initial state.

[0018] The beneficial effects of the present application are as follows:

[0019] 1. The robot in the present application can realize ground rolling, smooth flight in the air and autonomous switching of the two motion modes;

[0020] When moving on the ground: linear rolling can be realized by the rolling engine and the center rotating shaft, and steering can be realized by the steering engine, the swing arm and the swing block, and the robot has strong obstacle crossing ability; meanwhile, the ground movement cooperates with the rolling engine and the steering engine, and only two driving mechanisms are needed to realize flexible control of the position and attitude, and the spherical shape can effectively avoid the problem of tilting;

[0021] When moving in the air: the motor arms are extended to the outside of the spherical shell or are retracted to the inside of the spherical shell by cooperation of the telescopic assembly and the motor arms; the motor arms can be further opened by the folding arm mechanism, the paddles can be automatically retracted by the paddle retraction mechanism, and smooth flight and automatic hovering in the air can be realized.

[0022] 2. The paddle retraction mechanism in the present application can make the paddles rotate to a position parallel to the motor arm supporting section and below the motor arm supporting section, thereby greatly saving space; when the motor arms are completely retracted into the spherical shell, the space inside the spherical shell can be greatly utilized, so that the parts do not interfere with each other during rolling, and the smoothness and stability of ground rolling are further increased.

[0023] 3. The centers of mass of the components inside the spherical shell in the present application are all below the center rotating shaft, and the center of the robot is below the center surface of the spherical shell, so that the robot can also stand stably by relying on its own structure without being powered.

[0024] 4. The folding arm torsional spring is arranged between the folding arm rotating shaft and the motor arm supporting section in the present application, and the motor arm rotating section and the motor arm supporting section are kept perpendicular by the folding arm torsional spring in the initial state.

[0025] A retraction torsion spring is arranged between the retraction rotating shaft and the blade holder base, and when the retraction driving member stops rotating, the blade holder can drive the blade to move around the retraction rotating shaft to a position perpendicular to the blade holder base by the weight of the blade and the auxiliary torsion provided by the retraction torsion spring.

[0026] An opening and closing torsion spring is arranged between the opening and closing rotating shaft and the spherical shell to assist the stable closing of the window in the initial state. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A schematic diagram of the robot in flight mode;

[0028] Figure 2 A schematic diagram of the robot in rolling mode;

[0029] Figure 3 A schematic diagram of the internal structure of the robot (part of the blade is open);

[0030] Figure 4 A Figure 3 A local enlarged view of A in FIG. 6;

[0031] Figure 5 A Figure 3 A local enlarged view of B in FIG. 6;

[0032] Figure 6 A front view of the internal structure of the robot in flight mode;

[0033] Figure 7 A schematic diagram of the retraction mechanism in a natural state;

[0034] Figure 8 A schematic diagram of the retraction device in flight due to the action of centrifugal force;

[0035] Figure 9 A state diagram of the motor arm after retracting into the spherical shell;

[0036] Figure 10 A state diagram of the motor arm extending out of the spherical shell;

[0037] Figure 11 A schematic diagram of the one side telescopic assembly and folding arm mechanism (in the state inside the spherical shell);

[0038] Figure 12 A schematic diagram of the one side telescopic assembly and folding arm mechanism (in the state extending to the outside of the spherical shell);

[0039] Figure 13 A structural schematic diagram of the reverse nut one and the screw rod one.

[0040] Figures: oar folding driving member 1, oar clamp base 111, oar clamp 112, oar clamp shaft 113, oar folding rotation shaft 114, oar blade 115, first layer center plate 2, second layer center plate 3, third layer center plate 4, rolling rudder 5, steering rudder 6, reverse nut 1 7a, reverse nut 2 7b, center vertical plate 8, spherical shell 9, oar folding mechanism 11, folding arm mechanism 12, motor arm support segment 121, guide notch 121a, motor arm rotation segment 122, lead screw 1 123, lead screw 2 124, folding arm pull piece 125, folding arm pull rod 126, folding arm rotation shaft 127, driven shaft 22, rolling rudder fixing seat 24, reduction motor 25, bearing seat 1 26, bearing seat 2 27, gear 1 261, gear 2 262, guide shaft 263, swing block 13, swing arm 1 14, swing arm 2 15, window body 16, motor arm 1 17, motor arm 2 18, limiting boss 19, guide sliding block 20, reduction motor fixing seat 21, rolling driven end rotation shaft 22, rolling rudder fixing seat 24, reduction motor 25, lead screw bearing seat 1 26, lead screw bearing seat 2 27, gear 1 261, gear 2 262, guide shaft 263, mounting table 28, connecting frame 29, connecting hole 30, connecting column 31, driving shaft 32. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not constitute a limitation on the present application.

