A cross-domain multi-modal robot fusing tensegrity and unmanned aerial vehicle

Abstract

The application discloses a cross-domain multi-modal robot combining tensegrity and unmanned aerial vehicle, which comprises a rolling module and a flight module; the rolling module is a six-pole tensegrity structure, comprising six rigid compression poles and 24 elastic cables; the two ends of each rigid compression pole are connected with four elastic cables, and the four elastic cables are connected with the end points of the four rigid compression poles closest to the end points of the rigid compression pole; the rolling module changes the gravity center position of the robot by controlling the length change of the elastic cable, so that the robot realizes rolling under the action of the gravity moment; the flight module is a detachable rotor unmanned aerial vehicle structure installed between two rigid compression poles and used for realizing flight. The above-mentioned robot combines the unmanned aerial vehicle with the six-pole tensegrity structure, realizes flexible switching of the ground rolling mode and the air flight mode of the robot, and guarantees the impact resistance of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a cross-domain multimodal robot that integrates tensioning and unmanned aerial vehicle (UAV) technologies. Background Technology

[0002] Cross-domain robots, combining aerial flight and ground movement, possess high agility and flexibility, and have broad application prospects in many fields such as disaster relief, environmental monitoring, and intelligence gathering. They can significantly reduce labor burden and improve work efficiency. However, most existing cross-domain robots adopt rigid structures, limiting their application to relatively open spaces with few obstacles, and heavily relying on sensor technology and onboard computing power. In real-world, unknown environments, these limitations may lead to robot damage, crashes, failure to complete target tasks, and even injury to personnel. In contrast, flexible structures have strong plasticity and adaptability, better adapting to unknown environments and effectively coping with complex terrain and obstacles. When dealing with unpredictable situations, flexible structures are expected to more flexibly address various challenges, providing more reliable solutions for practical applications.

[0003] Tensile monolithic structures are self-supporting, self-stressed spatial grid structures composed of discrete rigid compression units and continuous flexible tension units. This structure combines the advantages of both rigid and flexible structures, providing insights for the design of next-generation robots. Current tensile monolithic robots primarily move on the ground; adding propulsion components such as rotors can enable aerial flight. However, ground movement is slow and limited by terrain, while aerial flight consumes more energy and is susceptible to environmental factors such as wind and weather.

[0004] Therefore, robots based on tensioned integral structures need to balance these two motion modes so that they work together, thereby giving the robots excellent cross-domain capabilities across land and air. Summary of the Invention

[0005] This invention provides a cross-domain multimodal robot that integrates a tensioned monolithic structure and an unmanned aerial vehicle (UAV). The robot combines the UAV with a six-bar tensioned monolithic structure, enabling flexible switching between ground rolling mode and aerial flight mode, while ensuring the robot's impact resistance.

[0006] The present invention adopts the following specific technical solution:

[0007] A cross-domain multimodal robot integrating tensioning and unmanned aerial vehicle (UAV) technology, comprising a rolling module and a flight module, for realizing two motion modes: ground rolling and aerial flight through the rolling module and the flight module;

[0008] The rolling module is a six-bar tensioned integral structure, including 6 rigid pressure bars and 24 elastic cables; each rigid pressure bar has 4 elastic cables connected to both ends, and the 4 elastic cables are respectively connected to the ends of the four rigid pressure bars that are closest to the end of the rigid pressure bar; the rolling module changes the position of the robot's center of gravity by controlling the change in the length of the elastic cables, so that the robot can roll under the action of gravitational torque;

[0009] The flight module is a detachable rotorcraft structure installed between two rigid pressure bars, used to achieve flight.

[0010] Furthermore, the six rigid compression bars are respectively a first rigid compression bar, a second rigid compression bar, a third rigid compression bar, a fourth rigid compression bar, a fifth rigid compression bar, and a sixth rigid compression bar, and are divided into three groups, wherein:

[0011] The first rigid pressure bar and the second rigid pressure bar form the first group, the third rigid pressure bar and the fourth rigid pressure bar form the second group, and the fifth rigid pressure bar and the sixth rigid pressure bar form the third group. The two rigid pressure bars in each group are parallel to each other, and any two groups of the three groups of rigid pressure bars are perpendicular to each other.

[0012] Furthermore, the six rigid pressure bars have the same structure, each including a hollow round bar, two bar cable connectors, four servo motors, servo motor batteries, and servo motor control boards.

