Dual mode specialty robot

Abstract

The application discloses a dual-mode special robot, which comprises a seat body, a driving gear, a steering arm, a frame, a connecting rod mechanism, a connecting rod drive, a machine base and a first drive, a rotor wing, a wheel set and a second drive, the driving gear is rotationally arranged on the seat body, one end of the steering arm is rotationally arranged on the seat body and is engaged with the driving gear, the frame is fixed on the steering arm, the connecting rod mechanism is fixed on the frame, the machine base is fixed on a free end of the connecting rod mechanism, the connecting rod drive is arranged between the frame and the connecting rod mechanism, the machine base is fixed on a free end of the fourth connecting rod, the first drive is arranged on the machine base and comprises an output shaft, the rotor wing is connected with the output shaft, the wheel set is slidably sleeved on the outer circumferential side of the output shaft and has a transmission position and a separation position, the second drive is rotationally arranged on the outer circumferential side of the machine base, and the second drive is connected with the wheel set. The special robot has the functions of flying and walking, has a simple, stable and reliable overall structure, and is convenient to switch between different modes.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a dual-mode special-purpose robot. Background Technology

[0002] In recent years, intelligent robot technology has made rapid progress. As a major category of intelligent robots, special operation robots have also developed rapidly and been widely used. Currently, special operation robots have been applied in agriculture, power, logistics, security and rescue, military, mining, municipal engineering and other fields.

[0003] In order to broaden the adaptability of special operation robots to the environment, many companies and researchers have tried to design special operation robots with multiple motion modes. Taking special operation robots with two modes of flight and walking as an example, the existing special operation robots have problems such as complex structure and inconvenient operation when switching between flight and walking, which reduces the stability and reliability of robot use. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] To address this, this invention proposes a dual-mode special robot that combines flight and walking functions. The robot features a simple, stable, and reliable overall structure, and allows for easy switching between different modes, fully meeting the needs of different modes and postures.

[0006] The dual-mode special robot of this invention has a flight mode and a walking mode and includes;

[0007] A base and a drive gear, wherein the drive gear is rotatably mounted on the base;

[0008] A steering arm and a frame, wherein one end of the steering arm is rotatably mounted to the base and meshes with the drive gear, and the drive gear is used to drive the steering arm to rotate, and the frame is fixed to the other end of the steering arm;

[0009] A linkage mechanism and a linkage drive are provided. The linkage mechanism is fixed to the frame, and the base is fixed to the free end of the linkage mechanism. The linkage mechanism has a flight mode and a walking mode. In the flight mode, the linkage mechanism adjusts the axis of the rotor and the wheel assembly to vertical. In the walking mode, the linkage mechanism adjusts the axis of the rotor and the wheel assembly to horizontal. The linkage drive is assembled between the frame and the linkage mechanism and is used to drive the linkage mechanism to switch between the flight mode and the walking mode.

[0010] A base and a first drive, the base being fixed to the free end of the fourth link, the first drive being disposed on the base and including an output shaft;

[0011] A rotor connected to the output shaft, the first drive being used to drive the rotor to rotate in flight mode to propel the special robot to flight.

[0012] A wheel assembly, which is slidably fitted onto the outer periphery of the output shaft and has a drive position and a disengagement position. In the drive position, the wheel assembly engages with the output shaft to drive the wheel assembly to roll on the ground in a walking mode. In the disengagement position, the wheel assembly is separated from the output shaft.

[0013] The second drive is rotatably mounted on the outer periphery of the base. The second drive is connected to the wheel assembly and is used to drive the wheel frame to switch between the transmission position and the separation position.

[0014] In some embodiments, the wheel assembly includes a wheel frame and a wheel rim, the wheel rim being fixed to the outer periphery of the wheel frame and arranged coaxially with the rotor;

[0015] In the flight mode, the wheel rim surrounds the outer periphery of the rotor, and the rotor rotates while the wheel assembly does not rotate; in the walking mode, the wheel rim and the rotor are arranged axially offset on the output shaft, and the wheel rim is adjacent to the base relative to the rotor, and both the wheel rim and the rotor rotate.

[0016] In some embodiments, the wheel set includes:

[0017] A housing is located at the center of the wheel frame, and the housing is sleeved on the outer periphery of the output shaft and its position is adjustable along the axial direction of the output shaft;

[0018] A central gear is sleeved on the outer periphery of the output shaft and its axial position is adjustable along the output shaft. In the walking mode, the wheel set meshes with the meshing part through the central gear.

[0019] A gear ring, which is fixed inside the housing and surrounds the outer periphery of the central gear;

[0020] Multiple planetary gears are meshed between the central gear and the ring gear and are arranged at circumferential intervals along the central gear.

[0021] In some embodiments, a first bearing is included, the central gear has an annular stepped groove, the first bearing is embedded in the stepped groove, and the outer ring of the first bearing is fixedly connected to the central gear. The inner ring of the first bearing is sleeved on the outer periphery of the output shaft and can slide along the axial direction of the output shaft.

[0022] The housing includes a first housing and a second housing arranged opposite each other in the axial direction of the output shaft. The second housing is located between the first housing and the rotor. The second drive is hinged to the first housing. The second housing is integrally formed on the wheel frame. The gear ring is fixed inside the second housing. The groove of the stepped groove faces the second housing.

[0023] The first housing has a first annular portion at its center surrounding the outer periphery of the output shaft. The first annular portion extends toward the central gear. The central gear has an annular groove on its end face facing the first housing. The first annular portion is embedded in the annular groove. The second housing has a second annular portion at its center surrounding the outer periphery of the output shaft. The second annular portion extends toward the central gear and abuts against the inner ring of the first bearing.

[0024] In some embodiments, an annular seal is included. The first housing is provided with a third annular portion, which surrounds the outer periphery of the first annular portion. The third annular portion extends into the second housing and fits against the inner periphery of the second housing. The annular seal is disposed in the second housing and surrounds the outer periphery of the output shaft. The annular seal is clamped and fixed between the third annular portion and the gear ring.

[0025] And / or, the gear set includes multiple fixed shafts, each of which is connected to the second housing and is arranged at intervals along the circumference of the central gear. Multiple planetary gears are rotatably mounted on the outer periphery of the multiple fixed shafts in a corresponding manner. Each planetary gear has a mounting groove on its two oppositely arranged end faces. A second bearing is mounted in each of the two mounting grooves of the planetary gear. The fixed shaft passes through the second bearing, and the second bearing is clamped and limited between the end of the fixed shaft and the planetary gear or between the planetary gear and the second housing.

[0026] In some embodiments, a third bearing and a rotating seat are included. The third bearing is sleeved on the outer periphery of the base. A retaining ring is provided on the outer periphery of the base. The inner ring of the third bearing is limited between the retaining ring and the shoulder of the base. The rotating seat is fixed to the outer periphery of the outer ring of the third bearing. The second drive is telescopic and multiple are provided. The multiple second drives are arranged circumferentially along the output shaft, and one end of each second drive is connected to the rotating seat, and the other end of each second drive is hinged to the housing.

[0027] In some embodiments, the linkage mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link. One end of the first link and one end of the second link are rotatably connected to the frame. One end of the third link is rotatably connected to the other end of the first link, and the other end of the third link is rotatably connected to the middle of the second link. One end of the fourth link is rotatably connected to the other end of the second link, and the other end of the fourth link is used to connect to a power conversion device. One end of the fifth link is rotatably connected to the connection between the first link and the third link, and the other end of the fifth link is rotatably connected to the middle of the fourth link.

[0028] In some embodiments, the second link and the fifth link are arranged in parallel, the third link and the fourth link are arranged in parallel, the length of the second link between the third link and the fourth link is the same as the length of the fifth link, the length of the fourth link between the second link and the fifth link is the same as the length of the third link, and the length of the third link and the fifth link are the same.

[0029] In some embodiments, two of each of the second link, the third link, and the fifth link are arranged in parallel at intervals. The first link is located between the two second links and rotatably assembled between the two fifth links. The fourth link is rotatably assembled between the two second links and between the two fifth links. Both the two second links and the two fifth links are rotatably assembled between the two third links.

[0030] In some embodiments, a rotation drive is included, the rotation drive is disposed on the base, and there are two drive gears. The two drive gears mesh and are rotatably mounted on the base. The rotation drive is connected to one of the drive gears and achieves synchronous rotation of the two drive gears by driving the one drive gear to rotate. Each drive gear is driven by the steering arm, the frame, and the linkage mechanism.

[0031] And / or, including landing gear and elastic element, the landing gear being disposed on the underside of the seat body, the landing gear being flexibly deformable, the elastic element being disposed between the landing gear and the seat body, and the elastic element being elastically deformable to cushion the impact received by the landing gear when it lands.

