A drum-type air-ground dual-purpose robot and its use method

Abstract

The present invention proposes a roller-type air-to-ground dual-purpose robot and its use method, belonging to the field of mechanical automation technology. It addresses the problem that existing air-to-ground dual-purpose robots with fixed structures, such as those requiring improvement in ground movement speed, ground steering flexibility, and landing impact resistance, need to be improved. The robot comprises two outer wheels, two arms, two inner wheels, a T-shaped fixing plate, a central axis, a control unit, and a power mechanism. The two outer wheels are rotatably connected to either side of the central axis, the two inner wheels are rotatably connected to the central axis, the outer diameter of the inner wheels is smaller than the outer diameter of the outer wheels, the two arms are respectively fixed between the outer and inner wheels on both sides, and a power mechanism is provided at each end of the arm. The power mechanism includes a three-blade propeller, a brushless motor, and an electronic speed regulator. The brushless motor is fixed to the arm, the output end of the brushless motor is connected to the three-blade propeller, and the electronic speed regulator is connected to the brushless motor. The robot is primarily used for air-to-ground dual-purpose robots.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation, and in particular relates to a drum-type air-ground dual-purpose robot and a use method thereof. Background Art

[0002] As a hot area of mechanical automation research in recent years, dual-purpose air-ground robots have garnered widespread attention. Compared to existing drone and unmanned vehicle platforms, dual-purpose air-ground robots combine the capabilities of both aerial and ground operations. Their flexible deployment and high mobility in the air provide reliable information for environmental perception and intelligent decision-making. Their obstacle-crossing and protective capabilities on land ensure the platform's endurance. Dual-purpose air-ground robots can be categorized as either variable-structure or invariant-structure when switching between air and ground modes.

[0003] A variable-structure air-ground dual-use robot platform refers to a robot whose structures change between its aerial flight mode and ground motion mode. For example, the air-ground dual-use robot "Daler," developed by the École Polytechnique Fédérale de Lausanne, achieves motion mode switching through deformable wings. Others, such as Ben-Gurion University of Israel, the University of Minnesota, and the Beijing University of Aeronautics and Astronautics, use different configurations of folding and unfolding mechanisms to switch between rotors and rolling wheels. These robots generally require additional actuators to achieve structural transformations, and their structural designs often have limited reuse and a high weight share. Consequently, they experience short flight endurance, poor payload capacity, and slow switching between air-ground motion modes.

[0004] A fixed-structure air-ground dual-purpose robot platform refers to a robot that can switch between flight mode and ground mode without changing the platform's structure. For example, air-ground dual-purpose robots developed by the University of Pennsylvania and Stanford University utilize a foot-based mechanism for crawling on the ground and walls, while the intelligent flying vehicle "Tsinghua Lion" developed by Tsinghua University uses rotors and drive wheels for air-ground locomotion. Compared to variable-structure air-ground dual-purpose robots, these robots have significantly reduced structural weight and more flexible control methods. However, existing ground-based robots are mostly based on foot-based crawling or cage-type rolling structures, and their ground-based locomotion speed, ground-based steering flexibility, and landing impact resistance require improvement. Summary of the Invention

[0005] In view of this, the present invention aims to propose a roller-type air-ground dual-purpose robot and a method of use to solve the problem that the ground movement speed, ground turning flexibility, landing impact resistance and other capabilities of the existing fixed structure air-ground dual-purpose robots need to be improved.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a drum-type air-ground dual-purpose robot, which includes two outer wheels, two arms, two inner wheels, a T-shaped fixed plate, a central axis, a control unit and a power mechanism, wherein the two outer wheels are rotatably connected to both sides of the central axis, the two inner wheels are rotatably connected to the central axis, the outer diameter of the inner wheel is smaller than the outer diameter of the outer wheel, the two arms are respectively fixed between the outer wheels and the inner wheels on both sides, and power mechanisms are provided at both ends of the arms, the power mechanism includes a three-blade propeller, a brushless motor and an electronic speed regulator, the brushless motor is fixed on the arm, the output end of the brushless motor is connected to the three-blade propeller, the electronic speed regulator is connected to the brushless motor, one end of the T-shaped fixed plate is connected to the center of the central axis, and the other two ends are respectively connected to the two arms, the control unit is arranged on the T-shaped fixed plate, and the control unit is connected to the brushless motor and the electronic speed regulator.