[0013] A rod-cable connector is fixedly installed at each end of the hollow round rod;

[0014] The servo battery and the servo control board are fixedly installed in the middle of the hollow round rod; two servos are fixedly installed on the hollow round rod on both sides of the servo battery; the servo battery is electrically connected to the servo control board; the servo control board is signal connected to the four servos for controlling the four servos; each servo includes a winch shaft located inside the hollow round rod.

[0015] The rod-and-cable connector includes a base, an arc-shaped cap, two active elastic cable connectors, two passive elastic cable connectors, and guide wheels. The base is fixedly installed at the end of the hollow round rod. The arc-shaped cap is connected to the outer end of the base by screws. The active and passive elastic cable connectors are distributed on the base in an alternating ring pattern and can rotate around a fixed axis to adapt to different angles of tension. Inside the base, a pair of guide wheels corresponding to each active elastic cable connector are also provided. The passive end of the elastic cable is fixedly connected to the passive elastic cable connector. The active end of the elastic cable enters the rod-and-cable connector through the active elastic cable connector, then passes through the pair of guide wheels and winds around the winch shaft. The length of the elastic cable is changed by rotating the winch shaft driven by the servo motor.

[0016] Furthermore, the hollow round rod is a carbon fiber rod;

[0017] The rod cable connector also includes a rubber cap sleeved on the outside of the base and the arc-shaped cover, the rubber cap being used to buffer the impact force received by the rod end;

[0018] Both the base and the arc-shaped cap are made of aluminum alloy.

[0019] Furthermore, all 24 elastic cables have the same structure, including an active end rigid rope, a passive end rigid rope, a spring, and two locking devices;

[0020] One end of the active end rigid rope is wound around the winch shaft, and the other end is fixedly connected to one end of the spring through a locking device;

[0021] One end of the passive rigid rope is fixedly connected to the passive elastic rope connector, and the other end is fixedly connected to the other end of the spring through another locking device.

[0022] The active end rigid rope and the passive end rigid rope are surrounded by silicone sleeves;

[0023] The length of the active end rigid rope is eight times the length of the passive end rigid rope;

[0024] Fishing line is threaded inside the spring to prevent it from undergoing plastic deformation.

[0025] Furthermore, the detachable rotorcraft structure includes a detachable merging mechanism, a battery, a rotor motor, rotors, a control board, an electronic speed controller, and a flight control system;

[0026] The detachable and merging mechanism is detachably connected between a set of rigid pressure bars;

[0027] The rotor motor, the battery, and the control board are symmetrically mounted on the rigid pressure bar; the rotor motor is electrically connected to the battery via the electronic speed controller (ESC) and is used to drive the rotor to rotate; the flight control system is connected to the ESC via signal.

[0028] Furthermore, the detachable and merging mechanism includes a first driving mechanism, a second driving mechanism, a first X-shaped docking mechanism, a second X-shaped docking mechanism, and a locking mechanism;

[0029] Both the first X-shaped docking mechanism and the second X-shaped docking mechanism are formed by the cross-hinged connection of the first link and the second link;

[0030] The first drive mechanism is fixedly installed in the middle of one of the rigid pressure bars and is hinged to one end of the first link and the second link of the first X-shaped docking mechanism, for driving the first X-shaped docking mechanism to move along the arrangement direction of the set of rigid pressure bars;

[0031] The second driving mechanism is fixedly mounted on another rigid pressure bar relative to the first driving mechanism, and is hinged to one end of the first link and the second link of the second X-shaped docking mechanism, for driving the second X-shaped docking mechanism to move along the arrangement direction of the set of rigid pressure bars;

[0032] The locking mechanism is used to lock the first X-shaped docking mechanism and the second X-shaped docking mechanism together.

[0033] The first driving mechanism, the second driving mechanism, and the locking mechanism are all signal-connected to the control board;

[0034] The other ends of the first and second connecting rods of the first X-shaped docking mechanism and the second X-shaped docking mechanism are both connected to the locking mechanism.