[0032] Beneficial effects: The dual-mode special robot of the present invention has both flight and walking functions, and its overall structure is simple, stable and reliable. It is convenient to switch between different modes, which fully meets the needs of use in different modes and postures. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the special robot according to an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the mode switching of the unfolding device according to an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the mode switching of a special robot according to an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of the swing adjustment of the steering arm of a special robot according to an embodiment of the present invention.

[0037] Figure 5 This is a partial schematic diagram of a special robot according to an embodiment of the present invention.

[0038] Figure 6 This is a three-dimensional schematic diagram of the unfolding device according to an embodiment of the present invention. Figure 1 .

[0039] Figure 7 This is a three-dimensional schematic diagram of the unfolding device according to an embodiment of the present invention. Figure 2 .

[0040] Figure 8 This is a schematic diagram of the steering arm of the folding and unfolding device.

[0041] Figure 9 This is a schematic diagram of the base plate of the folding device according to an embodiment of the present invention.

[0042] Figure 10 This is a schematic diagram of the rotation drive and the assembly of two drive gears of the unfolding device according to an embodiment of the present invention.

[0043] Figure 11 This is a perspective view of the power conversion device according to an embodiment of the present invention.

[0044] Figure 12 This is a side view of the power conversion device according to an embodiment of the present invention.

[0045] Figure 13 yes Figure 12 Schematic diagram of cross-section at point AA.

[0046] Figure 14 This is a schematic diagram of the first drive of the power conversion device according to an embodiment of the present invention.

[0047] Figure 15 This is a schematic diagram of the internal structure of the power conversion device according to an embodiment of the present invention.

[0048] Figure 16This is an axial cross-sectional view of the power conversion device at the first drive position according to an embodiment of the present invention.

[0049] Figure 17 This is a schematic diagram of the wheel assembly in the drive position and the release position according to an embodiment of the present invention.

[0050] Figure label:

[0051] Folding / unfolding device 10; base 11; top plate 111; bottom plate 112; fixed column 113; outer ring 114; driven gear shaft 115; landing gear 116; elastic element 117; drive gear 12; steering arm 13; tooth 131; annular boss 132; inner ring 133; frame 14; second ear plate 141; clearance hole 142; linkage mechanism 15; first link 151; first ear plate 1511; second link 152; third link 153; fourth link 154; fifth link 155; linkage drive 16; steering drive 17; steering bearing 18;

[0052] Power conversion device 20; base 21; first drive 22; output shaft 221; meshing part 2211; rotor 23; wheel assembly 24; wheel frame 241; wheel rim 242; housing 243; first housing 2431; first annular part 2431A; third annular part 2431B; second housing 2432; second annular part 2432A; second drive 25; connecting flange 26; central gear 27; gear ring 28; planetary gear 29; assembly groove 291; first bearing 210; third bearing 211; rotating seat 212; annular seal 213; fixed shaft 214; second bearing 215. Detailed Implementation

[0053] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0054] like Figure 1 As shown, the dual-mode special robot (hereinafter referred to as the special robot) of this invention mainly includes a folding device 10 and a power conversion device 20.

[0055] like Figure 5 As shown, the folding device 10 includes a base 11, a drive gear 12, a steering arm 13, a frame 14, a linkage mechanism 15, and a linkage drive 16.

[0056] The base 11 can be assembled in parts, for example, by splicing together sheet metal. In other embodiments, the base 11 can also be integral, for example, by injection molding, metal casting, stamping, etc. The drive gear 12 can be a circular gear, and the drive gear 12 is rotatably mounted on the base 11.

[0057] One end of the steering arm 13 is rotatably mounted to the seat 11 and meshes with the drive gear 12, while the frame 14 is fixed to the other end of the steering arm 13. For example, as Figure 8 As shown, one end of the steering arm 13 can be integrally formed with a tooth 131. The tooth 131 can be an incomplete gear, and it can be rotatably mounted on the seat 11 and mesh with the drive gear 12. Figure 5 and Figure 6 As shown, the frame 14 can be a plate-like structure, and the frame 14 can be fixed to the steering arm 13 by fasteners such as screws.

[0058] In use, the drive gear 12 can be driven to rotate, and the rotating drive gear 12 will drive the tooth 131 to rotate, thereby driving the steering arm 13 to rotate, and thus realizing the circumferential adjustment of the folding device 10.

[0059] like Figure 6 As shown, the linkage mechanism 15 includes a first link 151, a second link 152, a third link 153, a fourth link 154, and a fifth link 155. The bottom ends of the first link 151 and the second link 152 are rotatably connected to the frame 14. One end of the third link 153 is rotatably connected to the top end of the first link 151, and the other end of the third link 153 is rotatably connected to the middle part of the second link 152. One end of the fourth link 154 is rotatably connected to the top end of the second link 152, and the other end of the fourth link 154 is used to connect to the power conversion device 20. One end of the fifth link 155 is rotatably connected to the connection between the first link 151 and the third link 153, and the other end of the fifth link 155 is rotatably connected to the middle part of the fourth link 154.

[0060] The fourth link 154 of the power conversion device 20 is arranged coaxially with the rotor 23 and wheel set 24 of the subsequent power conversion device 20. When the special robot is in flight mode, the fourth link 154 is arranged vertically so that the rotor 23 can be used for flight. When the special robot is in walking mode, the fourth link 154 is arranged horizontally so that the wheel set 24 can roll on the ground.

[0061] Linkage drive 16 is mounted between frame 14 and linkage mechanism 15 and is used to drive fourth link 154 to switch between vertical and horizontal positions. For example, as Figure 6 and Figure 7 As shown, the linkage drive 16 can be a linear drive such as an electric push rod. The linkage drive 16 can be hinged to the frame 14, and the drive end of the linkage drive 16 can be hinged to one of the first link 151 and the second link 152. In use, the extension and retraction of the linkage drive 16 can drive the linkage mechanism 15 to adjust its shape, thereby switching the fourth link 154 to a vertical or horizontal position.

[0062] It should be noted that since both rotor 23 and wheel assembly 24 are connected to the fourth link 154, when the fourth link 154 is switched to horizontal, the axis of wheel assembly 24 also switches to horizontal, which is the walking mode. This means that wheel assembly 24 can perform a rolling motion on the ground similar to a wheel, fulfilling the need for walking. When the fourth link 154 is switched to vertical, the axis of rotor 23 also switches to vertical, which is the flight mode. The rotation of rotor 23 enables flight.

[0063] like Figure 11 As shown, the power conversion device 20 includes a base 21, a first drive 22, a rotor 23, a wheel assembly 24, and a second drive 25.

[0064] The base 21 is generally cylindrical, and its axial direction can be left-right. A first drive 22 is mounted on the base 21 and includes an output shaft 221, on which a meshing part 2211 is provided. The first drive 22 can be a motor, and it can be fixed to the right end of the base. The output shaft 221 of the first drive 22 can face to the right, and it can be generally coaxially arranged with the base 21. Figure 14 As shown, the output shaft 221 may have an integrally formed meshing part 2211, which may be gear-shaped.

[0065] Rotor 23 is connected to output shaft 221, and first drive 22 is used to drive rotor 23 to rotate so that the special robot can fly when it is in flight mode. For example, Figures 11 to 13 As shown, the rotor 23 can be fixed to the free end (right end) of the output shaft 221. When the output shaft 221 of the first drive 22 rotates, the rotor 23 will rotate synchronously with the output shaft 221. The rotating rotor 23 can take off, thus meeting the flight requirements of special robots.

[0066] like Figure 11 As shown, the wheel assembly 24 includes a wheel frame 241 and a rim 242. The wheel frame 241 is hub-shaped, and the rim 242 is fixed to the outer periphery of the wheel frame 241. For example, the rim 242 can be integrally formed on the outer periphery of the wheel frame 241. The rim 242 is coaxially arranged with the rotor 23, and the inner diameter of the rim 242 is larger than the outer diameter of the rotor 23. For example, the rim 242 can be generally annular. The central axis of the rim 242 is coaxially arranged with the rotation axis of the rotor 23. The outer diameter of the rotor 23 can be considered as the distance between the blade tip of the rotor 23 and the rotation axis of the rotor 23. The outer diameter of the rotor 23 is slightly smaller than the inner diameter of the rim 242. During installation, the rim 242 can wrap around the outer periphery of the rotor 23.

[0067] This ensures the structural stability of the wheel assembly 24 and rotor 23. The wheel rim 242 also provides some protection, preventing the rotor 23 from being easily touched. It also facilitates the rolling motion on the ground via the wheel rim 242.

[0068] The wheel assembly 24 is slidably fitted onto the outer periphery of the output shaft 221 and has a drive position and a disengagement position, for example, as... Figure 13 As shown, the rotor 23 can be located on the front side of the wheel set 24, the output shaft 221 passes through the wheel set 24 and is fixedly connected to the rotor 23, and an internal gear can be provided at the center of the wheel set 24.

