An amphibious wheeled robot for land and air

Abstract

The present invention is applicable to the field of robots, and provides an amphibious wheeled robot, including a frame; a rotor assembly, including a rotor and a driving device, wherein an output part of the driving device is connected to the rotor; a wheel frame assembly for driving the robot to move; and a conversion device fixed on the frame and connected to the driving device for rotating or moving the driving device. When the driving device is in a first position, the output part of the driving device is connected to the wheel frame assembly to enable the robot to move. When the driving device is in a second position, the output part of the driving device is disengaged from the wheel frame assembly to drive the robot to fly through the rotor. By providing the conversion device, the position of the driving device itself is adjusted so that it is in different driving states at different positions, that is, it can drive the robot to move in the first position and drive the robot to fly in the second position, enabling the robot to be amphibious, while having a light structure and strong endurance.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and particularly relates to an amphibious wheeled robot that can be used on land and in the air. Background Art

[0002] Robots are widely used in the fields of search and rescue. They can replace humans to carry out activities, reducing the risk to human life, improving the efficiency of rescue, and reducing casualties of rescue workers.

[0003] There are also existing robots that can be used both on land and in the air. They usually use wheel drive and rotor drive. The wheel drive and rotor drive are relatively independent and are powered by a power source carried by the robot itself. The wheel drive has a set of drive structures for the robot to move on the ground, and the rotor drive has a set of drive structures for the robot to fly in the air.

[0004] Existing amphibious robots use multiple sets of drive structures, which take up a large volume and weight and have a low endurance. Summary of the Invention

[0005] An object of an embodiment of the present invention is to provide an amphibious wheeled robot, aiming to solve the problems of large volume and weight and low endurance of existing amphibious robots.

[0006] An embodiment of the present invention is implemented as follows: a frame,

[0007] A rotor assembly, including a rotor and a driving device, wherein an output part of the driving device is connected to the rotor;

[0008] A wheel frame assembly for driving the robot to move; and

[0009] A conversion device, fixed on the frame and connected to the driving device, for rotating or moving the driving device. When the driving device is in a first position, the output part of the driving device is connected to the wheel frame assembly to enable the robot to move. When the driving device is in a second position, the output part of the driving device is disengaged from the wheel frame assembly to drive the robot to fly through the rotor.

[0010] The amphibious wheeled robot provided by an embodiment of the present invention adjusts the position of the driving device itself through the conversion device, so that it is in different driving states at different positions, that is, it can drive the robot to move in the first position and drive the robot to fly in the second position, enabling the robot to be used both on land and in the air, and at the same time making the robot structure lightweight and having strong endurance. Brief Description of the Drawings

[0011] Figure 1 It is a three-dimensional structure diagram of an amphibious wheeled robot provided by an embodiment of the present invention;

[0012] Figure 2 Flight mode diagram of an amphibious wheeled robot provided by an embodiment of the present invention;

[0013] Figure 3 Front view of an amphibious wheeled robot provided by an embodiment of the present invention;

[0014] Figure 4 Partial view of an amphibious wheeled robot provided by an embodiment of the present invention;

[0015] Figure 5 It is Figure 1 Partial enlarged view at position A in

[0016] In the drawings: 10, frame; 20, wheel frame assembly; 21, traveling wheel; 22, support frame; 23, second gear; 31, rotor; 32, drive device; 33, connecting member; 34, first gear; 40, conversion device; 50, control device; 60, power supply. Detailed implementation manners

[0017] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] The following describes the specific implementation of the present invention in detail with reference to specific embodiments.

[0019] As Figure 1 、 Figure 2 shown, a structure diagram of an amphibious wheeled robot provided by an embodiment of the present invention includes:

[0020] Frame 10;

[0021] Rotor assembly, including rotor 31 and drive device 32, the output part of the drive device 32 is connected to the rotor 31;

[0022] Wheel frame assembly 20 for driving the robot to walk; and

[0023] Conversion device 40, fixed on the frame 10, connected to the drive device 32, for rotating or moving the drive device 32, when the drive device 32 is in the first position, the output part of the drive device 32 is connected to the wheel frame assembly 20 to enable the robot to walk; when the drive device 32 is in the second position, the output part of the drive device 32 is disengaged from the wheel frame assembly 20 to drive the robot to lift through the rotor 31.