[0035] Furthermore, the first drive mechanism includes a DC motor, two lead screws, two guide rails, two adapter blocks, and limit switches;

[0036] The DC motor, the guide rail, and the limit switch are all fixedly mounted on one of the rigid pressure rods; the DC motor is signal-connected to the control board;

[0037] Two lead screws are symmetrically connected to both sides of the DC motor; the lead screws are arranged parallel to the rigid pressure rod on which the DC motor is mounted and are rotatably supported by the rigid pressure rod; each lead screw is screwed with an adapter block;

[0038] The two guide rails are symmetrically distributed on both sides of the DC motor and are arranged parallel to the rigid pressure rod; the guide rails are slidably engaged with the adapter block to guide the movement of the adapter block;

[0039] The DC motor is used to drive the lead screw to rotate, so that the adapter block moves along the axial direction of the lead screw;

[0040] The first connecting rod is hinged to the adapter block on one side of the DC motor;

[0041] The second connecting rod is hinged to the adapter block on the other side of the DC motor;

[0042] The second drive mechanism has the same structure as the first drive mechanism;

[0043] The limit switch is used to shut off the DC motor when the adapter block reaches its limit position.

[0044] Furthermore, the locking mechanism includes a locking support fixedly installed on the first link and the second link of the first X-shaped docking mechanism, a locking motor fixedly installed on the top of the locking support, a locking block fixedly connected to the locking motor, a positioning plate fixedly connected to the first link and the second link of the second X-shaped docking mechanism, and a positioning pin fixedly connected to the top surface of the positioning plate.

[0045] The locking support is provided with a slot that faces the positioning plate and matches the shape of the positioning plate, and a positioning groove for accommodating the positioning pin and communicating with the slot.

[0046] The positioning groove is provided with a flared opening that faces the positioning pin.

[0047] The locking motor is signal-connected to the control board and is used to drive the locking block to rise and fall; the bottom surface of the locking block is provided with a guide hole that matches the shape of the positioning pin;

[0048] When the locking mechanism locks the first X-shaped docking mechanism and the second X-shaped docking mechanism together, the positioning plate is inserted into the slot, the positioning pin is accommodated in the positioning groove, and the top of the positioning pin is inserted into the guide hole.

[0049] Furthermore, the guide hole is a tapered hole;

[0050] The top of the positioning pin is provided with a tapered protrusion.

[0051] Beneficial effects:

[0052] 1. The cross-domain multimodal robot of the present invention integrates a six-bar tensioned integral structure as a rolling module and a detachable rotor drone structure as a flight module. It can change the robot's center of gravity position by controlling the change in the length of the elastic cable in the six-bar tensioned integral structure, so that the robot can roll under the action of gravitational torque. At the same time, it can also achieve flight modes such as hovering and load flight through the rotor of the detachable rotor drone structure. Therefore, the robot can realize two motion modes: ground rolling and aerial flight, and can flexibly switch between the robot's ground rolling mode and aerial flight mode, while ensuring the robot's impact resistance.

[0053] 2. The six-bar tensioned integral structure of the cross-domain multimodal robot of the present invention can serve as a buffer protection mechanism, providing high-strength anti-collision capability, protecting important internal components from impact, and enabling the robot to roll in an orderly manner and take off again after a fall. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the overall structure of the cross-domain multimodal robot of the present invention;

[0055] Figure 2 and Figure 3 All Figure 1 A schematic diagram of the structure of the rolling module;

[0056] Figure 4 This is a front view of the first rigid compression bar;

[0057] Figure 5 This is a top view of the first rigid compression bar;

[0058] Figure 6 This is a view of the other side of the first rigid compression bar;

[0059] Figure 7 This is a side view of the cable connector;

[0060] Figure 8 This is a sectional view of the cable connector;

[0061] Figure 9 This is a schematic diagram of the internal structure of the cable connector;

[0062] Figure 10 A schematic diagram of the winch shaft structure for the servo motor;

[0063] Figure 11 This is a schematic diagram of the structure of the first elastic cable;

[0064] Figure 12 for Figure 11 A schematic diagram of the structure of the spring section;

[0065] Figure 13This is a structural diagram of the flight module;

[0066] Figure 14 This is a top view of the flight module's structure.

[0067] Figure 15 This is a top view of the flight module's structure.

[0068] Figure 16 This is a front view of the flight module;

[0069] Figure 17 This is a schematic diagram of the locking mechanism.

[0070] Figure 18 This is a cross-sectional view of the locking mechanism.