[0069] The wheel assembly 24 can reciprocate along the axial direction of the output shaft 221, and during movement, the wheel assembly 24 has a drive position and a disengagement position. In the drive position, the wheel assembly 24 engages with the engagement part 2211 to enable the special robot to walk by driving the wheel rim 242 to roll on the ground when the special robot is in walking mode. In the disengagement position, the wheel assembly 24 and the engagement part 2211 disengage so that the special robot can switch to flight mode.

[0070] The second drive 25 is rotatably mounted on the outer periphery of the base 21. The second drive 25 is connected to the wheel assembly 24 and is used to drive the wheel frame 241 to switch between a driven position and a disengaged position. For example, as... Figures 11 to 13 As shown, the second drive 25 can be a linear telescopic drive. The drive end of the second drive 25 can be connected to the wheel set 24. In use, the wheel frame 241 can be switched to the transmission position or the separation position by telescopic movement of the second drive 25.

[0071] For example, such as Figure 17 As shown, when the second drive 25 retracts, the wheel set 24 can move to the left and switch to... Figure 17 In position (a), the wheel assembly 24 can engage with the meshing part 2211 on the output shaft 221. The rotation of the output shaft 221 can simultaneously drive the wheel assembly 24 and the rotor 23 to rotate, and the rotating wheel assembly 24 meets the needs of rolling on the ground.

[0072] When the second drive 25 extends, the wheel set 24 can move to the right and switch to Figure 17 In position (b), the wheel assembly 24 can disengage from the meshing part 2211 on the output shaft 221. The rotation of the output shaft 221 will not be transmitted to the wheel assembly 24. That is, the output shaft 221 will only drive the rotor 23 to rotate, thus meeting the needs of flight.

[0073] The special robot of this invention can switch between walking mode and flight mode during use.

[0074] When switching to walking mode, the special robot and its corresponding components can be in separate positions. Figure 2 (a) Figure and Figure 3 (a) Figure 154. In this case, the special robot can have four fourth links 154, all arranged horizontally. The base 11 and the four linkage mechanisms 15 form a structure similar to a vehicle chassis. The wheel sets 24 connected to the free ends of the four fourth links 154 can form a structure similar to wheels. Through the meshing of the wheel sets 24 and the output shaft 221, the corresponding first drive 22 can drive the wheel sets 24 to rotate, thus meeting the needs of ground walking mode. When switching to flight mode, the linkage mechanism 15 can be driven to move by the linkage drive 16. Under the action of the linkage drive 16, each linkage mechanism 15 can move from... Figure 2 or Figure 3 First switch from Figure (a) to Figure (b), and then switch from Figure (b) to Figure (c). Figure 1 , Figure 2 and Figure 3 The attached diagram (c) shows the special robot or part of it in flight mode.

[0075] In this mode, each of the fourth links 154 extends generally in the vertical direction, and the rotor 23 can be located on top of the corresponding link mechanism 15, with the axis of the rotor 23 also generally vertical. Under the action of the second drive 25, the wheel assembly 24 can disengage from the output shaft 221, and the output shaft 221 can drive the rotor 23 to rotate only, thus meeting the needs of flight.

[0076] It should be noted that in walking mode, the output shaft 221 of the first drive 22 needs to drive both the rotor 23 and the wheel assembly 24 to rotate simultaneously. This results in a larger load on the output shaft 221, which helps reduce maneuverability and thus allows for more stable walking. In flight mode, however, the output shaft 221 of the first drive 22 only drives the rotor 23 to rotate, resulting in a smaller load on the output shaft 221. This allows for a higher output speed to the rotor 23, fully meeting the need for greater lift during flight.

[0077] In other embodiments, such as Figure 4 As shown, each linkage mechanism 15, rotor 23, etc. can also be adjusted in circumferential orientation by driving the steering arm 13 to rotate. In this way, the distance between two adjacent wheel sets 24 can be adjusted. This can avoid the wheel sets 24 from touching and interfering during mode switching and adjustment. On the other hand, it can increase the distribution range of wheel sets 24 and rotor 23 in flight mode, which is conducive to improving flight stability.

[0078] In some embodiments, such as Figure 6As shown, the second link 152 and the fifth link 155 are arranged in parallel, and the third link 153 and the fourth link 154 are arranged in parallel. The length of the second link 152 between the third link 153 and the fourth link 154 is the same as the length of the fifth link 155, and the length of the fourth link 154 between the second link 152 and the fifth link 155 is the same as the length of the third link 153.

[0079] This allows the second link 152, the third link 153, the fourth link 154, and the fifth link 155 to form a parallelogram structure, making the movements of the third link 153 and the fourth link 154 parallel and synchronous. Thus, the movement of the fourth link 154 can be synchronously adjusted by driving the third link 153 through the link drive 16, which helps to simplify the assembly of the link drive 16 and the link mechanism 15.

[0080] In some embodiments, such as Figure 6 As shown, the length of the third link 153 is the same as the length of the fifth link 155. Therefore, the second link 152, the third link 153, the fourth link 154, and the fifth link 155 can be further formed into a rhombus structure. Compared to a parallelogram structure, the rhombus structure has a smaller overall variation and is symmetrical in any form, which is beneficial for balanced force transmission and also enhances the stability and robustness of the structure.

[0081] In some embodiments, such as Figure 7 As shown, there are two parallel connecting rods 152, 153, and 155. The first connecting rod 151 is located between the two second connecting rods 152 and rotatably assembled between the two fifth connecting rods 155. The fourth connecting rod 154 is rotatably assembled between the two second connecting rods 152 and the two fifth connecting rods 155. The two second connecting rods 152 and the two fifth connecting rods 155 are rotatably assembled between the two third connecting rods 153.

[0082] Therefore, on the one hand, it facilitates the connection and assembly of each link, and on the other hand, it makes the assembled link mechanism 15 a symmetrical structure, thus ensuring structural stability and avoiding the situation where the center of gravity easily shifts to the side due to asymmetrical link structure. In addition, the two second links 152 can form a three-point support with the first link 151 on the frame 14. The stability of the triangle allows the link mechanism 15 to withstand a certain amount of lateral force, which fully meets the usage requirements of supporting the power conversion device 20.

[0083] In some embodiments, the first connecting rod 151 is provided with at least one first ear plate 1511, the frame 14 is provided with a clearance hole 142 and at least one second ear plate 141, the connecting rod drive 16 is fitted in the clearance hole 142, the second ear plate 141 is provided on the orifice side of the clearance hole 142, the connecting rod drive 16 is telescopic, and one end of the connecting rod drive 16 is hinged to at least one first ear plate 1511, and the other end of the connecting rod drive 16 is hinged to at least one second ear plate 141.

[0084] For example, such as Figure 6 As shown, the first connecting rod 151 may be provided with two first ear plates 1511, which are arranged in a mirror symmetrical manner. The frame 14 can be generally long plate-shaped, and two second ear plates 141 can be integrally formed on the top side of the frame 14. The clearance hole 142 can be generally rectangular and can be provided between the two second ear plates 141. The frame 14 has a symmetrical structure and can have two axes of symmetry. The two axes of symmetry can be along the length direction and the width direction of the frame 14, respectively. The two second ear plates 141 and the clearance hole 142 are all arranged symmetrically about the two axes of symmetry of the frame 14.

[0085] The linkage drive 16 is rotatably mounted between the two second lugs 141, and the drive end of the connecting drive is rotatably mounted between the two first lugs 1511. When the linkage drive 16 extends or retracts, it can swing up and down within the clearance hole 142, thereby meeting the need to adjust the swing angle of the first link 151.

[0086] It should be noted that the linkage drive 16 is located at the center of the frame 14, which makes the center of gravity of the linkage drive 16 closer to the center of gravity of the whole formed by the linkage mechanism 15 and the frame 14, thereby improving the stability of the structure and operation adjustment.

[0087] The steering arm 13 is provided with an annular boss 132, which is arranged opposite to the clearance hole 142. Part of the connecting rod drive 16 is fitted within the annular boss 132. For example, Figure 8 As shown, the annular boss 132 can be integrally formed with the top side of the steering arm 13 and is adapted to the hole shape of the aforementioned clearance hole 142. The annular boss 132 can generally be square ring shaped. The steering arm 13 can be installed at the bottom of the frame 14, and the annular boss 132 can be aligned with and sealed to the lower opening of the clearance hole 142.

[0088] The annular boss 132 allows for a certain gap between the frame 14 and the steering arm 13, thus meeting the obstacle avoidance requirements when the linkage drive 16 swings. Additionally, the annular boss 132 also provides a shielding effect, offering a degree of protection.