[0042] As shown in Figures 1-13 , a spherical land-air amphibious robot includes an air flight module, a ground rolling module and a support module; as shown in Figures 1-3 , the ground rolling module includes a spherical shell 9, a center rotation shaft for driving the robot to roll on the ground is arranged in the spherical shell 9, the center rotation shaft is collinear with the horizontal center shaft of the spherical shell 9, the center rotation shaft is a two-segment structure including a driving shaft 32 and a driven shaft 22 which are collinear, the outer ends of the driving shaft 32 and the driven shaft 22 are connected with the spherical shell 9 respectively, the driving shaft 32 is driven to rotate by a rolling rudder 5 and transmits the rotating force to the rigid spherical shell 9 and the driven shaft 22 to realize the ground rolling of the robot; as shown in Figure 3 , the spherical shell 9 further includes a steering rudder 6 located below the center rotation shaft, swing arms 1 14 and 2 15 which are parallel to each other, and a swing block 13 fixed to the lower ends of the swing arms 1 14 and 2 15 for steering; the swing arm 1 14 is driven to swing by the steering rudder 6, the swing arm 2 15 follows the swing arm 1 14, the position of the swing block 13 is changed by the swing arms 1 14 and 2 15 to change the overall center of the robot and realize steering.

[0043] As shown in Figure 3 and Figure 6As shown, the support module includes a plurality of central plates between the central rotating shaft and the swing block 13, the central plates include a first layer of central plates 2, a second layer of central plates 3 and a third layer of central plates 4 arranged in parallel with the central rotating shaft, both sides of the first layer of central plates 2, the second layer of central plates 3 and the third layer of central plates 4 are connected through bearing seat one 26 and bearing seat two 27 respectively; the rolling rudder 5 is arranged on the first layer of central plates 2 on one side of the bearing seat two 27, the first layer of central plates 2 is provided with a driven shaft bearing seat on the side of the bearing seat one 26 for supporting the driven shaft 22, and the first layer of central plates 2 is also provided with a rolling rudder fixing seat 24; the swing arm one 14 and the swing arm two 15 are arranged at the lower end of the third layer of central plates 4, and the swing arm one 14 is driven by the steering rudder 6; the center of mass of each component inside the spherical shell 9 is below the central rotating shaft, and the center of the robot is below the spherical shell center surface, and the robot can also stand stably without power supply.

[0044] As shown in Figure 3 and Figure 6 , a telescopic assembly connected with the motor arm support section 121 is arranged between adjacent central plates; the telescopic assembly includes a lead screw one 123 between the first layer of central plates 2 and the second layer of central plates 3, and a lead screw two 124 between the second layer of central plates 3 and the third layer of central plates 4, both ends of the lead screw one 123 are connected to the bearing seat one 26 and the bearing seat two 27, and both ends of the lead screw two 124 are also connected to the bearing seat one 26 and the bearing seat two 27; the lead screw one 123 and the lead screw two 124 are respectively threadedly connected with a reverse nut one 7a and a reverse nut two 7b; the shaft end one of the lead screw one 123 and the shaft end one of the lead screw two 124 both pass through the bearing seat one 26 and are respectively connected with a gear one 261 and a gear two 262, the lead screw one 123 is driven to rotate by the speed reducer motor 25, and the first layer of central plates 2 is provided with a speed reducer motor fixing seat 21; when the lead screw one 123 rotates, the gear one 261 rotates in the same direction, the gear two 262 and the lead screw two 124 rotate in the opposite direction; when the switching flight mode instruction is received, the speed reducer motor 25 drives the lead screw one 123 to rotate, the lead screw one 123 drives the gear two 262 to rotate through the gear one 261 fixedly connected therewith, the gear one 261 and the gear two 262 have the same modulus and the same number of teeth, and the lead screw one 123 and the lead screw two 124 have the same lead, so the reverse nut one 7a and the reverse nut two 7b move at the same translational speed; the rotation centers of the lead screw one 123 and the lead screw two 124 are directly below and parallel to the central rotating shaft.

