A land-air cross-domain robot

Abstract

The present invention provides a land-air cross-domain robot, which belongs to the field of robots. A posture conversion device is installed on the frame, which enables the arms to fall back and fold up by their own gravity and to be lifted up by the rotation thrust of the rotor. Since the posture conversion device does not need to be driven by a motor, two drive motors are saved for the left and right arms, thereby avoiding the phenomenon of drive redundancy.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and in particular relates to a land-air cross-domain robot. Background Art

[0002] Because the land-air cross-domain robot has both rotors and wheels, it can fly in the air and drive on the ground. It has good maneuverability and strong environmental adaptability. It is widely used in disaster relief, search and detection and other scenarios.

[0003] However, current land-air cross-domain robots have a drive redundancy problem. Patent CN 114919354 A proposes a land-air amphibious three-mode robot. This robot requires two drive motors for rolling, four for flying, and one for form transformation, for a total of seven drive motors. The drive motors are redundant, which is detrimental to overall lightweighting and long-term endurance. Patent CN 115157921 A proposes a land-air robot with three-mode transforming wheels that also has a drive redundancy problem, utilizing five motors to achieve land-air movement. Patent CN 115157947 A proposes a land-air amphibious transformable robot that adds a form transformation mechanism and a wheel drive mechanism to Patent CN 115157921 A, further adding four drive motors to the original, resulting in excessive drive redundancy.

[0004] Current land-to-air cross-domain robots still suffer from low ground-travel efficiency and high noise levels. Patent CN 114889379A proposes a land-to-air amphibious robot. By placing a servo-driven transmission assembly between a mobile chassis and a quadcopter, the robot uses the servo to position the rotor plane at a certain angle to the horizontal, thereby using the horizontal component of the rotor lift to propel the robot forward. While traveling on the ground, the rotors must rotate at high speed, resulting in high noise levels. The lift generated by the rotors is not fully utilized for forward movement, resulting in low energy conversion efficiency. Rotating the rotors consumes additional energy, further reducing flight time. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to solve the problem of drive redundancy in the current land-air cross-domain robot, and proposes a land-air cross-domain robot.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A land-to-air cross-domain robot comprises a chassis and a frame, wherein the frame is mounted above the chassis, the chassis is provided with running wheels for enabling the land-to-air cross-domain robot to walk on the ground, arms for mounting rotors are symmetrically mounted on both sides of the frame, both ends of the arms are respectively provided with flight rotors for enabling the land-to-air cross-domain robot to fly, the flight rotors are respectively provided with drive motors, and the frame is provided with an attitude conversion device for enabling the arms to fall back and be retracted by their own gravity and to be lifted upward by the rotation thrust of the rotors.

[0008] Furthermore, the attitude conversion device includes a spring and a connecting arm vertically connected to the arm, one end of the connecting arm is fixedly connected to the center position of the arm, and the other end is rotatably connected to the frame, and hooks for connecting the two ends of the spring are respectively provided on the frame and the connecting arm. When the wing is in a horizontal state, the line connecting the two hooks is horizontal and passes through the rotation axis of the connecting arm rotating around the frame, or the line connecting the two hooks is above the horizontal plane formed by the rotation axis of the connecting arm rotating around the frame, and when facing one side of the frame, the angle between the line connecting the two hooks and the horizontal plane is an acute angle. When the arm is retracted and the connecting arm is perpendicular to the ground, the angle between the line connecting the two hooks and the horizontal plane formed by the rotation axis of the connecting arm rotating around the frame on the side facing the frame is an acute angle.

[0009] Furthermore, springs are symmetrically installed on both sides of the connecting arm.

[0010] Furthermore, the posture conversion device also includes an upper limit plate, which is fixedly connected to the frame and is used to limit the machine arm from continuing to rotate after the machine arm is lifted to a horizontal state.

[0011] Furthermore, the hook may be configured as a hanging rod, and a fixing member for limiting the displacement of the spring is provided on the hanging rod.