[0071] Among them, 1-first rigid compression bar, 2-second rigid compression bar, 3-third rigid compression bar, 4-fourth rigid compression bar, 5-fifth rigid compression bar, 6-sixth rigid compression bar, 11-first elastic cable, 12-second elastic cable, 13-third elastic cable, 14-fourth elastic cable, 21-fifth elastic cable, 22-sixth elastic cable, 23-seventh elastic cable, 24-eighth elastic cable, 31-ninth elastic cable, 32-tenth elastic cable, 33-eleventh elastic cable, 34-twelfth elastic cable, 41-thirteenth elastic cable, 42-fourteenth elastic cable Elastic cable, 43-Fifteenth elastic cable, 44-Sixteenth elastic cable, 51-Seventeenth elastic cable, 52-Eighteenth elastic cable, 53-Nineteenth elastic cable, 54-Twentieth elastic cable, 61-Twenty-first elastic cable, 62-Twenty-second elastic cable, 63-Twenty-third elastic cable, 64-Twenty-fourth elastic cable, 71-Upper rotor, 72-Upper rotor motor, 73-Lower rotor, 74-First battery, 75-Second battery, 81-Signal receiver, 82-DC motor, 83-Elastic coupling, 84-Lead screw, 85-Adapter block 86-Control panel, 91-Locking motor, 92-Positioning pin, 93-Locking block, 94-Locking support, 95-Positioning plate, 96-Positioning groove, 97-Guide hole, 101-Hollow rod, 102-First rod cable connector, 103-Second rod cable connector, 1021-Rubber cap, 1022-Arc-shaped cover, 1023-Base, 1024-Active elastic cable connector, 1025-Passive elastic cable connector, 1026-Guide wheel, 1027-Bottom fixing plate, 1041-First servo motor, 1042-Second servo motor 1043-Third servo motor, 1044-Fourth servo motor, 1045-Servo motor battery, 1046-Servo motor control board, 1047-First winch shaft, 1048-Second winch shaft, 1051-First servo motor locking ring, 1052-First servo motor bracket, 1053-Second servo motor locking ring, 1054-Second servo motor bracket, 1055-Battery locking ring, 1056-Battery bracket, 1101-Active end rigid rope, 1102-Passive end rigid rope, 1103-Spring, 1104-Line locker, 1105-Fishing line. Detailed Implementation

[0072] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] Example 1

[0074] This embodiment provides a cross-domain multimodal robot that integrates tensioned monoliths and unmanned aerial vehicles (UAVs), such as... Figure 1 As shown in the structure, the robot includes a rolling module and a flight module, which are used to realize two motion modes: rolling on the ground and flying in the air.

[0075] like Figure 2 and Figure 3 As shown, the rolling module is a six-bar tensioned integral structure, including 6 rigid pressure bars and 24 elastic cables. Each rigid pressure bar has 4 elastic cables connected to both ends. These 4 elastic cables are connected to the ends of the four rigid pressure bars closest to the end of that rigid pressure bar, and parallel rigid pressure bars are not connected by elastic cables. The rolling module changes the robot's center of gravity by controlling the length changes of the elastic cables, enabling the robot to roll under the action of gravitational torque. The 6 rigid pressure bars are designated as rigid pressure bar 1, rigid pressure bar 2, rigid pressure bar 3, rigid pressure bar 4, rigid pressure bar 5, and rigid pressure bar 6, and are divided into three groups: rigid pressure bar 1 and rigid pressure bar 2 form the first group; rigid pressure bar 3 and rigid pressure bar 4 form the second group; and rigid pressure bar 5 and rigid pressure bar 6 form the third group. The two rigid pressure bars in each group are parallel to each other, and any two groups are perpendicular to each other. The rigid pressure bar 1... The first rigid bar has two ends, A and B; the second rigid bar 2 has two ends, C and D; the third rigid bar 3 has two ends, E and F; the fourth rigid bar 4 has two ends, G and H; the fifth rigid bar 5 has two ends, I and J; the sixth rigid bar 6 has two ends, K and L; the 24 elastic cables are: first elastic cable 11, second elastic cable 12, third elastic cable 13, fourth elastic cable 14, fifth elastic cable 21, sixth elastic cable 22, seventh elastic cable 23, eighth elastic cable 24, ninth elastic cable 31, tenth elastic cable 32, eleventh elastic cable 33, twelfth elastic cable 34, thirteenth elastic cable 41, fourteenth elastic cable 42, fifteenth elastic cable 43, sixteenth elastic cable 44, seventeenth elastic cable 51, eighteenth elastic cable 52, nineteenth elastic cable 53, twentieth elastic cable 54, second first elastic cable 61, second second elastic cable 62, second third elastic cable 63, and second fourth elastic cable 64;

[0076] like Figure 13 As shown, the flight module is a detachable rotorcraft structure installed between two rigid pressure bars, used to achieve flight movements such as hovering in the air; in this embodiment, the flight module installed between the fifth rigid pressure bar 5 and the sixth rigid pressure bar 6 in the third set of rigid pressure bars is used as an example for explanation.