[0007] Furthermore, the control unit is arranged in the battery shell, and the control unit includes a control system board and a battery, which are arranged in an up and down manner. The four corner points of the control system board are connected to the T-shaped fixing plate through silicone balls, the bottom of the battery is connected to the bottom surface of the battery shell, and a gap is left between the control system board and the battery. The control system board and the battery are both connected to the brushless motor and the electronic speed regulator.

[0008] Furthermore, the outer wheel and the inner wheel have the same structure, the outer diameter of the inner wheel is 4 / 5 of the outer diameter of the outer wheel, and the outer wheel and the inner wheel both include a rim, a pentagonal fixing plate and a flange bearing. The center of the rim is connected to the pentagonal fixing plate through an aluminum column. A bearing fixing hole 1 is provided in the center of the rim, and a bearing fixing hole 2 is provided in the center of the pentagonal fixing plate. Flange bearings are provided in both the bearing fixing hole 1 and the bearing fixing hole 2, and the flange bearings are connected to the central axis.

[0009] Furthermore, the rim includes an outer edge and rim spokes, the outer edge is connected to the center of the rim through the rim spokes, an aluminum column fixing hole 1 is circumferentially provided at the center of the rim, and an aluminum column fixing hole 2 corresponding to the position of the aluminum column fixing hole 1 is provided on the pentagonal fixing plate, and screws pass through the aluminum column fixing hole 1 and the aluminum column fixing hole 2 to fix the aluminum column between the rim and the pentagonal fixing plate.

[0010] Furthermore, a rubber ring fixing hole is provided on the wheel rim, a shock-absorbing rubber ring is provided on the outer side of the wheel rim, and the shock-absorbing rubber ring is connected to the rubber ring fixing hole.

[0011] Furthermore, the arm is provided with a brushless motor screw fixing hole, a screw fixing hole 1 and a fixing plate connecting hole. The arm is connected to the brushless motor through the brushless motor screw fixing hole, the arm is connected to the central axis through the screw fixing hole 1, and the arm is connected to the T-shaped fixing plate through the fixing plate connecting hole.

[0012] Furthermore, the T-shaped fixing plate is provided with a wiring slot, a second screw fixing hole, a coarse wiring slot and an arm fixing slot. The T-shaped fixing plate is connected to the central axis through the second screw fixing hole, and the T-shaped fixing plate is connected to the arm through the arm fixing slot. The wiring slot and the coarse wiring slot are used for wiring.

[0013] Furthermore, the machine arm is provided with a first fixing hole for an aluminum tube clamp, the T-shaped fixing plate is provided with a second fixing hole for an aluminum tube clamp, and both the machine arm and the T-shaped fixing plate are connected to the central axis by aluminum tube clamps.

[0014] Furthermore, the robot has an outer dimension of 200 mm×200 mm×250 mm.

[0015] The present invention also provides a method for using a roller-type air-ground dual-purpose robot, wherein the roller-type air-ground dual-purpose robot includes an air flight mode and a ground movement mode when in use;

[0016] The aerial flight mode realizes the flight of the robot by driving the three-blade propeller to rotate through a brushless motor, and the flight control is performed according to the X-type quadrotor control method;

[0017] The ground movement mode drives the three-blade propeller to rotate through a brushless motor, and the outer wheel and the inner wheel are both independent follower wheels. By reducing the output of the two brushless motors on the front side and increasing the output of the two brushless motors on the rear side, the overall structure of the fuselage is tilted forward around the central axis, thereby realizing the forward movement of the robot; by increasing the output of the two brushless motors on the front side and reducing the output of the two brushless motors on the rear side, the overall structure of the fuselage is tilted backward around the central axis, thereby realizing the backward movement of the robot; and by controlling the output size of the brushless motors on the left and right sides, turning movement or rotation in place movement can be achieved.