[0012] Furthermore, a rotor return engaging device is provided on the frame for engaging the returning rotor. The rotor return engaging device is a U-shaped card installed on the frame, and the U-shaped card is provided with a limiting device for limiting the wing from continuing to rotate after vertically returning.

[0013] Furthermore, the rotor is mounted on the output shaft of the drive motor, and a clutch component is sleeved between the drive motor and the center hole of the rotor on the output shaft, which is used to disengage the rotor when the arm is raised and engage the rotor when the arm is lowered. The limiting device contacts the clutch component for limiting when the rotor falls back and engages in the U-shaped card. The clutch component stops the rotor from rotating when the rotor falls back and engages in the U-shaped card. The clutch component is arranged on the rotor shafts of the two front rotors on both sides of the land-air cross-domain robot.

[0014] Furthermore, the limiting device is a bearing respectively installed at both ends of the U-shaped card, and the bearing is in contact with the clutch component.

[0015] Furthermore, the clutch component includes a clutch spring, a spring base for fixing one end face of the clutch spring, an extrusion ring for squeezing or releasing the clutch spring, and a clutch pin ring for cooperating with the rotor to rotate or stop the rotor from rotating. The clutch pin ring is tightly against the rotor center hole sleeve, a pin is provided on the clutch pin ring, and a pin hole cooperating with the pin is provided on the extrusion ring. The spring base is fixed to the motor output shaft, and the extrusion ring is connected to the drive motor output shaft profile. The spring base, clutch spring, extrusion ring, and clutch pin ring are sequentially arranged on the drive motor output shaft along the motor output axis. When the robot is flying, the pin on the clutch pin ring is inserted into the pin hole. When the robot walks on land, the pin on the clutch pin ring is disengaged from the pin hole, and the bearing contacts the extrusion ring and rolls on the extrusion ring.

[0016] Furthermore, thrust bearings are respectively installed between the extrusion ring and the clutch pin ring on the output shaft of the drive motor and between the rotor center hole and the end of the output shaft of the drive motor. A nut for applying thrust to the thrust bearing is installed at the end of the output shaft of the drive motor. A sliding bearing is sleeved in the clutch pin ring and the rotor center hole, and the sliding bearing is sleeved on the output shaft of the drive motor.

[0017] Furthermore, a first bevel gear for transmitting the power of the driving motor to the traveling wheels is installed on the outer side of the nut on the motor output shaft. A gear transmission component is provided on the frame and below the U-shaped card, which is engaged with the first bevel gear and transmits the driving force of the driving motor to the traveling wheels. After the arm is completely vertically retracted, the first bevel gear is engaged with the gear transmission component.

[0018] Furthermore, the gear transmission component includes a second bevel gear meshing with the first bevel gear, a worm is sleeved on the gear shaft of the second bevel gear, the output shaft of the drive motor where the first bevel gear is located and the gear shaft of the second bevel gear are perpendicular to each other, the other end of the worm is meshed with a worm wheel, the turbine shaft of the worm wheel and the gear shaft are perpendicular to each other, a first synchronous wheel is sleeved on the worm wheel shaft, the traveling wheel is sleeved on the drive shaft, and a second synchronous wheel is also sleeved on the drive shaft, and the first synchronous wheel and the second synchronous wheel are connected by a synchronous belt.

[0019] By adopting the above technical solution, the present invention has the following beneficial effects:

[0020] The present invention provides a land-air cross-domain robot. A posture conversion device is installed on the frame, which allows the arms to fall back and stow under their own gravity and rise upward under the thrust of the rotor's rotation. Because the posture conversion device does not require a motor to drive it, two drive motors are saved for the left and right arms, thereby avoiding drive redundancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of airspace work;

[0022] Figure 2 This is a schematic diagram of the overall structural parts for land work;

[0023] Figure 3 It is a schematic diagram of chassis components;

[0024] Figure 4 It is a schematic diagram of the U-shaped card and gear transmission components;

[0025] Figure 5 This is a schematic diagram of the machine arm after vertical retraction;

[0026] Figure 6 This is a schematic diagram of the spring action on the left and right connecting arms when the wing falls back;

[0027] Figure 7 This is a schematic diagram of the spring action on the left connecting arm when the wing is horizontal;

[0028] Figure 8 This is a schematic diagram of the spring action on the right connecting arm when the wing is horizontal;

[0029] Figure 9 It is a schematic diagram of the clutch component and thrust bearing;

[0030] Figure 10 Schematic diagram of the sliding bearing installed in the clutch pin ring and the rotor center hole;

[0031] Figure 11 Schematic diagram of the pin on the clutch pin ring leaving the extrusion ring.