[0045] The air flight module includes a motor arm and a paddle 115, the motor arm is divided into a telescopic motor arm support section 121 and a motor arm rotating section 122 connected with the paddle 115; as shown in Figure 1As shown, the motor arms include two groups located on both sides of the central rotating shaft, and each group includes motor arm one 17 and motor arm two 18 arranged symmetrically. The spherical shell 9 is provided with a window 16 for the motor arms to extend outside or retract inside the spherical shell 9. Specifically, two windows 16 are arranged on each side of the spherical shell 9 to match the two groups of motor arms. The two windows 16 on each side are arranged symmetrically relative to the central rotating shaft. When the motor arms extend from the spherical shell 9 and push open the window 16, the upper end surface of the motor arms limits the window 16. The window 16 and the spherical shell 9 are provided with an opening and closing rotating shaft, and the opening and closing rotating shaft and the spherical shell 9 are provided with an opening and closing torsion spring to assist the stable closing of the window 16 in the initial state.

[0046] The structure of the reverse nut is specifically as shown in the figure Figure 13 As an example of the reverse nut one 7a and the lead screw one 123, the two ends of the reverse nut one 7a are connected with the motor arm one 17 and the motor arm two 18 in one group of motor arms, respectively. The middle part of the reverse nut one 7a is provided with a threaded hole for threaded connection with the lead screw one 123. The reverse nut one 7a is driven to move horizontally by the rotation of the lead screw one 123, thereby driving the motor arm one 17 and the motor arm two 18 to open or retract.

[0047] The motor arm support sections 121 of the two groups of motor arm one 17 and motor arm two 18 are connected to the radial ends of the reverse nut one 7a and the reverse nut two 7b, respectively. When the lead screw one 123 and the lead screw two 124 rotate, the reverse nut one 7a and the reverse nut two 7b move in opposite directions on the lead screw one 123 and the lead screw two 124, respectively. When the reverse nut one 7a and the reverse nut two 7b move towards the bearing seat one 26 and the bearing seat two 27, respectively, they drive the two groups of motor arms to open and open the window 16 to extend to the outside of the spherical shell 9. When the reverse nut one 7a and the reverse nut two 7b move towards the bearing seat two 27 and the bearing seat one 26, respectively, they drive the two groups of motor arms to retract into the spherical shell 9.

[0048] The motor arm support section 121 is connected with the motor arm rotating section 122 through the folding arm mechanism 12, the motor arm rotating section 122 can rotate through the folding arm mechanism 12; the motor arm support section 121 is provided with a guide notch 121a along the length direction, the guide notch 121a of the motor arm one 17 and the motor arm two 18 is clamped with a guide piece, the guide piece includes a guide slider 20 clamped on the guide notch 121a and a guide shaft 263 located at both ends of the guide slider 20, the two guide sliders 20 corresponding to the two groups of motor arms are respectively installed at the lower end of the first layer center plate 2 and the second layer center plate 3, the two guide shafts 263 in the guide piece are respectively clamped in the guide notch 121a of the motor arm one 17 and the motor arm two 18 and can slide in the guide notch 121a; when the reverse nuts one 7a and the reverse nuts two 7b move reversely towards the bearing seat one 26 and the bearing seat two 27 respectively, the two groups of motor arms one 17 and the motor arm two 18 are both opened to the both sides along the guide shaft 263 through the guide notch 121a and stretched out to the outside of the window body 16; the folding arm mechanism 12 includes a folding arm pull piece 125 and a folding arm rotating shaft 127 fixedly connected to the folding arm pull piece 125, the folding arm rotating shaft 127 of the motor arm one 17 and the folding arm rotating shaft 127 of the motor arm two 18 in the two groups of motor arms are respectively arranged symmetrically with the lead screw one 123 and the lead screw two 124 as the center; as shown in Figure 4 The folding arm rotating shaft 127 is fixedly connected with the motor arm rotating section 122 and rotationally connected with the motor arm support section 121, the folding arm rotating shaft 127 can drive the motor arm rotating section 122 to rotate 90° relative to the motor arm support section 121, when in the initial state, the motor arm rotating section 122 is perpendicular to the motor arm support section 121 to make the paddle 115 be recovered below the motor arm support section 121, when in the air flight state, the motor arm rotating section 122 is parallel to the motor arm support section 121 and makes the paddle 115 be opened; the folding arm torsional spring is arranged between the folding arm rotating shaft 127 and the motor arm support section 121, in the initial state, the folding arm torsional spring makes the motor arm rotating section 122 keep perpendicular to the motor arm support section 121.