[0018] Compared with existing technologies, the present invention offers the following advantages: It provides a lightweight, ground-based, and roller-type dual-use air-to-ground robot that is resistant to impact from landings. The robot can switch between aerial flight mode and ground movement mode according to instructions, and can achieve both aerial flight and ground movement without changing its overall structure.

[0019] The present invention adopts a roller-type structural design, which enables the air-ground dual-purpose robot to fly in the air, move on the ground, and switch between air-ground modes while keeping its own structure unchanged.

[0020] The present invention enhances the ground obstacle crossing capability of the air-ground dual-purpose robot through the design of the inner wheel structure, provides effective protection when the body is subjected to impact, and improves the environmental survivability of the robot.

[0021] The supporting connection design and hollow design of the outer and inner wheels and T-shaped fixing plate maximize the structural strength. Furthermore, the robot's overall structure is made of high-strength, lightweight composite materials, effectively reducing the structural mass and meeting lightweight design requirements.

[0022] The main components of the air-to-ground dual-purpose robot described in this invention are planar structures that can be directly cut from lightweight, high-strength materials (such as carbon fiber sheets). This design greatly reduces the complexity of the manufacturing process, shortens production time, and improves testing efficiency.

[0023] In summary, the present invention greatly reduces the overall weight while ensuring structural strength, which can extend the life of the air-ground dual-purpose robot, enhance the robot's fall and impact resistance, and reduce the robot's production cost and complexity. It has high engineering application value and good engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 This is a schematic structural diagram of a roller-type air-ground dual-purpose robot according to the present invention;

[0026] Figure 2 This is a schematic diagram of the exploded structure of the outer and inner wheels of a drum-type air-to-ground dual-purpose robot according to the present invention;

[0027] Figure 3 This is a schematic diagram of the planar structure of the outer wheel and inner wheel rims of a drum-type air-ground dual-purpose robot according to the present invention;

[0028] Figure 4 This is a schematic diagram of the planar structure of the pentagonal fixing plate in a drum-type air-ground dual-purpose robot according to the present invention;

[0029] Figure 5 This is a schematic diagram of the planar structure of the arm of a drum-type air-ground dual-purpose robot according to the present invention;

[0030] Figure 6 This is a schematic diagram of the planar structure of the T-shaped fixed plate in the roller-type air-ground dual-purpose robot described in the present invention.

[0031] 11-Outer wheel, 12-Arm, 13-Inner wheel, 14-T-shaped fixing plate, 15-Center shaft, 16-Control unit, 17-Three-blade propeller, 18-Brushless motor, 21-Screw, 22-Flange bearing, 23-Rim, 24-Pentagonal fixing plate, 25-Aluminum column, 31-Rubber ring fixing hole, 32-Rim outer edge, 33-Aluminum column fixing hole one, 34-Rim spoke, 35-Bearing fixing hole one, 41-Aluminum column fixing hole two, 42-Bearing fixing hole two, 51-Brushless motor screw fixing hole, 52-Aluminum tube clamp fixing hole one, 53-Screw fixing hole one, 54-Fixed plate connection hole, 61-Wiring slot, 62-Aluminum tube clamp fixing hole two, 63-Screw fixing hole two, 64-Thick wiring slot, 65-Arm fixing slot. DETAILED DESCRIPTION