[0032] Legend

[0033] 1. Chassis, 2. Frame, 21. U-shaped card, 211. Limiting device, 3. Traveling wheel, 4. Arm, 5. Rotor, 6. Drive motor, 7. Attitude conversion device, 71. Spring, 72. Connecting arm, 73. Hook, 74. Upper limit plate, 8. Clutch component, 81. Clutch spring, 82. Spring base, 83. Extrusion ring, 831. Pin hole, 84. Clutch pin ring, 841. Pin, 90. Thrust bearing, 91. Nut, 100. First bevel gear, 110. Gear transmission component, 111. Second bevel gear, 112. Worm, 113. Worm wheel, 114. First synchronous wheel, 115. Second synchronous wheel, 116. Synchronous belt. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] Figures 1 to 11 A specific embodiment of a land-air cross-domain robot of the present invention is shown, as shown in FIG. Figure 1 、 Figure 2 and Figure 5 As shown, it includes a chassis 1 and a frame 2. The frame 2 is installed above the chassis 1. The chassis 1 is equipped with running wheels 3 for allowing the land-to-air cross-domain robot to walk on the ground. Arms 4 for installing rotors are symmetrically installed on both sides of the frame. Flight rotors 5 for allowing the land-to-air cross-domain robot to fly are installed at both ends of the arms. Drive motors 6 are installed on the flight rotors. The frame is equipped with an attitude conversion device 7 that allows the arms to fall back and be retracted by their own gravity and to be lifted up by the thrust of the rotor rotation. Since the attitude conversion device only needs to rely on the arm's own gravity to fall back when falling, and relies on the thrust generated by the rotation of the rotor to lift up when lifting, it does not need to be driven by a motor, so two drive motors are saved on the left and right arms. This avoids the phenomenon of drive redundancy.

[0036] In this embodiment, Figure 6 、 Figure 7 and Figure 8As shown, the attitude conversion device 7 includes a spring 71 and a connecting arm 72 vertically connected to the arm 4, one end of the connecting arm 72 is fixedly connected to the center position of the arm 4, and the other end is rotatably connected to the frame 2, and hooks 73 for connecting the two ends of the spring 71 are respectively provided on the frame 2 and the connecting arm 4. When the wing 4 is in a horizontal state, the line connecting the two hooks 73 is in a horizontal state and passes through the rotation axis of the connecting arm 72 rotating around the frame, or the line connecting the two hooks 73 is above the horizontal plane formed by the rotation axis of the connecting arm 72 rotating around the frame, and when facing the side of the frame, the angle between the line connecting the two hooks and the horizontal plane is an acute angle. When the arm 4 is retracted and the connecting arm 72 is perpendicular to the ground, the angle between the line connecting the two hooks 73 and the horizontal plane formed by the rotation axis of the connecting arm rotating around the frame on the side facing the frame is an acute angle. When the wing is horizontal, spring 71 has a certain tension. Because the line connecting the two hooks 73 is horizontal and passes through the axis of rotation of the connecting arm around the frame, the torque generated by spring 71 passes through the axis of rotation and does not generate other vertical force components, thereby reducing the impact on flight lift. Alternatively, the line connecting the two hooks is above the horizontal plane formed by the axis of rotation of the connecting arm around the frame, and when facing one side of the frame, the angle between the line connecting the two hooks and the horizontal plane is acute. In this case, the spring tension generates a horizontal force component toward the axis of rotation and a vertical force component upward. The vertical force component can thus exert an upward pull on the connecting arm, reducing the tendency of connecting arm 72 to rotate downward due to gravity. When arm 4 is lifted upward, the spring is stretched, storing energy to be used for acceleration when the arm is lowered. As arm 4 begins to descend to perform its mission on land, the speed of the drive motor on the rotor is gradually reduced. When the lift torque generated by rotor 5 is unable to overcome the weight of arm 4 and connecting arm 72, arm 4 gradually rotates and descends from a horizontal position to a vertical position. The spring tension becomes diagonal, generating both inward and upward force components. Under the inward force of the spring, the arm rapidly descends. When the robot needs to transition from land to air, the rotor rotates to generate an outward thrust, pushing the arm outward. When the lift generated by rotor 5 overcomes the weight of arm 4 and connecting arm 72 and the tension of spring 71, arm 4 gradually shifts from a vertical position to a horizontal position. Therefore, in this embodiment, the lifting and lowering of arm 4 can be achieved without the use of an additional drive motor, thereby reducing the number of drive motors used.