[0024] In an embodiment of the present invention, the land-air dual-purpose robot should be able to meet the requirements of both flight and ground travel, and should also strive to improve the endurance, lightweight, and simplify the overall structure of the robot. The present invention adjusts the position of the driving device 32 by providing a conversion device 40, so that it is in different driving states at different positions, that is, it can drive the robot to walk at the first position and drive the robot to fly at the second position, enabling the robot to be land-air dual-purpose, while making the robot structure lightweight and having strong endurance.

[0025] In an embodiment of the present invention, the frame 10 is the skeleton of the robot and is used to carry the various component structures of the robot. The frame 10 can be made of carbon fiber material. The frame 10 can be a plate-like structure, and holes can be opened on the plate-like structure to reduce the weight of the frame 10.

[0026] In an embodiment of the present invention, the driving device 32 can be a brushless motor, which is not specifically limited in this embodiment; the output part of the driving device 32 directly drives the rotor 31, bringing a high rotation speed to the rotor 31. When the robot is a four-rotor 31 structure, four groups of rotor assemblies are correspondingly provided. The output part of the driving device 32 refers to the final power output end of the driving device 32. The driving device 32 can be directly installed on the conversion device 40.

[0027] In an embodiment of the present invention, the wheel frame assembly 20 does not include a power component. The wheel frame assembly 20 is mainly used to realize the walking of the robot under the drive of the driving device 32. When the robot needs to walk, the driving device 32 can be connected to the wheel frame assembly 20 to form a complete transmission chain; since the robot usually requires a large torque when walking, the wheel frame assembly 20 itself can include a gear set for deceleration to increase the torque of the driving device 32.

[0028] In an embodiment of the present invention, the driving device 32 needs to drive both the walking and flying of the robot. When the robot is walking and flying, the rotation planes of the walking wheels 21 and the rotors 31 are different. Therefore, the power of the driving device 32 needs to be reversed to achieve the corresponding functions; in this embodiment, the conversion device 40 is used to change the position of the driving device 32, so that the driving device 32 directly drives the rotor 31 or directly drives the walking wheels 21, simplifying the overall structure and weight. The conversion device 40 is directly connected to the driving device 32 or connected through a structural member. The conversion device 40 can include a power component, but it is not used to drive the flight or walking of the robot, only to change the position of the driving device 32. The conversion device 40 can rotate the driving device 32 to make the driving device 32 switch between the first position and the second position, or move the driving device 32 to make the driving device 32 switch between the first position and the second position. The conversion device 40 can be a servo motor, which is not specifically limited in this embodiment.

[0029] As Figure 3 , in an embodiment of the present invention, the conversion device 40 rotates the driving device 32 to make it in different positions; the rotation axis of the conversion device 40 is located on the angular bisector of the first axis and the second axis, the first axis is the axis of the output part of the driving device 32 when it is in the first position, and the second axis is the axis of the output part of the driving device 32 when it is in the second position. In this embodiment, since the conversion device 40 rotates the driving device 32 to switch its position, it is necessary to determine that the driving device 32 can work normally in the first position and the second position; only the first axis of the driving device 32 in the first position and the second axis of the driving device 32 in the second position need to be determined, and setting the rotation axis of the conversion device 40 on the angular bisector or the extension line of the angular bisector of the first axis and the second axis can realize the switching of the driving direction of the driving device 32.