[0089] In some embodiments, the folding device 10 includes a steering bearing 18 and an assembly shaft, such as Figure 9 and Figure 10 As shown, the seat 11 has an outer ring portion 114, and the steering arm 13 has an inner ring portion 133. The inner ring portion 133 can be integrally formed on the bottom side of the steering arm 13. Both the outer ring portion 114 and the inner ring portion 133 are circular, and the inner ring portion 133 is inserted into the outer ring portion 114 and is arranged concentrically with the outer ring portion 114. This satisfies the need for the inner ring portion 133 to rotate relative to the outer ring portion 114. The limiting fit between the inner ring portion 133 and the outer ring portion 114 also ensures the structural stability of the rotation drive.

[0090] like Figure 10 As shown, the steering bearing 18 can be a thrust bearing. The steering bearing 18 is assembled between the steering arm 13 and the seat 11 and is located within the inner ring 133. The assembly shaft passes through the steering arm 13, the steering bearing 18, and the seat 11. This reduces the frictional force between the steering arm 13 and the seat 11, thereby facilitating the swing drive of the steering arm 13.

[0091] like Figure 5 As shown, the base 11 includes a top plate 111, a bottom plate 112, and a plurality of fixing posts 113. Both the top plate 111 and the bottom plate 112 are generally flat. The top plate 111 is located above the bottom plate 112, and the top plate 111 and the bottom plate 112 are arranged generally parallel to each other. The plurality of fixing posts 113 connect the top plate 111 and the bottom plate 112 and are arranged at intervals along the circumference of the base 11. For example, both the top plate 111 and the bottom plate 112 are generally rectangular plates. There can be four fixing posts 113, each extending vertically. The top ends of each of the four fixing posts 113 can be connected and fixed to the four corners of the top plate 111, and the bottom ends of each of the four fixing posts 113 can be connected and fixed to the four corners of the bottom plate 112.

[0092] like Figure 10 As shown, the drive gear 12 and the steering arm 13 are both rotatably mounted on the base plate 112, and the outer ring portion 114 is provided on the base plate 112. For example, the outer ring portion 114 can be integrally formed on the top side of the base plate 112.

[0093] In some embodiments, such as Figure 10 As shown, the folding device 10 includes a rotation drive, which can be a drive motor. The rotation drive is located on the base 11, specifically fixed to the lower side of the top plate 111. There are two drive gears 12, which mesh and rotate on the base 11, and the two drive gears 12 can be arranged sequentially in the left-right direction.

[0094] like Figure 10As shown, the rotary drive is connected to a drive gear 12 and drives the drive gear 12 to rotate, thereby achieving synchronous meshing and rotation of the two drive gears 12. Each drive gear 12 is equipped with a steering arm 13, a frame 14, and a linkage mechanism 15. Thus, the synchronous swing of the two steering arms 13 can be achieved by a single rotary drive, thereby ensuring the synchronous movement of the folding arm assemblies on both sides and ensuring the stability of the motion adjustment process.

[0095] It should be noted that the drive gear 12, steering arm 13, frame 14, and linkage mechanism 15 form the aforementioned folding arm assembly. There are multiple folding arm assemblies, which are arranged symmetrically and centrally symmetrically about the base 11. For example, there can be four folding arm assemblies, which can be installed at the four corners of the base 11 respectively. The four folding arm assemblies can be arranged approximately centrally symmetrically and mirror-symmetrically about the base 11, thereby ensuring the stability of the structural distribution and facilitating smooth driving.

[0096] In some embodiments, the folding device 10 includes a landing gear 116 and an elastic member 117. The landing gear 116 is disposed on the bottom side of the seat body 11 and can be flexibly deformed. The elastic member 117 is disposed between the landing gear 116 and the seat body 11 and can be elastically deformed to buffer the impact when the landing gear 116 lands.

[0097] For example, such as Figure 9 As shown, there can be two landing gears 116. Both landing gears 116 are located on the bottom side of the base plate 112 and can be arranged in parallel and spaced apart in the left and right directions. There can be four elastic elements 117. The elastic elements 117 can be springs, etc. Two elastic elements 117 can be connected between one landing gear 116 and the base plate 112, and the other two elastic elements 117 can be connected between another landing gear 116 and the base plate 112.

[0098] During descent, the landing gear 116 and the elastic element 117 act as a buffer, thus avoiding a hard landing and providing protection.

[0099] In some embodiments, in flight mode, the rim 242 surrounds the outer periphery of the rotor 23, and while the rotor 23 rotates, the wheel assembly 24 does not rotate, thus providing a protective function. In walking mode, the rim 242 and rotor 23 are offset axially from each other on the output shaft 221, with the rim 242 adjacent to the base 21 relative to the rotor 23, and both the rim 242 and rotor 23 rotate. For example, the rim 242 can be located to the left of the rotor 23; in this case, the rotation direction of the rim 242 can be the same as or opposite to that of the rotor 23.

[0100] In some embodiments, in walking mode, both rotor 23 and wheel assembly 24 rotate, and the rotation direction of rotor 23 is opposite to that of wheel assembly 24.

[0101] For example, when switching to flight mode, the axis of rotor 23 can be switched to a vertical position. At this time, rotor 23 will rotate freely under the action of output shaft 221, thus meeting the needs of flight. In this mode, wheel assembly 24 is disengaged from output shaft 221, and wheel assembly 24 will not rotate with the rotation of output shaft 221.

[0102] When switching to walking mode, the axes of wheel set 24 and rotor 23 are generally arranged horizontally. At this time, wheel set 24 meshes with output shaft 221 for transmission. Rotor 23 and wheel set 24 will both rotate under the action of output shaft 221. The rotating wheel set 24 can roll on the ground, thus meeting the needs of ground driving.

[0103] It should be noted that in walking mode, one of the wheel assembly 24 and the rotor 23 can rotate clockwise, and the other can rotate counterclockwise. This design with opposite rotation directions simplifies the structural assembly. Additionally, it increases the relative speed of the wheel assembly 24 and the rotor 23. Due to the retraction of the wheel assembly 24, the rotor 23 extends from the rim 242. The rotating rotor 23 can effectively block foreign objects, thus helping to ensure the stability of the rim 242 during rolling.

[0104] In some embodiments, such as Figure 12 and Figure 13 As shown, the wheel assembly 24 includes a housing 243, a central gear 27, a gear ring 28, and a plurality of planetary gears 29.

[0105] The housing 243 is located at the center of the wheel frame 241. The housing 243 is sleeved on the outer periphery of the output shaft 221 and its position is adjustable along the axial direction of the output shaft 221. For example, the housing 243 can be integrally formed at the center of the wheel frame 241, and the housing 243 can be generally a ring structure and sleeved on the outer periphery of the output shaft 221.

[0106] like Figure 15 and Figure 16 As shown, the central gear 27 can be annular, and both the inner and outer peripheral walls of the central gear 27 can be provided with meshing teeth. The central gear 27 is sleeved on the outer peripheral side of the output shaft 221 and its position is adjustable along the axial direction of the output shaft 221. In the walking mode, the wheel set 24 meshes with the meshing part 2211 through the central gear 27, thereby meeting the usage requirement of driving the wheel set 24 to rotate through the output shaft 221.

[0107] The gear ring 28 is fixed inside the housing 243 and surrounds the outer periphery of the central gear 27. For example, as Figure 16 As shown, the gear ring 28 can be interference-fitted into the housing 243. In some other embodiments, the gear ring 28 can also be fixed into the housing 243 by means of fasteners or anti-rotation fittings.

[0108] Multiple planetary gears 29 are meshed between the central gear 27 and the ring gear 28 and are arranged at circumferential intervals along the central gear 27. For example, as Figure 15 and Figure 16 As shown, there may be three planetary gears 29. The three planetary gears 29 may be located on the periphery of the central gear 27 and arranged at equal intervals along the circumference of the central gear 27. The inner side of each planetary gear 29 meshes with the outer periphery of the central gear 27, and the outer side of each planetary gear 29 meshes with the gear ring 28.

[0109] When the wheel assembly 24 switches to the transmission position under the action of the second drive 25, the central gear 27 can be meshed and assembled on the outer periphery of the meshing part 2211. When the output shaft 221 rotates, the meshing part 2211 can drive the central gear 27 to rotate. Multiple planetary gears 29 can rotate around the central gear 27 and rotate circumferentially. The gear ring 28 will rotate under the action of multiple planetary gears 29, thereby realizing the rotational drive of the wheel frame 241 and the wheel ring 242.

[0110] The assembly configuration of planetary gears 29, ring gear 28, and center gear 27 can reduce the transmission ratio of the output shaft 221, thereby preventing the ring gear 28 from rotating too fast and ensuring the stability of the motion.

[0111] It should be noted that the teeth on the meshing part 2211 and the teeth on the inner peripheral wall of the central gear 27 can both have guide slopes. The wedge-shaped fit of the two guide slopes allows the central gear 27 to rotate automatically and align with the meshing part 2211, thereby facilitating the meshing fit between the central gear 27 and the meshing part 2211.