[0037] In this embodiment, springs 71 are symmetrically mounted on both sides of the connecting arm 72. This allows for symmetrical action on the connecting arm, making it more balanced during both the lowering and raising processes. Furthermore, the hook 73 is configured as a hanging rod, and a fixing member is provided on the hanging rod to limit the displacement of the spring. Because the hook would cling to the frame or connecting arm, adding unnecessary friction, the hook is configured as a hanging rod, and both ends of the spring are hung on the hanging rod. To prevent the ends of the spring from moving on the hanging rod, fixing members are provided to secure the ends of the spring. In this embodiment, the fixing member is a nut. First, a nut is tightened onto the hanging rod. Then, after one end of the spring is hung onto the hanging rod, another nut is tightened to secure the spring to the hanging rod.

[0038] In this embodiment, the posture conversion device 7 further includes an upper limit plate 74, which is fixedly connected to the frame and is used to limit the further rotation of the arm after the arm is raised to a horizontal position. In this embodiment, the upper limit plate is generally directly limited by the upper plate of the frame, and no additional plate is required.

[0039] In this embodiment, a rotor return engaging device is provided on the frame 2 for engaging the rotor when it returns. Figure 3 and Figure 4 As shown, the rotor return engaging device is a U-shaped card 21 installed on the frame, and the U-shaped card is provided with a limiting device 211 for limiting the wing from continuing to rotate after vertically returning.

[0040] In this embodiment, Figure 9 、 Figure 10 As shown, the rotor 5 is mounted on the output shaft of the drive motor 6. A clutch component 8 is sleeved between the drive motor 6 and the rotor center hole on the output shaft. The clutch component 8 is used to disengage the rotor 5 when the arm 4 is raised and engage the rotor when the arm is lowered. The limiting device 211 contacts the clutch component 8 to limit the rotor 5 when it is lowered and engaged in the U-shaped card. The clutch component 8 stops the rotor from rotating when the rotor is lowered and engaged in the U-shaped card. The clutch component is arranged on the rotor shafts of the two rotors on both sides of the land-air cross-domain robot. By providing the clutch component 8, the rotor 5 can be quickly disengaged and easily lifted, and it is also convenient to engage when the arm 4 is lowered. In this embodiment, the clutch component 8 is only provided on the rotor shafts of the two front rotors 5 on both sides of the land-to-air cross-domain robot. The clutch component and the U-shaped rotor return engagement device are not provided on the rotor shafts of the two rear rotors on both sides of the land-to-air cross-domain robot. In this way, when the wings are lifted, the two rear rotors on both sides of the robot rotate to generate thrust to push the arms outward. When the arms are pushed outward, the two rotors on the front are pushed outward from the U-shaped card to leave the engagement.