[0049] The motor arm rotating section 122 is rotationally connected with the paddle 115 through the paddle collecting mechanism 11; as shown in Figure 3 , 7As shown in Figs. 8, the retraction mechanism 11 comprises a retraction driving member 1 connected with the motor arm rotating segment 122 and a blade clamping base 111 connected with the retraction driving member 1, the retraction driving member 1 in the embodiment is a retraction motor; the blade clamping base 111 is rotatably connected with a blade clamping 112 through a retraction rotating shaft 114, the blade clamping 112 comprises a clamping table one and a clamping table two, and a blade 115 is connected between the clamping table one and the clamping table two through a blade clamping shaft 113; when entering the flight mode, the blade 115 rotates and opens under the action of centrifugal force to follow the blade clamping 112 around the retraction rotating shaft 114, so as to provide lift for the robot; the retraction rotating shaft 114 is provided with a retraction torsional spring between the blade clamping base 111, when the retraction driving member 1 stops rotating, the blade clamping 112 drives the blade 115 to move around the retraction rotating shaft 114 to a position parallel to the motor arm supporting segment 121 and located directly below the motor arm supporting segment 121 through the weight of the blade 115 and the auxiliary torsional force provided by the retraction torsional spring, so as to save space, and when the motor arm is completely retracted into the spherical shell, the space inside the spherical shell 9 can be greatly utilized, so that each part does not interfere with each other when rolling, further increasing the smoothness and stability of ground rolling.

[0050] As shown in Figs. 8, the retraction mechanism 11 comprises a retraction driving member 1 connected with the motor arm rotating segment 122 and a blade clamping base 111 connected with the retraction driving member 1, the retraction driving member 1 in the embodiment is a retraction motor; the blade clamping base 111 is rotatably connected with a blade clamping 112 through a retraction rotating shaft 114, the blade clamping 112 comprises a clamping table one and a clamping table two, and a blade 115 is connected between the clamping table one and the clamping table two through a blade clamping shaft 113; when entering the flight mode, the blade 115 rotates and opens under the action of centrifugal force to follow the blade clamping 112 around the retraction rotating shaft 114, so as to provide lift for the robot; the retraction rotating shaft 114 is provided with a retraction torsional spring between the blade clamping base 111, when the retraction driving member 1 stops rotating, the blade clamping 112 drives the blade 115 to move around the retraction rotating shaft 114 to a position parallel to the motor arm supporting segment 121 and located directly below the motor arm supporting segment 121 through the weight of the blade 115 and the auxiliary torsional force provided by the retraction torsional spring, so as to save space, and when the motor arm is completely retracted into the spherical shell, the space inside the spherical shell 9 can be greatly utilized, so that each part does not interfere with each other when rolling, further increasing the smoothness and stability of ground rolling. Figure 3 and Figure 5 As shown in Figs. 8, the retraction mechanism 11 comprises a retraction driving member 1 connected with the motor arm rotating segment 122 and a blade clamping base 111 connected with the retraction driving member 1, the retraction driving member 1 in the embodiment is a retraction motor; the blade clamping base 111 is rotatably connected with a blade clamping 112 through a retraction rotating shaft 114, the blade clamping 112 comprises a clamping table one and a clamping table two, and a blade 115 is connected between the clamping table one and the clamping table two through a blade clamping shaft 113; when entering the flight mode, the blade 115 rotates and opens under the action of centrifugal force to follow the blade clamping 112 around the retraction rotating shaft 114, so as to provide lift for the robot; the retraction rotating shaft 114 is provided with a retraction torsional spring between the blade clamping base 111, when the retraction driving member 1 stops rotating, the blade clamping 112 drives the blade 115 to move around the retraction rotating shaft 114 to a position parallel to the motor arm supporting segment 121 and located directly below the motor arm supporting segment 121 through the weight of the blade 115 and the auxiliary torsional force provided by the retraction torsional spring, so as to save space, and when the motor arm is completely retracted into the spherical shell, the space inside the spherical shell 9 can be greatly utilized, so that each part does not interfere with each other when rolling, further increasing the smoothness and stability of ground rolling. Figure 5As shown, the first layer center plate 2 and the two side end faces of the second layer center plate 3 are both matched with mounting tables 28, and the center vertical plate 8 is fixed between the mounting tables 28 of the first layer center plate 2 and the second layer center plate 3; the center vertical plate 8 includes a connecting column 31 and a connecting frame 29, a connecting hole 30 is arranged in the middle of the connecting frame 29, and the connecting frame 29 is arranged at the inner side end of the connecting column 31; the folding arm pull rod 126 is movably connected with the connecting frame 29 in the center vertical plate 8, the folding arm pull rod 126 passes through the connecting hole 30 and can be telescoped in the connecting hole along with the motor arm support segment 121; the limiting boss 19 is specifically arranged at the end of the folding arm pull rod 126 inside the connecting frame 29; when the folding arm pull rod 126 moves to the limit position along with the motor arm support segment 121 in the flight mode, the folding arm pull rod 126 is stopped on the connecting frame 29 through the limiting boss 19, at this time, the folding arm pull rod 126 no longer moves and drives the folding arm pull piece 125 and the folding arm rotating shaft 127 to overcome the torsion of the folding arm torsional spring, so that the motor arm rotating segment 122 and the motor arm support segment 121 are in a parallel state when the guide sliding block 20 reaches the specified position, so as to make the motor arm rotating segment 122 rotate to a position parallel to the motor arm support segment 121.