[0112] In some embodiments, such as Figure 16 As shown, the power conversion device 20 includes a first bearing 210, a central gear 27 with an annular stepped groove, the first bearing 210 is embedded in the stepped groove, and the outer ring of the first bearing 210 is fixedly connected to the central gear 27. The inner ring of the first bearing 210 is sleeved on the outer periphery of the output shaft 221 and can slide along the axial direction of the output shaft 221.

[0113] The first bearing 210 can serve as an internal support and positioning element, thereby enhancing the structural stability of the assembly, and can also ensure the smooth rotation of the central gear 27.

[0114] In some embodiments, such as Figure 13As shown, the housing 243 includes a first housing 2431 and a second housing 2432 arranged axially opposite to each other on the output shaft 221. The second housing 2432 is located between the first housing 2431 and the rotor 23. The second drive 25 can be hinged to the left side of the first housing 2431. The second housing 2432 is integrally formed at the center of the wheel frame 241. The gear ring 28 is fixed inside the second housing 2432. The groove of the stepped groove faces the second housing 2432. The center of the second housing 2432 may also be provided with an annular stepped groove. The first bearing 210 is assembled between the central gear 27 and the second housing 2432. A part of the first bearing 210 can be embedded in the stepped groove, and another part of the first bearing 210 can be embedded in the stepped groove.

[0115] like Figure 16 As shown, the first housing 2431 has a first annular portion 2431A surrounding the outer periphery of the output shaft 221 at its center. The first annular portion 2431A can be cylindrical and can be integrally formed at the center of the first housing 2431. The first annular portion 2431A extends toward the central gear 27. The end face of the central gear 27 facing the first housing 2431 has an annular groove, and the first annular portion 2431A is embedded in the annular groove.

[0116] The limiting fit between the first annular portion 2431A and the annular groove can enhance the structural stability of the assembly of the central gear 27, thereby ensuring the stability of the transmission fit between the central gear 27 and the multiple planetary gears 29.

[0117] like Figure 16 As shown, the second housing 2432 has a second annular portion 2432A at its center, surrounding the outer periphery of the output shaft 221. The second annular portion 2432A can be integrally formed at the center of the second housing 2432. The second annular portion 2432A extends towards the central gear 27 and abuts against the inner ring of the first bearing 210. This ensures the structural stability of the assembly of the first bearing 210.

[0118] In some embodiments, such as Figure 15 and Figure 16As shown, the power conversion device 20 includes an annular seal 213, which can be a sealing ring. The first housing 2431 has a third annular portion 2431B, which can be integrally formed on the first housing 2431. The third annular portion 2431B surrounds the outer periphery of the first annular portion 2431A and extends into the second housing 2432, fitting against the inner periphery of the second housing 2432. The annular seal 213 is located inside the second housing 2432 and surrounds the outer periphery of the output shaft 221, and is clamped and fixed between the third annular portion 2431B and the gear ring 28. The annular seal 213 enhances the sealing at the joint of the first housing 2431 and the second housing 2432, thereby preventing liquids, foreign objects, etc. from entering the housing 243 and ensuring the stability of the planetary gear 29's movement.

[0119] In some embodiments, the wheel set 24 includes a plurality of fixed shafts 214, all of which are connected to the second housing 2432 and are arranged at intervals along the circumference of the central gear 27. A plurality of planetary gears 29 are rotatably mounted on the outer periphery of the plurality of fixed shafts 214 in a corresponding manner.

[0120] For example, such as Figure 15 and Figure 16 As shown, the fixed shaft 214 can be fixedly connected to the second housing 2432, and the axial direction of the fixed shaft 214 is consistent with the axial direction of the output shaft 221. The fixed shaft 214 is located inside the housing 243, and the number of fixed shafts 214 is the same as the number of planetary gears 29. Each planetary gear 29 is rotatably mounted on the outer periphery of the corresponding fixed shaft 214. The fixed shaft 214 can position the planetary gear 29, thereby ensuring the structural stability of the planetary gear 29 itself, and thus improving the overall structural stability of the gear set 24.

[0121] In some embodiments, each planetary gear 29 has a mounting groove 291 on its two oppositely arranged end faces. A second bearing 215 is mounted in each of the two mounting grooves 291 of the planetary gear 29. A fixed shaft 214 passes through the second bearing 215, and the second bearing 215 is clamped and limited between the end of the fixed shaft 214 and the planetary gear 29 or between the planetary gear 29 and the second housing 2432.

[0122] For example, such as Figure 16 As shown, each planetary gear 29 can have a mounting groove 291 on both its left and right sides. The mounting groove 291 can be an annular groove, and it is coaxially arranged with the planetary gear 29. A second bearing 215 can be embedded in each of the mounting grooves 291 on both sides. The aforementioned fixing shaft 214 can be a bolt, which can pass through the two second bearings 215 and the corresponding planetary gear 29. The bolt is connected and fixed to the second housing 2432 by a nut, wherein the nut is located on the outside of the second housing 2432.

[0123] During assembly, the inner rings of the two second bearings 215 can be clamped and fixed between the bolt head and the nut, and the outer rings of the two bearings can be interference-fitted into the inner circumferential wall of the corresponding mounting groove 291. In use, the planetary gear 29 can rotate synchronously with the outer rings of the two second bearings 215, thereby improving the smoothness of the rotation of the planetary gear 29.

[0124] In some embodiments, such as Figure 13 As shown, the power conversion device 20 includes a third bearing 211 and a rotating seat 212. The third bearing 211 is sleeved on the outer periphery of the base 21. A retaining ring is provided on the outer periphery of the base 21. The inner ring of the third bearing 211 is limited between the retaining ring and the shoulder of the base 21. The retaining ring can be located on the left side of the third bearing 211, and the shoulder can be located on the right side of the third bearing 211.

[0125] The rotating seat 212 is fixed to the outer circumference of the outer ring of the third bearing 211. The second drive 25 is telescopic and there are multiple second drives 25. The multiple second drives 25 are arranged at intervals along the circumference of the output shaft 221, and one end of each second drive 25 is connected to the rotating seat 212, and the other end of each second drive 25 is hinged to the housing 243.

[0126] For example, the rotating seat 212 can generally be a rhomboid plate structure. A through hole is provided at the center of the rotating seat 212. The base 21 and the third bearing 211 are both assembled within the through hole of the rotating seat 212. The third bearing 211 is located between the base 21 and the rotating seat 212, thus enabling the rotating seat 212 and the base 21 to rotate. Two second drives 25 can be provided, arranged symmetrically about the first drive 22. The left end of each second drive 25 can be fixedly connected to the rotating seat 212, and the right end of each second drive 25 can be hinged to the first housing 2431.

[0127] In use, the wheel assembly 24 can be moved to the left by the synchronous contraction of the two second drives 25, engaging with the meshing part 2211 of the output shaft 221. In walking mode, the two second drives 25 and the rotating seat 212 will rotate synchronously with the wheel assembly 24 under the action of the output shaft 221. When it is necessary to switch to flight mode, the wheel assembly 24 can be moved to the right by the synchronous extension of the two second drives 25, thereby disengaging the wheel assembly 24 from the meshing part 2211.

[0128] The following describes a specific example of the special robot of the present invention.

[0129] The special robot of this invention includes a folding and unfolding device 10 and a power conversion device 20.

[0130] The folding and unfolding device 10 includes two parts: a single-degree-of-freedom six-bar folding and unfolding cantilever mechanism and a fixing and gear steering mechanism.

[0131] The single-degree-of-freedom six-bar cantilever mechanism includes a frame 14, a frame rod fixing lug, a first connecting rod 151, a first lug plate 1511, a fourth connecting rod 154, a second connecting rod 152, a third connecting rod 153, a fifth connecting rod 155, a connecting rod drive 16, and a second lug plate 141.

[0132] Two sets of frame rod fixing lugs are symmetrically fixed to the frame 14. One end of the first connecting rod 151 is hinged to the inside of one set of frame rod fixing lugs. Two first lug plates 1511 are fixed to the first connecting rod 151. One end of two symmetrical second connecting rods 152 is hinged to the inside of the other set of frame rod fixing lugs. One end of the fourth connecting rod 154 is hinged to the inside of the outermost hinge hole of the second connecting rod 152.

[0133] Two symmetrical third connecting rods 153 are hinged at one end to the outside of the second connecting rod 152. Two symmetrical fifth connecting rods 155 are hinged at one end to the inside of the symmetrical third connecting rods 153, and at the other end to the outside of the fourth connecting rod 154. The second ear plate 141 is symmetrically fixed to the frame 14.

[0134] The linkage drive 16 is hinged to the inside of the second ear plate 141, and the actuator of the linkage drive 16 is hinged to the inside of the two first ear plates 1511. The single-degree-of-freedom six-bar cantilever mechanism is entirely hinged. The extension and retraction of the actuator of the linkage drive 16 controls the rotation of the first link 151 around the frame 14, thereby driving the entire linkage mechanism 15 and the fourth link 154 to achieve planar rotation within the range of 0 to 90°.