[0032] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0033] See also Figure 1-6 The present embodiment describes a roller-type air-ground dual-purpose robot, which includes two outer wheels 11, two arms 12, two inner wheels 13, a T-shaped fixing plate 14, a central shaft 15, a control unit 16, and a power mechanism. The two outer wheels 11 are rotatably connected to both sides of the central shaft 15, and the two inner wheels 13 are rotatably connected to the central shaft 15. The outer diameter of the inner wheel 13 is smaller than that of the outer wheel 11. The two arms 12 are respectively fixed between the outer wheels 11 and the inner wheels 13 on both sides. Both ends of the arms 12 are provided with There is a power mechanism, which includes a three-blade propeller 17, a brushless motor 18 and an electronic speed regulator. The brushless motor 18 is fixed on the arm 12, and the output end of the brushless motor 18 is connected to the three-blade propeller 17. The electronic speed regulator is connected to the brushless motor 18. One end of the T-shaped fixing plate 14 is connected to the center of the central axis 15, and the other two ends are respectively connected to the two arms 12. The control unit 16 is arranged on the T-shaped fixing plate 14, and the control unit 16 is connected to the brushless motor 18 and the electronic speed regulator.

[0034] like Figure 1As shown, the outer dimensions of the drum-type air-ground dual-purpose robot described in this embodiment are 200mm×200mm×250mm. The arm 12 is located between the outer wheel 11 and the inner wheel 13, and its direction is perpendicular to the central axis 15. The arm 12 is fixedly connected to the central axis 15 by two M2 screws. The central axis 15 runs across the entire robot, with a length of 250mm, and plays a major supporting and connecting role. The three-blade propeller 17 has a blade size of three inches. The three-blade propeller 17 is fixed to the shaft of the brushless motor 18 by screws to provide driving force for the robot. The brushless motor 18 has a diameter of 20mm and a height of 10mm. Each brushless motor 18 is fixed to the arm 12 by four M2.5 screws.

[0035] The control unit 16 is set in the battery shell, which plays the main supporting and fixing role. The battery shell is fixed to the T-shaped fixing plate 14 by screws. The control unit 16 includes a control system board and a battery, which are arranged in a top-to-bottom manner. The control system board is a 35mm×35mm×5mm square piece. The four corners of the control system board are connected to the T-shaped fixing plate 14 by silicone balls with a diameter of 3.5mm, which play a shock-absorbing role. The battery size is 24mm×50mm×20mm. The bottom of the battery is connected to the bottom surface of the battery shell. A gap is left between the control system board and the battery to prevent the battery from directly transmitting vibration to the control system board. The control system board and battery are both connected to the brushless motor 18 and the electronic speed regulator.

[0036] like Figure 2-4 As shown, the outer wheel 11 and the inner wheel 13 have the same structure, and the difference is reflected in the different wheel diameters. The outer diameter of the inner wheel 13 is 4 / 5 of the outer diameter of the outer wheel 11. Preferably, the rim diameter of the inner wheel 13 is 160 mm, and the rim diameter of the outer wheel 11 is 200 mm.

[0037] The outer wheel 11 and the inner wheel 13 both include a rim 23, a pentagonal fixing plate 24 and a flange bearing 22. The center of the rim 23 is connected to the pentagonal fixing plate 24 through an aluminum column 25. A bearing fixing hole 1 35 is opened at the center of the rim 23, and a bearing fixing hole 2 42 is opened at the center of the pentagonal fixing plate 24. Flange bearings 22 are provided in the bearing fixing hole 1 35 and the bearing fixing hole 2 42. The flange bearings 22 are connected to the central shaft 15.

[0038] The flange bearing 22 is model MF128ZZ, with an inner diameter of 8mm, an outer diameter of 12mm, a flange outer diameter of 13.6mm, and an overall bearing thickness of 5mm. Each outer wheel 11 or inner wheel 13 is equipped with two flange bearings 22, one positioned at the center of the rim 23 and the other at the center of the pentagonal fixing plate 24. When secured, the flange edges are tightly against the rim 23 or pentagonal fixing plate 24, thus limiting the movement of the rim 23 along the central axis 15. The apertures of the first and second bearing fixing holes 35 and 42 are equal to the outer diameter (non-flange diameter) of the flange bearing 22. When securing the flange bearing 22, the flange edges are pressed against the rim 23. This securing method effectively suppresses displacement of the rim 23 along the central axis 15.