[0077] In the robot described above, the six rigid pressure bars have the same structure, such as... Figure 4 , Figure 5 and Figure 6As shown, taking the first rigid pressure bar 1 as an example, each rigid pressure bar includes a hollow round bar 101, two rod cable connectors, four servo motors, a servo motor battery 1045, and a servo motor control board 1046. The hollow round bar 101 can be a lightweight, high-strength carbon fiber bar. A rod cable connector is fixedly installed at each end of the hollow round bar 101, connecting to an elastic cable. The two rod cable connectors are the first rod cable connector 102 and the second rod cable connector 103. The four servo motors are the first servo motor 1041, the second servo motor 1042, the third servo motor 1043, and the fourth servo motor 1044. The servo motor battery 1045 and the servo motor control board 1046 are fixedly installed in the middle of the hollow round bar 101, that is, in the middle of the length direction of the hollow round bar 101. Two servo motors are fixedly installed on the hollow round bar 101 on both sides of the servo motor battery 1045, controlling the length of the elastic cable. Figure 5 As shown, a servo battery 1045 is fixedly mounted on the middle of the first rigid pressure rod 1 via a battery locking ring 1055 and a battery bracket 1056; a first servo cable connector 102 is fixedly mounted on one end of the first rigid pressure rod 1 via screws, and a second servo cable connector 103 is fixedly mounted on the other end via screws; a first servo 1041 and a second servo 1042 are fixedly mounted on the first rigid pressure rod 1 on one side of the servo battery 1045 via a first servo locking ring 1051 and a first servo bracket 1052, and a second servo 1042 and a second servo 1042 are fixedly mounted on the first rigid pressure rod 1 on the other side of the servo battery 1045 via a second servo 1042 locking ring 1053 and a second servo 1042 locking ring 1053. A third servo motor 1043 and a fourth servo motor 1044 are fixedly mounted on bracket 1054. The first servo motor 1041 and the fourth servo motor 1044 are symmetrically arranged about the servo motor battery 1045, and the second servo motor 1042 and the third servo motor 1043 are also symmetrically arranged about the servo motor battery 1045. The servo motor battery 1045 is electrically connected to the servo motor control board 1046 to provide power to the servo motor control board 1046. The servo motor control board 1046 is connected to the four servo motors via signal connections to control them. Each servo motor includes a winch shaft located within a hollow round rod 101. The winch shaft winds the active end of the elastic cable, thereby adjusting the length of the elastic cable through rotation of the winch shaft. Figure 10 As shown, a first winch shaft 1047 of a first servo motor 1041 and a second winch shaft 1048 of a second servo motor 1042 are provided inside the first rigid pressure rod 1.

[0078] like Figure 7 , Figure 8 and Figure 9As shown, each cable connector includes a base 1023, an arc-shaped cap 1022, two active elastic cable connectors 1024, two passive elastic cable connectors 1025, and a guide wheel 1026. The base 1023 is fixedly installed at the end of the hollow round rod 101, with one end extending into the hollow round rod 101 and the other end extending out of the hollow round rod 101. The base 1023 has four windows distributed circumferentially for the elastic cables to pass through. The arc-shaped cap is connected to the outer end of the base 1023 by screws. The active elastic cable connectors 1024 and passive elastic cable connectors 1025 are distributed alternately in a ring on the base 1023 and can rotate around a fixed axis with a rotation angle of ±30° to adapt to different tension changes. Figure 9 As shown, two active elastic cable connectors 1024 are arranged opposite each other and spaced 160° apart, and two passive elastic cable connectors 1025 are arranged opposite each other and spaced 160° apart; Figure 8 As shown, a pair of guide wheels 1026 corresponding one-to-one with the active elastic cable connector 1024 are also provided inside the base 1023. That is, two pairs of guide wheels 1026 are provided inside the base 1023, and each pair of guide wheels 1026 is distributed along the axial direction of the hollow round rod 101. One end of the elastic cable is the active end and the other end is the passive end. The length is controlled by driving the winch shaft to rotate and wind the active end of the elastic cable through a servo motor. The passive end of the elastic cable is fixedly connected to the passive elastic cable connector 1025. The active end of the elastic cable enters the rod cable connector through the active elastic cable connector 1024, and then passes through a pair of guide wheels 1026 in an alternating manner before being wound around the winch shaft. The length of the elastic cable is changed by driving the winch shaft to rotate through a servo motor. The rod and cable connector also includes a rubber cap 1021 fitted on the outside of the base 1023 and the arc-shaped cover 1022. The rubber cap 1021 is used to buffer the impact force on the rod end, thereby improving the impact resistance of the connector. The base 1023 and the arc-shaped cap are both made of aluminum alloy to ensure the stability and durability of the structure.