[0135] The fixed and gear steering mechanism includes a base plate 112, a top plate 111, a fixed column 113, a drive steering gear (equivalent to a drive gear 12), a steering arm 13, a steering drive 17, a steering thrust ball bearing (equivalent to a steering bearing 18), a connecting bolt group (equivalent to an assembly shaft), a landing gear 116, a buffer spring (equivalent to an elastic element 117), a driven gear shaft 115, an outer ring 114, a steering connection flange seat, a driven steering gear (equivalent to another drive gear 12), and a bearing assembly.

[0136] The base plate 112 and the top plate 111 are fixedly connected by four fixing columns 113, forming a basic frame. The steering drive 17 is fixedly connected to the top plate 111 by bolts. The drive steering gear is fixedly connected to the drive shaft of the steering drive 17 and maintains a certain gap with the base plate 112 through bearings and washers. The steering arm 13 has a circular groove, and the outer ring 114 is fixedly connected to the outside of the circular groove of the base plate 112. The edge of the circular groove has a circular boss, which is connected to the base plate 112 through a steering thrust ball bearing and the circular boss. The circular boss and the outer ring 114 form a set of retaining rings to limit the movement of the steering arm 13 horizontally. At the same time, the steering arm 13 is connected to the base plate 112 through a set of connecting bolts to ensure that the steering arm 13 is axially fixed.

[0137] The landing gear 116 is symmetrically fixed to the lower end of the base plate 112, serving as temporary support; multiple sets of buffer springs are fixed between the landing gear 116 and the base plate 112, serving as buffers; one end of the driven gear shaft 115 is fixed to the base plate 112; the driven steering gear is connected to the driven gear shaft 115 through a bearing assembly and meshes with the drive steering gear, and the size of the driven steering gear is the same as that of the drive steering gear; the steering connection flange seat is fixed to one end of the steering arm 13 and is fixed to the frame 14 through the peripheral bolt holes.

[0138] The folding and unfolding device 10 has a single-degree-of-freedom six-bar folding and unfolding cantilever mechanism. The entire mechanism is controlled by a single folding and unfolding part drive motor, and the entire mechanism has the ability to fold and unfold in a 0 to 90° plane.

[0139] The folding and unfolding device, a 10-degree-of-freedom six-bar folding and unfolding cantilever mechanism, has a compound hinge, which is formed between the end of the first link 151, the third link 153, and the fifth link 155.

[0140] The folding and unfolding device, a 10-degree-of-freedom six-bar folding and unfolding cantilever mechanism, has multiple sets of symmetrical linkage arrangements. The second linkage 152, the third linkage 153, and the fifth linkage 155 all adopt double-piece symmetrical linkage arrangements. This not only strengthens the mechanism but also solves the problem of motion interference. The first linkage 151 moves between the two symmetrical second linkages 152, avoiding motion interference between them.

[0141] The folding device 10 has a fixed and gear steering mechanism. The device is a planar series single-degree-of-freedom gear rotation device. The movement of the entire mechanism is controlled by a single steering motor, which can realize the rotation of the steering arm 13 within the range of 0 to 60 degrees in the plane.

[0142] The fixing and gear steering mechanism of the folding device 10 is arranged symmetrically. A single steering drive 17 controls the driving steering gear and the driven steering gear, thereby controlling the two steering arms 13 to perform symmetrical planar motion.

[0143] The fixing and gear steering mechanism of the folding device 10 adopts a set of retaining rings formed by the circular boss of the steering arm 13 and the outer ring 114 for limiting. At the same time, it adopts a steering thrust ball bearing and connecting bolt group for connection and fixing, so as to realize the axial fixation of the steering arm 13 and the base plate 112, and also ensure that the two can rotate relative to each other through the steering thrust ball bearing.

[0144] The fixed and gear steering mechanism of the folding device 10 has the same size as the driving steering gear and the driven steering gear, and the two mechanisms are symmetrically arranged about the longitudinal plane of the robot center, so as to ensure that the movement of the two steering arms 13 controlled by them is mirror symmetrical with respect to the longitudinal plane of the robot center.

[0145] The landing gear 116 of the device is symmetrically fixed to the lower end of the base plate 112, serving as temporary support; multiple sets of buffer springs are fixed between the landing gear 116 and the base plate 112, serving as buffers.

[0146] The entire device is a two-degree-of-freedom folding and unfolding device 10. The single-degree-of-freedom six-bar folding and unfolding cantilever mechanism can realize the folding and unfolding of the mechanism in the vertical plane, while the fixed and gear-driven steering mechanism can realize the folding and unfolding of the mechanism in the horizontal plane. The two movements cooperate with each other to complete the folding and unfolding process of the device in space.

[0147] The fourth link 154 of the single-degree-of-freedom six-bar folding cantilever mechanism can serve as a support axis for the walking mechanism when it is in a horizontal state, and as a rotation axis for the flying mechanism when it is in a vertical state.

[0148] When the linkage drive 16 is in its initial position, the motor push rod of the linkage drive 16 can be in the retracted state. At this time, the fourth link 154 is horizontal to the horizontal plane. The special robot is in the walking state. The linkage drive 16 starts to run, and the motor push rod of the linkage drive 16 slowly extends. The first ear plate 1511 drives the first link 151 to rotate around the fixed ear of the frame rod, thereby driving the entire single-degree-of-freedom six-bar folding cantilever mechanism to move. The linkage drive 16 is hinged to the second ear plate 141. As the motor push rod slowly extends, the linkage drive 16 simultaneously rotates around the hinge point of the second ear plate 141 to adjust its posture. The push rod of the linkage drive 16 continues to extend, and the single-degree-of-freedom six-bar folding cantilever mechanism reaches the intermediate state until the fourth link 154 is perpendicular to the horizontal plane. During this process, the fourth link 154 completes a planar rotation of 0 to 90 degrees. At this time, the single-degree-of-freedom six-bar folding cantilever mechanism has completed its folding in the vertical plane.

[0149] As the single-degree-of-freedom six-bar folding cantilever mechanism unfolds, the frame 14 slowly descends and contacts the ground via the landing gear 116 on both sides. At the same time, multiple sets of buffer springs provide support, buffering, and energy absorption.

[0150] As the single-degree-of-freedom six-bar cantilever mechanism unfolds, the fixed and gear steering mechanisms simultaneously begin to move. First, the steering drive 17 rotates forward, driving the drive steering gear to rotate forward as well. On one side, through gear meshing, the steering arm 13 rotates in reverse around the connecting bolt group. The steering thrust ball bearing acts as a pivot, allowing the steering arm 13 to move and separate from the fixed base plate 112. The drive steering gear rotates forward, driving the driven steering gear in reverse on the other side, thereby driving the steering arm 13 on the other side to rotate in reverse around the connecting bolt group through gear meshing.

[0151] The folding device 10 transitions from walking to flying mode by the coordinated folding and unfolding of the vertical plane of the single-degree-of-freedom six-bar folding and unfolding cantilever mechanism and the horizontal folding and unfolding of the fixed mechanism and gear steering mechanism.

[0152] At this point, the mechanism for transitioning a special-purpose robot from a walking state to a flying state is complete. If the special-purpose robot transitions from a flying state to a walking state, the single-degree-of-freedom six-bar cantilever mechanism and the fixed and gear steering mechanisms move in exactly opposite directions, controlled by the link drive 16 and the steering drive 17 respectively.

[0153] The power conversion device 20 serves as the end power output and execution device for the special robot and is connected to the end execution link of the unfolding device 10. The power conversion device 20 includes a connecting flange 26, a base 21, a diamond-shaped pendulum seat deep groove ball bearing (equivalent to the third bearing 211), a rotor motor (equivalent to the first drive 22), a linear motor (equivalent to the second drive 25), an actuator spindle of the rotor motor (equivalent to the output shaft 221), a gear sealing cover, a central gear 27, a transmission star gear (equivalent to the planetary gear 29), an internal gear ring 242 (equivalent to the gear ring 28), an annular sealing ring (equivalent to the annular seal 213), a gearbox cover (equivalent to the first housing 2431), a cover lug, a diamond-shaped pendulum seat (equivalent to the rotating seat 212), a retaining ring, a deep groove ball bearing (equivalent to the first bearing 210), a star gear external thrust ball bearing (equivalent to one second bearing 215), a star gear internal thrust ball bearing (equivalent to another second bearing 215), a side gear fixing screw assembly (equivalent to the fixed shaft 214), a wheel frame 241, a wheel rim 242, and a rotor 23.