[0039] The wheel rim 23 includes a wheel rim outer edge 32 and wheel rim spokes 34. The wheel rim outer edge 32 is connected to the wheel rim center through the wheel rim spokes 34. The wheel rim center is provided with an aluminum column fixing hole 1 33 along the circumferential direction. The pentagonal fixing plate 24 is provided with an aluminum column fixing hole 2 41 corresponding to the position of the aluminum column fixing hole 1 33. The screw 21 passes through the aluminum column fixing hole 1 33 and the aluminum column fixing hole 2 41 to fix the aluminum column 25 between the wheel rim 23 and the pentagonal fixing plate 24.

[0040] The aluminum post 25 has an inner diameter of 2mm, an outer diameter of 5mm, and a length of 10mm. The inner wall of the aluminum post 25 is threaded, allowing it to be secured with screws 21. One end of the aluminum post is connected to the rim 23, and the other end is connected to a pentagonal fixing plate 24. The pentagonal fixing plate 24 secures the flange bearing 22 and secures it to the rim 23 via the aluminum post 25. The screws 21 are M2 screws. The five screws on the side closest to the rim 23 secure the five aluminum posts 25 relative to the rim 23, while the five screws on the other side secure the five aluminum posts 25 relative to the pentagonal fixing plate 24.

[0041] The outer rim 32 of the outer wheel 11 is 7 mm wide, while the outer rim 32 of the inner wheel 13 is 5 mm wide. Aluminum column fixing hole 1 33 and aluminum column fixing hole 2 41 are used to connect the rim 23 and pentagonal fixing plate 24 to the aluminum column 25. Both the outer wheel 11 and inner wheel 13 of the robot include five evenly spaced spokes 34. The spokes 34 of the outer wheel 11 are 6 mm wide, while the spokes 34 of the inner wheel 13 are 4 mm wide. These spokes 34 provide primary support for the rims.

[0042] The wheel rim 23 is provided with rubber ring fixing holes 31. A shock-absorbing rubber ring is installed on the outside of the wheel rim 23 and connected to the rubber ring fixing holes 31. The rubber ring fixing holes 31 have a diameter of 3 mm and are distributed along the edge of the wheel rim 23. There are five rubber ring fixing holes 31 in total, which serve as fixing points for the shock-absorbing rubber ring. When the robot is flying in normal conditions, to minimize overall mass and improve flight time and maneuverability, the robot does not have shock-absorbing rubber rings installed. However, when operating on rough roads or in situations where drop impact resistance is required, the robot will have shock-absorbing rubber rings fixed to the outside of the wheel to provide some shock absorption and protection.

[0043] like Figure 5 As shown, the ends of the arm 12 are used to secure the robot's power mechanism, and a fixing hole is left in the middle for securing the central shaft 15. The arm 12 is provided with a brushless motor screw fixing hole 51, a screw fixing hole 53, and a fixing plate connection hole 54. The arm 12 is connected to the brushless motor 18 via the brushless motor screw fixing hole 51, the arm 12 is connected to the central shaft 15 via the screw fixing hole 53, and the arm 12 is connected to the T-shaped fixing plate 14 via the fixing plate connection hole 54.

[0044] Brushless motor screw fixing hole 51 is designed to fit the brushless motor's fixing screws, with a diameter of 2.5mm. Screw fixing hole 1 53 has a diameter of 2mm. Arm 12 can be directly connected to center shaft 15 using two M2 screws, offering a more convenient fixing method.