[0041] In this embodiment, the clutch component 8 includes a clutch spring 81, a spring base 82 for fixing one end face of the clutch spring 81, an extrusion ring 83 for squeezing or loosening the clutch spring 81, and a clutch pin ring 84 for cooperating with the rotor 5 to rotate or stop the rotor from rotating. The clutch pin ring 84 is tightly attached to the rotor center hole sleeve, and a pin 841 is provided on the clutch pin ring 84. The extrusion ring 83 is provided with a pin hole 831 that cooperates with the pin. The spring base is fixed to the motor output shaft, and the extrusion ring is connected to the drive motor output shaft. The surface is connected so that the extrusion ring can move on the output shaft of the drive motor. The spring base, clutch spring, extrusion ring, and clutch pin ring are sequentially arranged on the output shaft of the drive motor along the motor output axis. The pin on the clutch pin ring is inserted into the pin hole when the robot is flying. When the robot walks on land, the pin on the clutch pin ring is disengaged from the pin hole, and the limit bearing contacts with the extrusion ring and rolls on the extrusion ring. The outer diameter of the clutch pin ring is preferably able to enter the opening of the U-shaped card. The outer diameter of the extrusion ring is larger than the outer diameter of the clutch pin ring and cannot enter the opening of the U-shaped card. When the wing 4 falls back and the rotor enters the U-shaped card, the extrusion ring 83 no longer moves forward under the limiting action of the limit bearing 211, but the wing 4 still needs to continue to fall back to a vertical state under the action of gravity. When the extrusion ring 83 does not move, the clutch spring 81 is squeezed onto the spring base 82 as the arm falls back. At this time, the pin 841 of the clutch pin ring 84 withdraws from the pin hole 831 of the extrusion ring 83. Since the clutch component 8 is installed on the output shaft of the drive motor, the clutch component 8 will also rotate with the rotation of the output shaft. The limiting device 211 is set as a bearing, so that the bearing can play a limiting role while rolling on the extrusion ring 83 of the clutch component 8, reducing the friction caused by contact. When the wings are raised, the two rear rotors of the robot are not equipped with clutch components. The thrust brought by the rotation of the two rear rotors causes the two front rotors to be pushed outward from the U-shaped card respectively. In the process of pushing outward, the extrusion ring 83 leaves the obstruction of the limit bearing 211, and the clutch spring quickly pushes the extrusion ring toward the clutch pin ring under the action of elastic force, so that the pin 841 on the clutch pin ring 84 is inserted into the pin hole 831 of the extrusion ring 83.

[0042] In this embodiment, thrust bearings 90 are installed between the extrusion ring 83 and the clutch pin ring 84 on the drive motor output shaft, and between the rotor center hole and the end of the drive motor output shaft. A nut 91 is installed at the end of the drive motor output shaft to apply thrust to the thrust bearing. A sliding bearing 92 is sleeved within the clutch pin ring 83 and the rotor center hole. The sliding bearing 92 is sleeved on the drive motor output shaft. Because a thrust bearing 90 is installed on both sides of the clutch pin ring and the rotor center hole, respectively, the nut pushes inward, causing the thrust bearings to cling tightly between the extrusion ring and the clutch pin ring, and between the outer side of the rotor center hole and the nut. When the wing 4 falls back, as shown in FIG. Figure 11 As shown, the pin 841 of the clutch pin ring 84 exits the pin hole 831 of the extrusion ring 83. At this time, since the clutch pin ring and the two sides of the rotor center hole are thrust bearings, they only transmit axial thrust, so that the clutch pin ring and the rotor center hole are squeezed together into a whole. However, due to the rotation of the clutch pin ring and the thrust bearings on both sides of the rotor center hole, the friction between the clutch pin ring and the two sides of the rotor center hole and the two thrust bearings on both sides is very small. Therefore, under the action of the sliding bearings sleeved in the rotor center hole, the friction between the clutch pin ring 84 and the rotor, the rotor center hole and the output shaft of the drive motor is also very small. After the pin of the clutch pin ring 84 exits the pin hole 831 of the extrusion ring 83, when the clutch pin ring 84 stops rotating without the drive of the extrusion ring 83, the rotor will also stop rotating. When the wing is lifted, under the action of the rotation of the drive motor, since the spring base is fixed to the motor output shaft and the extrusion ring and the motor output shaft are connected in a profile, the extrusion ring 83 will also rotate with the rotation of the motor output shaft. Since the pin on the clutch pin ring is inserted into the extrusion ring, the clutch pin ring 84 also rotates with the rotation of the extrusion ring 83. Since the clutch pin ring and the outer side of the rotor center hole are squeezed together into a whole by the thrust bearing, and the clutch pin ring 84 and the rotor are sleeved in the rotor center hole by the sliding bearing, the friction between the clutch pin ring 84 and the rotor center hole and the output shaft of the drive motor is also very small. Therefore, the rotation of the clutch pin ring will cause the rotor to rotate together.