[0030] In an embodiment of the present invention, the first axis is collinear with the axis of the driving wheel in the wheel frame assembly 20, and the included angle between the first axis and the second axis is 90°. In this embodiment, when the rotor 31 rotates, it drives the air flow downward, the rotation axis of the rotor 31 is vertical, and the rotation axis of the traveling wheel 21 in the wheel frame assembly 20 is horizontal; the included angle between the rotation axis of the rotor 31 and the rotation axis of the traveling wheel 21 is 90°; and the first axis is collinear with the rotation axis of the traveling wheel 21, and the second axis is collinear with the rotation axis of the rotor 31, so the included angle between the first axis and the second axis is also 90°. At this time, the included angle between the conversion device 40 and the frame 10 can be 45°.

[0031] As Figure 4 , in an embodiment of the present invention, the rotor assembly further includes a connecting member 33, and the connecting member 33 connects the rotor 31 and the driving device 32. By providing the connecting member 33, on the one hand, it is convenient to install the driving device 32 on the conversion device 40, and on the other hand, it optimizes the spatial layout between the driving device 32, the frame 10 and the wheel frame assembly 20.

[0032] In an embodiment of the present invention, the conversion device 40 is an electric servo. The electric servo can accurately control the rotation angle, which is convenient for converting the driving device 32 between the first position and the second position; at the same time, the electric servo itself has a deceleration structure, has a large torque, can provide strong support force for the driving device 32, and has high reliability.

[0033] In an embodiment of the present invention, the rotor 31 is fixed to the output part of the driving device 32. Since when the robot is flying, the connection between the rotor 31 and the driving device 32 needs to be relatively reliable and requires a large stiffness to ensure the flight stability. In this embodiment, the rotor 31 is fixed to the output part of the driving device 32, that is, the position of the rotor 31 changes with the change of the position of the driving device 32. That is, when the driving device 32 drives the robot to walk at the first position, actually the rotor 31 also rotates, but the effects of the wind on the rotors 31 can cancel each other out, and the rotational speed of the rotor 31 is relatively slow, so the influence is relatively small.

[0034] In an embodiment of the present invention, when the driving device 32 is in the first position, the output part of the driving device 32 is clamped to the wheel frame assembly 20. After the conversion device 40 drives the driving device 32 to rotate from the second position to the first position, the output part of the driving device 32 is clamped to the wheel frame assembly 20. The specific object of the actual clamping can be the clamping between the transmission components on the transmission chain; so that the driving force of the driving device 32 can be transmitted to the traveling wheels 21 of the wheel frame assembly 20. It can be understood that this clamping is released under the power of the conversion device 40 rotating the driving device 32 from the first position to the second position.

[0035] As Figure 5 , in an embodiment of the present invention, a first gear 34 is fixed to the output part of the driving device 32, and a second gear 23 is included in the wheel frame assembly 20. When the conversion device 40 moves the driving device 32 from the second position to the first position, the first gear 34 meshes with the second gear 23. When the rotor 31 is fixed to the output part of the driving device 32, the first gear 34 can be fixed to the end of the output part of the driving device 32; since the driving device 32 is rotated from the second position to the first position, the meshing between the first gear 34 and the second gear 23 will be more convenient, and only the meshing between the first gear 34 and the second gear 23 is required to realize the clamping of the output part of the driving device 32 to the wheel frame assembly 20, and also realize the driving of the traveling wheels 21 in the wheel frame assembly 20 by the driving device 32. It can be understood that the second gear 23 is connected to the traveling wheels 21 in the wheel frame assembly 20 to drive them.

[0036] In an embodiment of the present invention, the wheel frame assembly 20 includes a support frame 22 and traveling wheels 21;

[0037] The support frame 22 is connected to the frame 10. When the driving device 32 is in the first position, the output part of the driving device 32 transmits power to the traveling wheels 21 through the gear set in the support frame 22;

[0038] The inner ring of the traveling wheel 21 is rotatably connected to the support frame 22, and the teeth on the inner ring of the traveling wheel 21 mesh with the gear set on the support frame 22.