[0045] like Figure 6 As shown, one end of the T-shaped fixing plate 14 is fixed to the center of the central axis 15 to provide support for the control unit 16, and the other two ends are connected to the two arms 12 to reduce the vibration of the arms 12 when the robot moves. At the same time, a large number of positioning holes are left on the T-shaped fixing plate 14 for fixing various sensor modules of the robot. The T-shaped fixing plate 14 is provided with a wiring slot 61, a second screw fixing hole 63, a coarse wiring slot 64 and an arm fixing slot 65. The T-shaped fixing plate 14 is connected to the central axis 15 through the second screw fixing hole 63, and the T-shaped fixing plate 14 is connected to the arm 12 through the arm fixing slot 65. The wiring slot 61 and the coarse wiring slot 64 are used for wiring.

[0046] Sensor wires secured to the T-shaped fixing plate 14 can be connected to the control system board through wiring slots 61, which pass through the T-shaped fixing plate 14. Wiring slots 61 protect the wiring around the board from damage due to impact. Thick wiring slots 64 function similarly to wiring slots 61, but their wider design allows for thicker wires to pass through the T-shaped fixing plate 14. Second screw fixing hole 63 serves the same purpose as first screw fixing hole 53. Arm fixing slot 65, with a diameter of M2, secures the arm 12.

[0047] like Figure 5-6As shown, the machine arm 12 is provided with an aluminum tube clamp fixing hole 1 52 , and the T-shaped fixing plate 14 is provided with an aluminum tube clamp fixing hole 2 62 . The machine arm 12 and the T-shaped fixing plate 14 are both connected to the central shaft 15 by aluminum tube clamps.

[0048] Aluminum tube clamp fixing hole 1 52 and aluminum tube clamp fixing hole 2 62 are reserved holes for connecting the arm 12 and T-shaped fixing plate 14 to the central shaft 15 via aluminum tube clamps. While aluminum tube clamp fixing is more complex than screw fixing, it provides a more stable and secure fixation for the arm 12. In special circumstances, aluminum tube clamp fixing can be used instead to improve the overall stability of the robot.

[0049] In this embodiment, outer wheels 11 are used for ground locomotion and to protect the robot from impact. Inner wheels 13 provide support when the robot traverses obstacles on the ground and protect the control unit 16. Arms 12 secure the robot's power mechanism, which is used for both aerial and ground locomotion. A central axis 15 runs through the center of the robot, providing fixed support for outer wheels 11, arms 12, inner wheels 13, and T-shaped fixing plate 14. It also provides internal wiring for the power mechanism.

[0050] The control unit 16 includes a control system board and a battery. The control system board is supported by silicone balls and secured below the T-shaped mounting plate 14, between the plate and the battery. The silicone balls effectively block vibrations transmitted from the robot body to the control system board. The control system board is used to detect the robot's motion, receive control signals from the remote control, and send control signals to the power mechanism. The battery provides power for the robot's movement. The T-shaped mounting plate 14 has positioning holes for securing the robot's various sensor modules.

[0051] The outer wheel 11 and inner wheel 13 are primarily sheet-shaped rims, with the inner wheel 13 having a smaller diameter than the outer wheel 11. Five spokes 34 are evenly distributed throughout the rim for support. A positioning hole for the flange bearing 22 is located in the center of the rim, surrounded by five aluminum column positioning holes. A small pentagonal fixing plate 24 is also installed to secure the same model flange bearing 22. This pentagonal fixing plate 24 includes a central flange bearing fixing hole and five aluminum column fixing holes surrounding the fixing plate. The pentagonal fixing plate 24 is secured to the rim 23 via aluminum columns 25, forming the outer wheel 11 and inner wheel 13 structures.

[0052] Arm 12 supports the power mechanism and is connected to the central shaft 15 via screws. A hole for an aluminum tube clamp is provided in the center of arm 12. During robot assembly, arm 12 can be secured to the central shaft 15 using either screws or aluminum tube clamps. The power mechanism and arm 12 form an H-shaped assembly, with arm 12 secured between outer wheel 11 and inner wheel 13, and perpendicular to central shaft 15.