[0043] In this embodiment, a first bevel gear 100 is mounted outside the nut 91 on the motor output shaft, for transmitting the drive motor's power to the travel wheels 3. A gear transmission component 110 is located on the frame 2, below the U-shaped clip, and meshes with the first bevel gear to transmit the drive motor's power to the travel wheels. After the arm 4 has fully returned to its vertical position, the first bevel gear 100 meshes with the gear transmission component. Through the first bevel gear 100 and gear transmission component 110, the travel wheels can be driven solely by the rotor's drive motor, further reducing the need for drive motors on the travel wheels and minimizing drive redundancy.

[0044] In this embodiment, the gear transmission component includes a second bevel gear 111 meshing with the first bevel gear. A worm 112 is mounted on the gear shaft of the second bevel gear. The output shaft of the drive motor for the first bevel gear and the gear shaft of the second bevel gear are perpendicular to each other. The other end of the worm 112 is meshed with a worm wheel 113. The worm wheel shaft of the worm wheel 113 is perpendicular to the gear shaft of the second bevel gear. A first synchronous wheel 114 is mounted on the worm wheel shaft. The traveling wheel 3 is mounted on the drive shaft. A second synchronous wheel 115 is also mounted on the drive shaft. The first and second synchronous wheels 114, 115 are connected by a timing belt 116. Through the meshing of the bevel gears and the worm on the gear shaft of the second bevel gear, the turbine engaged with the worm drives the worm wheel shaft. Rotation of the turbine shaft drives the first synchronous wheel. The first synchronous wheel, under the action of the timing belt, drives the second synchronous wheel. The second synchronous wheel drives the coaxial traveling wheel, thereby rotating the traveling wheel. This allows the rotor drive motor to drive the traveling wheel, reducing the need for a drive motor on the traveling wheel.