[0154] The connecting flange 26 is fixedly connected to the fourth connecting rod 154 of the folding device 10, and the base 21 is fixedly connected to the connecting flange 26. The two are connected in series. The diamond-shaped pendulum seat deep groove ball bearing is fixedly connected to the outer edge of the base 21, with the inner side fixed by a protruding shoulder of the base 21 and the outer side fixed by a retaining ring. The tail of the rotor motor is fixedly connected to the base 21 by a circumferential bolt group, and the two are connected in series. The inner ring of the diamond-shaped pendulum seat is fixedly connected to the outer ring of the diamond-shaped pendulum seat deep groove ball bearing, and the diamond-shaped pendulum seat can rotate around the base 21 through the diamond-shaped pendulum seat deep groove ball bearing.

[0155] Two symmetrical linear motor bases are fixedly connected to slots on both sides of the rhomboid pendulum seat, allowing the linear motors to rotate freely with the rhomboid pendulum seat. The rotor motor's actuator shaft is fixedly connected to the rotor motor, serving as the rotor motor's output shaft 221. The wheel frame 241 is fitted onto the outside of the rotor motor's actuator shaft through a central hole. The internal gear ring 242 is fixedly connected to the inner ring of the wheel frame 241, with the inner side of the annular seal ring tightly against the internal gear ring 242, and the inner edge of the annular seal ring being lower than the internal gear ring 242.

[0156] The end face of the gearbox cover is fixedly connected to the wheel frame 241 (specifically, the second housing 2432) through a circumferential threaded hole. The outer edge of the inner outer edge boss of the gearbox cover is locked to the inner edge of the wheel frame 241, and the inner boss of the gearbox cover is tightly against the annular sealing ring. Two symmetrical cover lugs are fixedly connected to the circumference of the end face of the gearbox cover, and the cover lugs are hinged to the output end of the linear motor via a pin. The outer end face of the gear sealing cover is fixedly connected to the inner inner edge boss of the gearbox cover.

[0157] The inner side of the central gear 27 is fixed to the deep groove ball bearing through a circular groove, and the outer side has a circular groove that fits tightly against the gear sealing cover. The central gear 27 has inner ring teeth in the middle. The outer ring of the deep groove ball bearing is interference-fitted with the central gear 27, and the inner ring is sleeved with the rotor motor's main shaft. The inner ring of the bearing is axially fixed by the inner ring circular boss (equivalent to the second annular part 2432A) of the wheel frame 241.

[0158] Three sets of transmission star gears are evenly distributed around the central gear 27 and mesh with it. Circular grooves are formed on the inner and outer sides of the transmission star gears. An internal thrust ball bearing is fixed between the transmission star gear and the wheel frame 241, ensuring frictionless relative rotation between them. An external thrust ball bearing is provided at the connection between the transmission star gear and the side gear fixing screw assembly. While the side gear fixing screw assembly fixes the transmission star gear, the external thrust ball bearing ensures free rotation of the transmission star gear. The wheel rim 242 is circumferentially fixed to the wheel frame 241. The rotor 23 is fixed to the rotor motor's main shaft via a shaft hole and a set screw.

[0159] The robot has landed on the ground and is rotating its main shaft in the forward direction, which drives the rotor 23 to rotate in the forward direction. The main shaft speed is reduced, and the linear motors fixed on both sides of the rhomboid swing base and arranged symmetrically are unlocked, thereby retracting the actuator rod. Then, the gearbox cover is pulled backward through the hinge point of the cover ear seat. Since the end face of the gearbox cover is fixed to the wheel frame 241 through the circumferential threaded hole, the entire wheel frame 241 is pulled backward. This causes the central gear 27 to move backward. The inner hole of the central gear 27 is an internal gear hole. The linear motor continues to retract the actuator rod. The inner hole of the central gear 27 meshes with the gear shaft at the root of the rotor motor's actuator shaft. The actuator shaft then drives the central gear 27 to rotate forward, which in turn drives the three sets of transmission star gears to rotate in reverse. The three sets of transmission star gears then drive the internal gear ring 242 to rotate in reverse through gear tooth meshing. The internal gear ring 242 is fixed to the wheel frame 241, thus driving the entire wheel frame 241 to rotate in reverse. This reverse motion is then transmitted to the linear motor fixed to the gearbox cover. Since the linear motor is fixed to the rhomboid pendulum seat, and the rhomboid pendulum seat is connected to the base 21 through a deep groove ball bearing, the linear motor ultimately drives the rhomboid pendulum seat to rotate around the base 21. At the same time, the wheel frame 241 rotates in reverse, driving the wheel rings 242 fixed to it to rotate in reverse. The four sets of wheel rings 242 contact the ground, thus enabling the robot to walk and move on the ground. At this point, the robot has completed the transition from flight mode to walking mode.

[0160] When the robot's unfolding mechanism is deployed and it is ready to enter flight mode, the linear motors fixed to both sides of the rhomboid base and arranged symmetrically unlock, then extend the actuator rods, which in turn push the gearbox cover forward through the hinge point of the cover lug, thereby pushing the entire wheel frame 241 forward. This in turn drives the central gear 27 forward, and the gear hole inside the central gear 27 meshes with and disengages from the gear shaft at the root of the rotor motor's actuator shaft. The rotor motor's actuator shaft power is then directly output to the rotor 23, the linear motor locks, and the robot prepares to enter flight mode.

[0161] The power conversion device 20 adopts a dual-side parallel floating linear motor and a diamond-shaped swing seat structure, using the linear motor's linear motion to control the power output mode.

[0162] The connecting flange 26 is fixedly connected to the fourth connecting rod 154 of the unfolding device 10; the base 21 is fixedly connected to the connecting flange 26, and the two are connected in series; the diamond-shaped swing seat deep groove ball bearing is fixedly connected to the outer edge of the base 21, the inner side is fixed by the protruding shoulder of the base 21, and the outer side is fixed by the retaining ring.

[0163] The tail of the rotor motor is fixed to the base 21 by a group of peripheral bolts, and the two are connected in series; the inner ring of the rhomboid swing seat is fixed to the outer ring of the rhomboid swing seat deep groove ball bearing, and the rhomboid swing seat can rotate around the base 21 through the rhomboid swing seat deep groove ball bearing.

[0164] Two symmetrical linear motor bases are fixedly connected to the slots on both sides of the rhomboid pendulum seat, and the linear motors can rotate freely with the rhomboid pendulum seat.

[0165] The wheel frame 241 is fitted onto the outside of the rotor motor's main shaft through the center hole; the inner gear ring 242 is fixedly connected to the inner ring of the wheel frame 241; the inner side of the annular sealing ring is tightly attached to the inner gear ring 242, and the inner edge of the annular sealing ring is lower than the inner gear ring 242; the end face of the gearbox cover is fixedly connected to the wheel frame 241 through the circumferential threaded hole, the outer edge of the inner outer edge of the gearbox cover's boss is locked with the inner edge of the wheel frame 241, and the inner boss of the gearbox cover is tightly attached to the annular sealing ring, thus achieving a structural sealing form.

[0166] Two symmetrical through-cover lugs are fixedly connected to the circumference of the end face of the gearbox through-cover, and the through-cover lugs are hinged to the output end of the linear motor through a pin. The linear motor can control the entire wheel frame 241 structure to perform linear motion.

[0167] The outer end face of the gear sealing cover is fixedly connected to the inner edge protrusion of the gearbox cover; the inner side of the central gear 27 is fixedly connected to the deep groove ball bearing through a circular groove, and a circular groove is opened on the outer side. The circular groove is used to fit tightly with the gear sealing cover to achieve axial fixation of the central gear 27.

[0168] The axial fixation of the center gear 27 is achieved by using a method in which the outer ring of a deep groove ball bearing is interference-fitted with the center gear 27, the inner ring is interference-fitted with the main shaft of the rotor motor, and the inner ring of the bearing is axially fixed by the inner ring circular boss of the wheel frame 241.

[0169] Three sets of transmission star gears are evenly distributed around the central gear 27 and mesh with the central gear 27. The transmission star gears have circular slots on their inner and outer sides. A thrust ball bearing is fixed between the transmission star gear and the wheel frame 241. The thrust ball bearing is fixed between the transmission star gear and the circular slot of the wheel frame 241, allowing the transmission star gear and the wheel frame 241 to rotate relative to each other without friction.

[0170] The connection between the transmission star gear and the side gear fixing screw assembly is equipped with a star gear external thrust ball bearing. While the side gear fixing screw assembly fixes the transmission star gear, the star gear external thrust ball bearing can ensure that the transmission star gear can rotate freely.

[0171] The rotor motor can independently control the rotation of the wheel frame 241 and the rotor 23 through the commutation device.

[0172] Beneficial effects: The special robot folding and unfolding device 10 provides a flexible and simple motion mechanism for the rapid switching of special robot motion modes (walking-flying), and provides a solution for combining the motion modes of traditional rotor robots and wheeled robots, improving the robot's motion efficiency and motion performance. The innovative design of the 2-DOF dual-plane free folding and unfolding device 10 provides new ideas for expanding the motion modes of special robots and optimizing mechanism design, and has a great market prospect in the field of intelligent robots.