[0079] Both the active elastic cable connector 1024 and the passive elastic cable connector 1025 are rotatably mounted on the base 1023, allowing the elastic cable to automatically adjust its angle. After entering the passive elastic cable connector 1025, the elastic cable is pressurized and fixed to a constant length by a cable locking device. After passing through the guide wheel 1026 of the active elastic cable connector 1024, it passes through the through hole of the base 1023 and enters the interior of the cable connector. The elastic cable passes through the two guide wheels 1026 alternately to ensure its orientation. The base 1023 can be inserted into the hollow round rod 101 through the bottom fixing plate 1027 and fixedly connected to the hollow round rod 101 with screws, ensuring the stability and reliability of the overall structure.

[0080] The above 24 elastic cables have the same structure, such as Figure 11 and Figure 12As shown, each elastic cable includes an active end rigid cable 1101, a passive end rigid cable 1102, a spring 1103, and two cable locking devices 1104; one end of the active end rigid cable 1101 is wound around the winch shaft of the servo motor, and the other end is fixedly connected to one end of the spring 1103 via a cable locking device 1104; one end of the passive end rigid cable 1102 is fixedly connected to the passive elastic cable connector 1025, and the other end is fixedly connected to the other end of the spring 1103 via another cable locking device 1104; the active end rigid cable 1101 and The passive end rigid rope 1102 is surrounded by a silicone sleeve, which helps reduce wear. The length of the active end rigid rope 1101 is eight times the length of the passive end rigid rope 1102. One side of the spring 1103 is connected to the active end rigid rope 1101, and the other end is connected to the passive end rigid rope 1102. Both the active end rigid rope 1101 and the passive end rigid rope 1102 are connected to the spring 1103 through a line lock 1104. Fishing line 1105 is threaded inside the spring 1103 to prevent it from undergoing plastic deformation.

[0081] like Figure 2 and Figure 3 As shown, the connection relationships between each rigid compression bar and each elastic cable are as follows:

[0082] The endpoint A of the first rigid compression bar 1 and the endpoint E of the third rigid compression bar 3 are connected by a first elastic cable 11; the active end rigid rope 1101 of the first elastic cable 11 is connected to the active elastic cable connector 1024 of endpoint A, and the passive end rigid rope 1102 is connected to the passive elastic cable connector 1025 of endpoint E; the endpoint A of the first rigid compression bar 1 and the endpoint L of the sixth rigid compression bar 6 are connected by a second elastic cable 12, the active end rigid rope of the second elastic cable 12 is connected to the active elastic cable connector 1024 of endpoint A, and the passive end rigid rope 1102 is connected to the passive elastic cable connector 1025 of endpoint L. Component 1025; The end point B of the first rigid pressure bar 1 and the end point G of the fourth rigid pressure bar 4 are connected by a third elastic cable 13. The active end of the third elastic cable 13 is connected to the active elastic cable connector 1024 of the end point B by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the end point G by a rigid rope. The end point B of the first rigid pressure bar 1 and the end point I of the fifth rigid pressure bar 5 are connected by a fourth elastic cable 14. The active end of the fourth elastic cable 14 is connected to the active elastic cable connector 1024 of the end point B by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the end point I by a rigid rope.