[0039] In one embodiment, the support frame 22 is detachably connected to the frame 10, and the support frame 22 is used to support the traveling wheel 21. The inside of the support frame 22 includes a gear set, and the gear set is used to increase the torque of the power output by the output part of the driving device 32.

[0040] In one embodiment, the inner ring of the traveling wheel 21 slides directly on the support frame 22. At the same time, there are teeth on the inner ring of the traveling wheel 21, and the teeth on the inner ring mesh with the gear set on the support frame 22.

[0041] In this embodiment, the traveling wheel 21 is rotated by driving the teeth on the inner ring of the traveling wheel 21. Furthermore, the middle parts of the traveling wheel 21 and the support frame 22 can be hollowed out to facilitate the conversion device 40 to convert the driving device 32 to the first position and prevent interference.

[0042] In an example of the present invention, the land-air dual-purpose wheeled robot further includes:

[0043] A control device 50, which is used to control the operation of the rotor assembly, the wheel frame assembly 20, and the conversion device 40;

[0044] A power source 60, which is used to supply power to the control device 50, the conversion device 40, and the rotor assembly.

[0045] In this embodiment, in addition to the control device 50 and the power source 60, an electronic speed controller can also be included. The electronic speed controller can be connected to the power source 60, the control device 50, and the driving device 32 to control the flight and walking of the robot.

[0046] In the above embodiment of the present invention, a land-air dual-purpose wheeled robot is provided. By fixing the rotor 31 on the driving device 32 and fixing the driving device 32 on the conversion device 40, through the rotation of the conversion device 40, the driving device 32 is converted between the first position and the second position, so as to realize that a driving device 32 realizes the flight and walking of the robot respectively. At the same time, the transmission of the robot is kept simple and reliable, the robot is lightened, and the overall endurance is improved.

[0047] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An amphibious wheeled robot, characterized in that, The wheeled robot capable of both land and air use includes: A frame; A rotor assembly, including a rotor and a driving device, wherein the output part of the driving device is connected to the rotor; A wheel frame assembly for driving the robot to move; and A conversion device fixed on the frame and connected to the driving device, for rotating or moving the driving device. When the driving device is in the first position, the output part of the driving device is connected to the wheel frame assembly so that the robot is in the walking mode; when the driving device is in the second position, the output part of the driving device is disengaged from the wheel frame assembly so that the robot is in the flight mode; The conversion device rotates the driving device to make it in the first position or the second position; the rotating shaft of the conversion device is located on the angular bisector of the first axis and the second axis. The first axis is the axis of the output part of the driving device when the driving device is in the first position, and the second axis is the axis of the output part of the driving device when the driving device is in the second position; The first axis is collinear with the axis of the walking wheel in the wheel frame assembly, and the included angle between the first axis and the second axis is 90°; The rotor is fixed to the output part of the driving device; When the driving device is in the first position, the output part of the driving device is clamped with the wheel frame assembly; A first gear is fixed to the output part of the driving device, and a second gear is included in the wheel frame assembly, so that when the conversion device moves the driving device from the second position to the first position, the first gear meshes with the second gear.

2. The amphibious wheeled robot according to claim 1, characterized in that, The rotor assembly further includes a connecting piece for connecting the rotor and the driving device.

3. The amphibious wheeled robot according to claim 1, characterized in that, The conversion device is an electric servo.

4. The amphibious wheeled robot according to claim 1, characterized in that, The wheel frame assembly includes a support frame and walking wheels; The support frame is connected to the frame. When the driving device is in the first position, the output part of the driving device transmits power to the walking wheels through the gear set in the support frame; The inner ring of the walking wheel is rotatably connected to the support frame, and the teeth on the inner ring of the walking wheel mesh with the gear set on the support frame.

5. The amphibious wheeled robot according to claim 1, characterized in that, The wheeled robot capable of both land and air use further includes: A control device for controlling the operation of the rotor assembly, the wheel frame assembly and the conversion device; A power supply for supplying power to the control device, the conversion device and the rotor assembly.

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