[0173] The folding and unfolding device 10 of the present invention has a single-degree-of-freedom six-bar folding and unfolding cantilever mechanism, which has the ability to fold and unfold in a plane of 0 to 90°, with a large folding and unfolding angle, simple driving and convenient control.

[0174] The folding device 10 of the present invention has a fixing and gear steering mechanism, which can drive and control a pair of mutually symmetrical folding devices 10 by a single motor.

[0175] The single-degree-of-freedom six-bar cantilever mechanism and the fixing and gear steering mechanism of the present invention can cooperate with each other to realize the folding device 10 folding in the horizontal plane and the vertical plane.

[0176] The folding and unfolding device 10 of the present invention can control the position and attitude of the end effector by folding and unfolding the mechanism, which facilitates the change of its motion mode, improves the utilization efficiency of the mechanism, and reduces the complexity of the motion mechanism.

[0177] The folding and unfolding device 10 of the present invention can quickly switch between flight mode and walking mode through the folding and unfolding of the mechanism. It is ingeniously designed, has strong folding and unfolding capabilities, is simple to control, and has low cost.

[0178] The power conversion device 20 of the present invention has the ability to achieve simple and reliable power output under different motion modes (walking-flying).

[0179] The power conversion device 20 of the present invention adopts a design of series power output mechanism and parallel conversion control mechanism, which is ingenious and simple in structure.

[0180] The power conversion device 20 of the present invention uses a single rotor motor as the power output mechanism, which provides power to the rotor 23 during flight and to the wheel frame 241 during walking, thereby improving the utilization efficiency of the mechanism and saving energy.

[0181] The power conversion device 20 of the present invention adopts a structure of a double-sided parallel floating linear motor and a rhomboid swing seat, which controls the power output mode with linear motion. It is simple, effective and ingeniously designed.

[0182] The power conversion device 20 of the present invention can provide the corresponding power output form in a timely manner under the condition of rapid switching between flight mode and walking mode of robot. The conversion device is ingeniously designed, simple in structure and highly efficient in power output.

[0183] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A dual-mode special-purpose robot, characterized in that, It features both flight and walking modes and includes; A base and a drive gear, wherein the drive gear is rotatably mounted on the base; A steering arm and a frame, wherein one end of the steering arm is rotatably mounted to the base and meshes with the drive gear, and the drive gear is used to drive the steering arm to rotate, and the frame is fixed to the other end of the steering arm; A linkage mechanism and linkage drive are provided. The linkage mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link. One end of the first link and one end of the second link are rotatably connected to the frame. One end of the third link is rotatably connected to the other end of the first link, and the other end of the third link is rotatably connected to the middle of the second link. One end of the fourth link is rotatably connected to the other end of the second link, and the other end of the fourth link is used to connect to a power conversion device. One end of the fifth link is rotatably connected to the connection between the first link and the third link, and the other end of the fifth link is rotatably connected to the middle of the fourth link. A base and a first drive, the base being fixed to the free end of the fourth link, the first drive being disposed on the base and including an output shaft; A rotor connected to the output shaft, the first drive being used to drive the rotor to rotate in flight mode to propel the special robot to flight. The wheel assembly is slidably fitted onto the outer periphery of the output shaft and has a drive position and a disengagement position. In the drive position, the wheel assembly engages with the output shaft to drive the wheel assembly to roll on the ground in walking mode. In the disengagement position, the wheel assembly is separated from the output shaft. The wheel assembly includes a wheel frame and a wheel rim, the wheel rim being fixed to the outer periphery of the wheel frame and coaxially arranged with the rotor. The linkage mechanism is fixed to the frame. The linkage mechanism has a flight mode and a walking mode. In the flight mode, the linkage mechanism adjusts the axis of the rotor and the wheel assembly to vertical. In the walking mode, the linkage mechanism adjusts the axis of the rotor and the wheel assembly to horizontal. The linkage drive is assembled between the frame and the linkage mechanism and is used to drive the linkage mechanism to switch between the flight mode and the walking mode. In the flight mode, the wheel rim surrounds the outer periphery of the rotor, and the rotor rotates while the wheel assembly does not rotate; in the walking mode, the wheel rim and the rotor are offset axially from the output shaft, and the wheel rim is adjacent to the base relative to the rotor, and both the wheel rim and the rotor rotate. The second drive is rotatably mounted on the outer periphery of the base. The second drive is connected to the wheel assembly and is used to drive the wheel frame to switch between the transmission position and the separation position.

2. The dual-mode special robot according to claim 1, characterized in that, The wheel set includes: A housing is located at the center of the wheel frame, and the housing is sleeved on the outer periphery of the output shaft and its position is adjustable along the axial direction of the output shaft; A central gear is sleeved on the outer periphery of the output shaft and its position is adjustable along the axial direction of the output shaft. The output shaft is provided with a meshing part, and in the walking mode, the wheel set meshes with the meshing part through the central gear. A gear ring, which is fixed inside the housing and surrounds the outer periphery of the central gear; Multiple planetary gears are meshed between the central gear and the ring gear and are arranged at circumferential intervals along the central gear.

3. The dual-mode special robot according to claim 2, characterized in that, Includes a first bearing, the central gear has an annular stepped groove, the first bearing is embedded in the stepped groove, and the outer ring of the first bearing is fixedly connected to the central gear. The inner ring of the first bearing is sleeved on the outer periphery of the output shaft and can slide along the axial direction of the output shaft. The housing includes a first housing and a second housing arranged opposite each other in the axial direction of the output shaft. The second housing is located between the first housing and the rotor. The second drive is hinged to the first housing. The second housing is integrally formed on the wheel frame. The gear ring is fixed inside the second housing. The groove of the stepped groove faces the second housing. The first housing has a first annular portion at its center surrounding the outer periphery of the output shaft. The first annular portion extends toward the central gear. The central gear has an annular groove on its end face facing the first housing. The first annular portion is embedded in the annular groove. The second housing has a second annular portion at its center surrounding the outer periphery of the output shaft. The second annular portion extends toward the central gear and abuts against the inner ring of the first bearing.

4. The dual-mode special robot according to claim 3, characterized in that, The device includes an annular seal. The first housing has a third annular portion, which surrounds the outer periphery of the first annular portion. The third annular portion extends into the second housing and fits against the inner periphery of the second housing. The annular seal is disposed in the second housing and surrounds the outer periphery of the output shaft. The annular seal is clamped and fixed between the third annular portion and the gear ring. And / or, the gear set includes multiple fixed shafts, each of which is connected to the second housing and is arranged at intervals along the circumference of the central gear. Multiple planetary gears are rotatably mounted on the outer periphery of the multiple fixed shafts in a corresponding manner. Each planetary gear has a mounting groove on its two oppositely arranged end faces. A second bearing is mounted in each of the two mounting grooves of the planetary gear. The fixed shaft passes through the second bearing, and the second bearing is clamped and limited between the end of the fixed shaft and the planetary gear or between the planetary gear and the second housing.

5. The dual-mode special robot according to claim 2, characterized in that, The device includes a third bearing and a rotating seat. The third bearing is sleeved on the outer periphery of the base. A retaining ring is provided on the outer periphery of the base. The inner ring of the third bearing is limited between the retaining ring and the shoulder of the base. The rotating seat is fixed to the outer periphery of the outer ring of the third bearing. The second drive is telescopic and there are multiple second drives. The multiple second drives are arranged circumferentially along the output shaft, and one end of each second drive is connected to the rotating seat. The other end of each second drive is hinged to the housing.

6. The dual-mode special robot according to claim 5, characterized in that, The second link and the fifth link are arranged in parallel, the third link and the fourth link are arranged in parallel, the length of the second link between the third link and the fourth link is the same as the length of the fifth link, the length of the fourth link between the second link and the fifth link is the same as the length of the third link, and the length of the third link is the same as the length of the fifth link.

7. The dual-mode special robot according to claim 5, characterized in that, The second link, the third link, and the fifth link are all arranged in parallel with two of each other. The first link is located between the two second links and is rotatably assembled between the two fifth links. The fourth link is rotatably assembled between the two second links and the two fifth links. The two second links and the two fifth links are all rotatably assembled between the two third links.

8. The dual-mode special robot according to claim 6 or 7, characterized in that, The system includes a rotation drive, which is located on the base. There are two drive gears that mesh and are rotatably mounted on the base. The rotation drive is connected to one of the drive gears and drives the drive gear to rotate to achieve synchronous rotation of the two drive gears. Each drive gear is equipped with the steering arm, the frame, and the linkage mechanism. And / or, including landing gear and elastic element, the landing gear being disposed on the underside of the seat body, the landing gear being flexibly deformable, the elastic element being disposed between the landing gear and the seat body, and the elastic element being elastically deformable to cushion the impact received by the landing gear when it lands.

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