[0051] Embodiment:

[0052] Figure 2 The initial state of the spherical land-air amphibious robot, in use, as shown in Figure 2 At the initial moment, all mechanisms are retracted inside the spherical shell 9, due to the arrangement of the swing block 13, the center of gravity is always below the center rotating shaft of the spherical shell 9, at the initial moment, the robot can maintain a certain balance as a whole.

[0053] When rolling on the ground: after being powered on, the balance in the front, rear, left and right directions of the robot is adjusted through the rolling rudder 5 and the steering rudder 6, so that the center rotating shaft always remains horizontal.

[0054] When flying in the air: when receiving the switching flight mode instruction, the speed reduction motor 25 drives the lead screw one 123 to rotate, the lead screw one 123 drives the gear two 262 to rotate through the gear one 261, and the gear two 262 drives the lead screw two 124 to rotate, at this time, the reverse nut one 7a and the reverse nut two 7b move towards the bearing seat one 26 and the bearing seat two 27 respectively at the same translational speed; Figure 9 The state of a group of motor arms after retraction, Figure 10 The state of a group of motor arms after extension, taking the motor arm on one side of the bearing seat one 26 as an example, as shown in Figure 11 When the reverse nut one 7a moves towards the bearing seat one 26, the motor arm one 17 and the motor arm two 18 also move, due to the action of the guide sliding block 20, the motor arm support segments 121 of the motor arm one 17 and the motor arm two 18 are opened to both sides while translating, until reaching Figure 12The state shown; at the same time, when switched to flight mode, the screw rod one 123 and the reverse nut one 7a are self-locked, the screw rod two 124 and the reverse nut two 7b are self-locked, which can ensure the stability of the motor arm in flight.

[0055] In the process of extending the motor arm, the window body 16 is pushed away from the inside of the spherical shell, and the window body 16 is opened upward. After the motor arm is extended, the upper end surface of the motor arm limits the window body 16. When the motor arm support section 121 is opened to the state shown in Figure 10 , the folding arm pull rod 126 is stopped on the connecting frame 29 by the limiting boss 19. At this time, the folding arm pull rod 126 no longer moves and drives the folding arm pull piece 125 and the folding arm rotating shaft 127 to rotate. The folding arm rotating shaft 127 drives the motor arm rotating section 122 to rotate 90° and open from the state shown in Figure 9 to the state shown in Figure 10 parallel to the motor arm support section 121. Further, under the action of the centrifugal force, the paddle 115 and the paddle clamp 112 are opened from the state shown in Figure 7 to the state shown in Figure 8 .

[0056] When the paddle is retracted, the paddle driving motor stops working, the paddle 115 is no longer affected by the centrifugal force, and the paddle clamp 112 and the paddle 115 are retracted inward to the state shown in Figure 7 ; at the same time, the folding arm torsional spring drives the motor arm rotating section 122 to retract to the state shown in Figure 9 , in which the paddle 115 is located directly below the motor arm support section 121 and parallel to the motor arm support section 121.