[0045] The present invention cleverly utilizes the component force generated by the spring force to assist the machine arm to quickly return when it returns. When the machine arm is horizontal, the upward component force generated by the spring force reduces the tendency of the connecting arm to rotate downward due to gravity. Therefore, the number of drive motors when the two machine arms return and rise is reduced, and a gear transmission component is used to drive the traveling wheel with the help of the drive motor on the rotor. When the traveling wheel is driven, the rotor is separated from the rotation of the drive motor output shaft with the help of a clutch pin ring, thereby reducing the noise generated by the continuous rotation of the rotor.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A land-air cross-domain robot, characterized in that: The robot comprises a chassis and a frame, wherein the frame is mounted above the chassis, the chassis is equipped with running wheels for enabling the land-to-air cross-domain robot to walk on the ground, arms for mounting rotors are symmetrically mounted on both sides of the frame, both ends of the arms are respectively equipped with flight rotors for enabling the land-to-air cross-domain robot to fly, the flight rotors are respectively equipped with drive motors, and the frame is equipped with an attitude conversion device for enabling the arms to fall back and be retracted by their own gravity and to be lifted upward by the rotation thrust of the rotors; The attitude conversion device includes a spring and a connecting arm vertically connected to the machine arm, one end of the connecting arm is fixedly connected to the center position of the machine arm, and the other end is rotatably connected to the frame, and hooks for connecting the two ends of the spring are respectively provided on the frame and the connecting arm. When the wing is in a horizontal state, the line connecting the two hooks is in a horizontal state and passes through the rotation axis of the connecting arm rotating around the frame, or the line connecting the two hooks is above the horizontal plane formed by the rotation axis of the connecting arm rotating around the frame, and when facing one side of the frame, the angle between the line connecting the two hooks and the horizontal plane is an acute angle. When the machine arm is retracted and the connecting arm is perpendicular to the ground, the angle between the line connecting the two hooks and the horizontal plane formed by the rotation axis of the connecting arm rotating around the frame on the side facing the frame is an acute angle. A rotor return engaging device is provided on the frame for engaging the falling rotor. The rotor return engaging device is a U-shaped card installed on the frame. The U-shaped card is provided with a limiting device for limiting the wing from continuing to rotate after vertically returning. The rotor is mounted on the output shaft of the drive motor, and a clutch component is sleeved between the drive motor and the center hole of the rotor on the output shaft, which is used to disengage the rotor when the arm is raised, and engage the rotor when the arm is lowered. The limiting device contacts the clutch component to limit the position when the rotor falls back and is engaged in the U-shaped card. The clutch component stops the rotor from rotating when the rotor falls back and is engaged in the U-shaped card. The clutch component is arranged on the rotor shafts of the two rotors on both sides of the land-air cross-domain robot; The limiting device is a bearing installed at both ends of the U-shaped card, and the bearing is in contact with the clutch component; The clutch component includes a clutch spring, a spring base for fixing one end face of the clutch spring, an extrusion ring for squeezing or loosening the clutch spring, and a clutch pin ring for cooperating with the rotor to rotate or stop the rotor from rotating. The clutch pin ring is tightly against the rotor center hole sleeve, a pin is provided on the clutch pin ring, and a pin hole cooperating with the pin is provided on the extrusion ring. The spring base is fixed to the motor output shaft, and the extrusion ring is connected to the drive motor output shaft profile. The spring base, clutch spring, extrusion ring, and clutch pin ring are sequentially outer-mounted on the drive motor output shaft along the motor output axis. When the robot is flying, the pin on the clutch pin ring is inserted into the pin hole. When the robot walks on land, the pin on the clutch pin ring is disengaged from the pin hole, and the bearing contacts the extrusion ring and rolls on the extrusion ring.

2. The land-air cross-domain robot according to claim 1, characterized in that: Springs are symmetrically arranged on both sides of the connecting arm.

3. The land-air cross-domain robot according to claim 2, characterized in that: The posture conversion device further comprises an upper limit plate, which is fixedly connected to the frame and is used for limiting the machine arm from continuing to rotate after the machine arm is lifted to a horizontal state.

4. The land-air cross-domain robot according to claim 3, characterized in that: The hook is configured as a hanging rod, and a fixing piece for limiting the displacement of the spring is provided on the hanging rod.

5. The land-air cross-domain robot according to claim 4, characterized in that: Thrust bearings are respectively installed between the extrusion ring and the clutch pin ring on the output shaft of the drive motor and between the rotor center hole and the end of the output shaft of the drive motor. A nut for applying thrust to the thrust bearing is installed at the end of the output shaft of the drive motor. Sliding bearings are sleeved in the clutch pin ring and the rotor center hole. The sliding bearing is sleeved on the output shaft of the drive motor.

6. The land-air cross-domain robot according to claim 5, characterized in that: A first bevel gear for transmitting the power of the drive motor to the traveling wheels is also installed on the outside of the nut on the motor output shaft. A gear transmission component is provided on the frame and below the U-shaped card, which is engaged with the first bevel gear and transmits the driving force of the drive motor to the traveling wheels. After the machine arm is completely vertically retracted, the first bevel gear is engaged with the gear transmission component.

7. The land-air cross-domain robot according to claim 6, characterized in that: The gear transmission component includes a second bevel gear meshing with the first bevel gear, a worm is sleeved on the gear shaft of the second bevel gear, the output shaft of the drive motor where the first bevel gear is located is perpendicular to the gear shaft of the second bevel gear, the other end of the worm is meshed with a worm wheel, the worm wheel shaft of the worm wheel is perpendicular to the gear shaft, a first synchronous wheel is sleeved on the worm wheel shaft, the traveling wheel is sleeved on the drive shaft, and a second synchronous wheel is also sleeved on the drive shaft, and the first synchronous wheel and the second synchronous wheel are connected by a synchronous belt.

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