[0053] The power mechanism includes a three-blade propeller 17, a brushless motor 18, and an electronic speed controller. The three-blade propeller 17 is fixed to the shaft of the brushless motor 18 with a nut, and the brushless motor 18 is fixed to the arm 12 with screws. The electronic speed controller is fixed below the arm 12. The central shaft 15 has a wire hole near the fixed position of the arm 12. The wires connected to the electronic speed controller pass through the middle of the central shaft 15.

[0054] This embodiment is a method for using a roller-type air-ground dual-purpose robot, which includes an aerial flight mode and a ground movement mode when in use; the robot can complete the switching between the aerial flight mode and the ground movement mode according to instructions, and can realize aerial flight and ground movement without changing the overall structure.

[0055] The aerial flight mode realizes the flight of the robot by driving the three-blade propeller 17 to rotate through the brushless motor 18, and the flight control is performed according to the X-type quadrotor control method;

[0056] The ground movement mode drives the three-blade propeller 17 to rotate through the brushless motor 18. Since the outer wheel 11 and the inner wheel 13 are both independent follower wheels, the output of the two front brushless motors 18 is weakened while the output of the two rear brushless motors 18 is increased to achieve the forward tilt of the entire body structure around the central axis 15, thereby realizing the forward movement of the robot; the output of the two front brushless motors 18 is increased while the output of the two rear brushless motors 18 is weakened to achieve the backward tilt of the entire body structure around the central axis 15, thereby realizing the backward movement of the robot; and the output size of the brushless motors 18 on the left and right sides is controlled to achieve turning movement or rotation in place.

[0057] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A roller-type air-ground dual-purpose robot, characterized by: It comprises two outer wheels (11), two machine arms (12), two inner wheels (13), a T-shaped fixing plate (14), a central shaft (15), a control unit (16) and a power mechanism. The two outer wheels (11) are rotatably connected to both sides of the central shaft (15), the two inner wheels (13) are rotatably connected to the central shaft (15), the outer diameter of the inner wheels (13) is smaller than the outer diameter of the outer wheels (11), the two machine arms (12) are respectively fixed between the outer wheels (11) and the inner wheels (13) on both sides, and a power mechanism is provided at both ends of the machine arms (12). The power mechanism comprises a three-blade propeller (17), a brushless motor (18) and an electronic speed regulator. The brushless motor (18) is fixed on the machine arms (12), the output end of the brushless motor (18) is connected to the three-blade propeller (17), the electronic speed regulator is connected to the brushless motor (18), one end of the T-shaped fixing plate (14) is connected to the center of the central shaft (15), and the power mechanism comprises a three-blade propeller (17), a brushless motor (18) and an electronic speed regulator. The outer wheel (11) and the inner wheel (13) are connected to each other at the center, and the other two ends are connected to the two machine arms (12) respectively. The control unit (16) is arranged on the T-shaped fixed plate (14). The control unit (16) is connected to the brushless motor (18) and the electronic speed regulator. The outer wheel (11) and the inner wheel (13) have the same structure. The outer diameter of the inner wheel (13) is 4 / 5 of the outer diameter of the outer wheel (11). The outer wheel (11) and the inner wheel (13) both include a wheel rim (23), a pentagonal fixing piece (24) and a flange bearing (22). The center of the wheel rim (23) is connected to the pentagonal fixing piece (24) through an aluminum column (25). A bearing fixing hole (35) is provided at the center of the wheel rim (23). A bearing fixing hole (42) is provided at the center of the pentagonal fixing piece (24). Flange bearings (22) are provided in the bearing fixing hole (35) and the bearing fixing hole (42). The flange bearings (22) are connected to the central axis (15).