[0083] The endpoint C of the second rigid pressure bar 2 and the endpoint H of the third rigid pressure bar 3 are connected by a fifth elastic cable 21. The active end of the fifth elastic cable 21 is connected to the active elastic cable connector 1024 of the endpoint C, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint H. The endpoint C of the second rigid pressure bar 2 and the endpoint K of the sixth rigid pressure bar 6 are connected by a sixth elastic cable 22. The active end of the sixth elastic cable 22 is connected to the active elastic cable connector 1024 of the endpoint C, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint K. The endpoint D of the second rigid pressure bar 2 and the endpoint F of the third rigid pressure bar 3 are connected by a seventh elastic cable 23. The active end of the seventh elastic cable 23 is connected to the active elastic cable connector 1024 of the endpoint D, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint F. The endpoint D of the second rigid pressure bar 2 and the endpoint J of the fifth rigid pressure bar 5 are connected by an eighth elastic cable 24. The active end of the eighth elastic cable 24 is connected to the active elastic cable connector 1024 of the endpoint D, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint J.

[0084] The endpoint E of the third rigid compression bar 3 and the endpoint I of the fifth rigid compression bar 5 are connected by a ninth elastic cable 31. The active end of the ninth elastic cable 31 is connected to the active elastic cable connector 1024 of the endpoint E, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint I. The endpoint E of the third rigid compression bar 3 and the endpoint D of the second rigid compression bar 2 are connected by a tenth elastic cable 32. The active end of the tenth elastic cable 32 is connected to the active elastic cable connector 1024 of the endpoint E, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint D. The endpoint F of the rigid pressure bar 3 is connected to the endpoint A of the first rigid pressure bar 1 by an eleventh elastic cable 33. The active end of the eleventh elastic cable 33 is connected to the active elastic cable connector 1024 of the endpoint F by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint A by a rigid rope. The endpoint F of the third rigid pressure bar 3 is connected to the endpoint K of the sixth rigid pressure bar 6 by a twelfth elastic cable 34. The active end of the twelfth elastic cable 34 is connected to the active elastic cable connector 1024 of the endpoint F by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint K by a rigid rope.

[0085] The endpoint G of the fourth rigid compression bar 4 is connected to the endpoint L of the sixth rigid compression bar 6 via a thirteenth elastic cable 41. The active end of the thirteenth elastic cable 41 is connected to the active elastic cable connector 1024 of the endpoint G via a rigid rope, and the passive end is connected to the active elastic cable connector 1024 of the endpoint L via a rigid rope. The endpoint G of the fourth rigid compression bar 4 is connected to the endpoint C of the second rigid compression bar 2 via a fourteenth elastic cable 42. The active end of the fourteenth elastic cable 42 is connected to the active elastic cable connector 1024 of the endpoint G via a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint C via a rigid rope. The endpoint H of the fourth rigid pressure bar 4 and the endpoint J of the fifth rigid pressure bar 5 are connected by the fifteenth elastic cable 43. The active end of the fifteenth elastic cable 43 is connected to the active elastic cable connector 1024 of the endpoint H, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint J. The endpoint H of the fourth rigid pressure bar 4 and the endpoint B of the first rigid pressure bar 1 are connected by the sixteenth elastic cable 44. The active end of the sixteenth elastic cable 44 is connected to the active elastic cable connector 1024 of the endpoint H, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint B.

[0086] The endpoint I of the fifth rigid pressure bar 5 is connected to the endpoint H of the fourth rigid pressure bar 4 by the seventeenth elastic cable 51. The active end of the seventeenth elastic cable 51 is connected to the active elastic cable connector 1024 of the endpoint I by the rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint H by the rigid rope. The endpoint I of the fifth rigid pressure bar 5 is connected to the endpoint A of the first rigid pressure bar 1 by the eighteenth elastic cable 52. The active end of the eighteenth elastic cable 52 is connected to the active elastic cable connector 1024 of the endpoint I by the rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint A by the rigid rope. The endpoint J of the fifth rigid compression bar 5 is connected to the endpoint E of the third rigid compression bar 3 by the nineteenth elastic cable 53. The active end of the nineteenth elastic cable 53 is connected to the active elastic cable connector 1024 of the endpoint J by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint A by a rigid rope. The endpoint J of the fifth rigid compression bar 5 is connected to the endpoint C of the second rigid compression bar 2 by the twentieth elastic cable 54. The active end of the twentieth elastic cable 54 is connected to the active elastic cable connector 1024 of the endpoint J by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint C by a rigid rope.