[0057] When the motor arm is retracted, the speed reducer motor 25 drives the screw rod one 123 to rotate, the screw rod one 123 drives the gear two 262 to rotate through the gear one 261, and the gear two 262 drives the screw rod two 124 to rotate. At this time, the reverse nut one 7a and the reverse nut two 7b move toward the bearing seat two 27 and the bearing seat one 26 respectively at the same translational speed. The motor arm support section 121 slides inward along the guide shaft 263 through the guide slot 121a, and the two groups of motor arms one 17 and motor arms two 18 are retracted and retracted into the spherical shell 9 from the window body 16. At this time, the torsional force of the opening and closing torsional spring assists the window body 16 to close and makes the spherical shell 9 form a whole.

[0058] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

[0059] The above detailed description of the application is not intended to limit the scope of the application. Various other changes and modifications of the application can be made by those skilled in the art without departing from the scope of the application.

Claims

1. A spherical land-air amphibious robot, characterized by, The air flight module, the ground rolling module and the support module are included. The air flight module includes a motor arm and a paddle (115), the motor arm is divided into a telescopic motor arm support section (121) and a motor arm rotating section (122) connected with the paddle (115); the motor arm support section (121) and the motor arm rotating section (122) are connected through a folding arm mechanism (12), the motor arm rotating section (122) can rotate through the folding arm mechanism (12); the motor arm rotating section (122) and the paddle (115) are connected through a paddle folding mechanism (11); The ground rolling module includes a spherical shell (9), the spherical shell (9) is provided with a central rotating shaft and a swing block (13) for driving the robot ground rolling and steering respectively, the central rotating shaft is collinear with the horizontal central shaft of the spherical shell (9); the spherical shell (9) is provided with a window (16) for the motor arm to extend to the outside of the spherical shell (9) or to retract to the inside of the spherical shell (9); The support module includes a plurality of central plates between the central rotating shaft and the swing block (13), the telescopic assembly connected with the motor arm support section (121) is arranged between adjacent central plates; the telescopic assembly is connected to one end of the motor arm support section (121) away from the folding arm mechanism (12) and can drive the motor arm support section (121) to extend or retract at the window (16); The paddle folding mechanism (11) includes a paddle folding driving member (1) connected with the motor arm rotating section (122) and a paddle clamp base (111) connected with the paddle folding driving member (1), the paddle clamp base (111) is rotatably connected with a paddle clamp (112) through a paddle folding rotating shaft (114), and the paddle (115) is connected to the paddle clamp (112) through a paddle clamp shaft (113); a paddle folding torsional spring is arranged between the paddle folding rotating shaft (114) and the paddle clamp base (111), when the paddle folding driving member (1) stops rotating, the paddle clamp (112) drives the paddle (115) to move around the paddle folding rotating shaft (114) to a position parallel to the motor arm support section (121) and directly below the motor arm support section (121) through the weight of the paddle (115) and the auxiliary torsional force provided by the paddle folding torsional spring; The central plate includes a first layer central plate (2), a second layer central plate (3) and a third layer central plate (4) arranged in parallel with the central rotating shaft, and the two side ends of the first layer central plate (2), the second layer central plate (3) and the third layer central plate (4) are connected through bearing seat one (26) and bearing seat two (27) respectively; The telescopic assembly includes a lead screw one (123) between the first layer central plate (2) and the second layer central plate (3) and a lead screw two (124) between the second layer central plate (3) and the third layer central plate (4), the two ends of the lead screw one (123) and the lead screw two (124) are connected to the bearing seat one (26) and the bearing seat two (27) respectively; the lead screw one (123) and the lead screw two (124) are respectively threadedly connected with a reverse nut one (7a) and a reverse nut two (7b); The motor arms include two groups located on both sides of the central rotating shaft, and the two groups of motor arms are connected with reverse nut one (7a) and reverse nut two (7b) respectively; The two ends of the central rotating shaft are connected with the spherical shell (9), and the central rotating shaft includes the driving shaft (32) and the driven shaft (22) in the same line; the first layer of the central plate (2) is provided with the rolling rudder (5) for driving the driving shaft (32) to rotate on one side of the bearing seat two (27), and the first layer of the central plate (2) is provided with the driven shaft bearing seat for supporting the driven shaft (22) on one side of the bearing seat one (26); the ground rolling of the robot is realized by driving the driving shaft (32) to rotate through the rolling rudder (5) and driving the spherical shell (9) and the driven shaft (22) to move. The third layer of the central plate (4) is provided with the swing arm one (14) and the swing arm two (15) which are parallel to each other, and the swing block (13) for steering is fixed to the lower ends of the swing arm one (14) and the swing arm two (15); the swing arm one (14) is driven to swing through the steering rudder (6), the swing arm two (15) follows, and the position of the swing block (13) is changed through the swing arm one (14) and the swing arm two (15) to change the overall center of the robot and realize steering.