2. The roller-type air-ground dual-purpose robot according to claim 1, characterized in that: The control unit (16) is arranged in the battery shell. The control unit (16) includes a control system board and a battery, which are arranged in an upper and lower manner. The four corner points of the control system board are connected to the T-shaped fixing plate (14) through silicone balls. The bottom of the battery is connected to the bottom surface of the battery shell. A gap is left between the control system board and the battery. The control system board and the battery are both connected to the brushless motor (18) and the electronic speed regulator.

3. The roller-type air-ground dual-purpose robot according to claim 1, characterized in that: The wheel rim (23) comprises a wheel rim outer edge (32) and wheel rim spokes (34), the wheel rim outer edge (32) is connected to the wheel rim center through the wheel rim spokes (34), an aluminum column fixing hole (33) is provided in the wheel rim center along the circumferential direction, an aluminum column fixing hole (41) corresponding to the position of the aluminum column fixing hole (33) is provided on the pentagonal fixing plate (24), and a screw (21) passes through the aluminum column fixing hole (33) and the aluminum column fixing hole (41) to fix the aluminum column (25) between the wheel rim (23) and the pentagonal fixing plate (24).

4. The roller-type air-ground dual-purpose robot according to claim 1, characterized in that: A rubber ring fixing hole (31) is provided on the wheel rim (23), a shock-absorbing rubber ring is provided on the outside of the wheel rim (23), and the shock-absorbing rubber ring is connected to the rubber ring fixing hole (31).

5. The roller-type air-ground dual-purpose robot according to claim 1, characterized in that: The machine arm (12) is provided with a brushless motor screw fixing hole (51), a screw fixing hole (53) and a fixing plate connecting hole (54); the machine arm (12) is connected to the brushless motor (18) through the brushless motor screw fixing hole (51); the machine arm (12) is connected to the central axis (15) through the screw fixing hole (53); and the machine arm (12) is connected to the T-shaped fixing plate (14) through the fixing plate connecting hole (54).

6. The roller-type air-ground dual-purpose robot according to claim 1, characterized in that: The T-shaped fixing plate (14) is provided with a wiring slot (61), a second screw fixing hole (63), a thick wiring slot (64) and a machine arm fixing slot (65); the T-shaped fixing plate (14) is connected to the central axis (15) through the second screw fixing hole (63); the T-shaped fixing plate (14) is connected to the machine arm (12) through the machine arm fixing slot (65); the wiring slot (61) and the thick wiring slot (64) are used for wiring.

7. The roller-type air-ground dual-purpose robot according to claim 1, characterized in that: The machine arm (12) is provided with a first aluminum tube clamp fixing hole (52), and the T-shaped fixing plate (14) is provided with a second aluminum tube clamp fixing hole (62). The machine arm (12) and the T-shaped fixing plate (14) are both connected to the central axis (15) by aluminum tube clamps.

8. The roller-type air-ground dual-purpose robot according to claim 1, characterized in that: The robot has an overall size of 200 mm × 200 mm × 250 mm.

9. A method for using the drum-type air-ground dual-purpose robot according to claim 1, characterized in that: The roller-type air-ground dual-purpose robot includes an air flight mode and a ground movement mode when in use; The aerial flight mode realizes the flight of the robot by driving the three-blade propeller (17) to rotate via a brushless motor (18), and the flight is controlled according to the X-type four-rotor control method; The ground movement mode drives the three-blade propeller (17) to rotate through a brushless motor (18), and the outer wheel (11) and the inner wheel (13) are both independent follower wheels. By reducing the output of the two front brushless motors (18) and increasing the output of the two rear brushless motors (18), the entire body structure is tilted forward around the central axis (15), thereby realizing the forward movement of the robot; by increasing the output of the two front brushless motors (18) and reducing the output of the two rear brushless motors (18), the entire body structure is tilted backward around the central axis (15), thereby realizing the backward movement of the robot; and by controlling the output size of the brushless motors (18) on the left and right sides, turning movement or rotation in place movement is realized.

Images