2. The spherical land-air amphibious robot according to claim 1, characterized in that, The shaft end one of the lead screw one (123) and the shaft end one of the lead screw two (124) pass through the bearing seat one (26) and are respectively connected with the gear one (261) and the gear two (262), the lead screw one (123) is driven to rotate by the speed reducer motor (25); the lead screw one (123) drives the gear one (261) to rotate in the same direction, the gear one (261) drives the gear two (262) and the lead screw two (124) to rotate in the opposite direction; at the same time, the reverse nut one (7a) and the reverse nut two (7b) move in the opposite directions on the lead screw one (123) and the lead screw two (124) respectively and drive the two groups of motor arms to stretch out and retract.

3. The spherical land-air amphibious robot according to claim 2, characterized in that, The two groups of motor arms each include the motor arm one (17) and the motor arm two (18) which are symmetrically arranged, the motor arm support sections (121) of the two groups of motor arm one (17) and motor arm two (18) are respectively connected to the radial ends of the reverse nut one (7a) and the reverse nut two (7b); the motor arm support sections (121) are provided with the guide slots (121a) along the length direction, the guide slots (121a) of the motor arm one (17) and the motor arm two (18) are connected with the guide sliding blocks (20), the two ends of the guide sliding blocks (20) are respectively provided with the guide shafts (263) which can be connected in the guide slots (121a) of the motor arm one (17) and the motor arm two (18), when the reverse nut one (7a) and the reverse nut two (7b) move towards the bearing seat one (26) and the bearing seat two (27) respectively, the two groups of motor arm one (17) and motor arm two (18) are opened to both sides through the guide slots (121a) along the guide shafts (263) and stretched out to the outside of the window body (16).

4. The spherical land-air amphibious robot according to claim 3, characterized in that, The folding arm mechanism (12) comprises a folding arm pull tab (125) and a folding arm rotating shaft (127) fixedly connected to the folding arm pull tab (125); the folding arm rotating shaft (127) is fixedly connected with the motor arm rotating section (122) and rotatably connected with the motor arm supporting section (121), and the folding arm rotating shaft (127) can drive the motor arm rotating section (122) to rotate 90° relative to the motor arm supporting section (121); a folding arm torsion spring is arranged between the folding arm rotating shaft (127) and the motor arm supporting section (121), and in the initial state, the folding arm torsion spring makes the motor arm rotating section (122) and the motor arm supporting section (121) keep perpendicular.

5. The spherical land-air amphibious robot according to claim 4, characterized in that, A center vertical plate (8) comprising a connecting hole (30) is arranged between the first layer center plate (2) and the second layer center plate (3) near the bearing seat one (26) and between the second layer center plate (3) and the third layer center plate (4) near the bearing seat two (27); a folding arm pull rod (126) movably connected with the center vertical plate (8) is further rotatably connected to the folding arm pull tab (125); the folding arm pull rod (126) passes through the connecting hole (30) of the center vertical plate (8) and can be telescoped in the connecting hole (30) along with the motor arm supporting section (121), and the end of the folding arm pull rod (126) located inside the center vertical plate (8) is provided with a limiting boss (19) which can be limited in the connecting hole (30); when the folding arm pull rod (126) moves to the limit position along with the motor arm supporting section (121), the folding arm pull rod (126) is stopped on the center vertical plate (8) through the limiting boss (19), at the same time, the folding arm pull rod (126) drives the folding arm pull tab (125) and the folding arm rotating shaft (127) to rotate, and makes the motor arm rotating section (122) rotate to the position parallel to the motor arm supporting section (121).

6. The spherical land-air amphibious robot according to claim 5, characterized in that, Two windows (16) matched with the two groups of motor arms are respectively arranged on the two sides of the spherical shell (9), and when the motor arms are extended from the spherical shell (9) and push away the windows (16), the upper end surface of the motor arms limits the windows (16); an opening and closing rotating shaft is arranged between the window (16) and the spherical shell (9), and an opening and closing torsion spring is arranged between the opening and closing rotating shaft and the spherical shell (9) to assist the stable closing of the window (16) in the initial state.

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