[0087] The endpoint K of the sixth rigid compression bar 6 is connected to the endpoint G of the fourth rigid compression bar 4 via a second elastic cable 61. The active end of the second elastic cable 61 is connected to the active elastic cable connector 1024 of the endpoint K via a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint G via a rigid rope. The endpoint K of the sixth rigid compression bar 6 is connected to the endpoint D of the second rigid compression bar 2 via a second elastic cable 62. The active end of the second elastic cable 62 is connected to the active elastic cable connector 1024 of the endpoint K via a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the endpoint D via a rigid rope. The end point L of the sixth rigid pressure bar 6 is connected to the end point F of the third rigid pressure bar 3 by a second and third elastic cable 63. The active end of the second and third elastic cable 63 is connected to the active elastic cable connector 1024 of the end point L by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the end point F by a rigid rope. The end point L of the sixth rigid pressure bar 6 is connected to the end point B of the first rigid pressure bar 1 by a second and fourth elastic cable 64. The active end of the second and fourth elastic cable 64 is connected to the active elastic cable connector 1024 of the end point L by a rigid rope, and the passive end is connected to the passive elastic cable connector 1025 of the end point B by a rigid rope.

[0088] like Figure 13 As shown, the detachable rotorcraft UAV structure includes a detachable merging mechanism, a battery, rotor motors, rotors, a control board, an electronic speed controller (ESC), and a flight control system. The detachable merging mechanism is detachably connected between the third set of rigid pressure bars, that is, the detachable merging mechanism is detachably installed between the fifth rigid pressure bar 5 and the sixth rigid pressure bar 6. The rotor motor, battery, and control board are symmetrically mounted on this set of rigid pressure bars. The rotor motor and battery can be fixedly installed on the fifth rigid pressure bar 5 and the sixth rigid pressure bar 6 via locking rings. The rotor motor is electrically connected to the battery via the ESC to drive the rotor rotation. The flight control system is signal-connected to the ESC. Figure 13 , Figure 14 and Figure 15 As shown, in this embodiment, eight rotors and eight rotor motors for driving the rotors to rotate are provided; as Figure 13In the rigid pressure bar, on the upper side, the upper rotor 71 is fixedly installed on the top of the upper rotor motor 72, and the lower rotor 73 is installed on the bottom of the lower rotor motor. The upper rotor 71 and the lower rotor, as well as the upper rotor motor 72 and the lower rotor motor, are symmetrically arranged on the upper and lower sides of the rigid pressure bar with the fixedly installed rigid pressure bar as the axis of symmetry. Four rotors are fixedly installed on the fifth rigid pressure bar 5 and the sixth rigid pressure bar 6, with two rotors located on the upper side of the rigid pressure bar and two rotors located on the lower side of the rigid pressure bar. The rotors on the upper side and the lower side of the rigid pressure bar are... The rotors are symmetrically arranged with rigid pressure bars, that is, the eight rotors are symmetrically arranged along the plane of the rigid pressure bars; the two rotors on the upper side of the same rigid pressure bar are symmetrically arranged with respect to the center of the rigid pressure bar length direction, and the two rotors on the lower side of the same rigid pressure bar are symmetrically arranged with respect to the center of the rigid pressure bar length direction; in order to enhance the robot's thrust, the eight rotors are symmetrically distributed in an X-shape on the left and right sides of the fifth rigid pressure bar 5 and the sixth rigid pressure bar 6, and the first battery 74 and the second battery 75 of the UAV are respectively located in the middle of the fifth rigid pressure bar 5 and the sixth rigid pressure bar 6.

[0089] Furthermore, the detachable and merging mechanism includes a first drive mechanism, a second drive mechanism, a first X-shaped docking mechanism, a second X-shaped docking mechanism, and a locking mechanism; both the first X-shaped docking mechanism and the second X-shaped docking mechanism are formed by cross-hinging the first link and the second link; the first drive mechanism is fixedly installed in the middle of the fifth rigid pressure rod 5 and hinged to one end of the first link and the second link of the first X-shaped docking mechanism, for driving the first X-shaped docking mechanism to move along the arrangement direction of the fifth rigid pressure rod 5 and the sixth rigid pressure rod 6; the second drive mechanism is fixedly installed on the sixth rigid pressure rod 6 relative to the first drive mechanism and hinged to one end of the first link and the second link of the second X-shaped docking mechanism, for driving the second X-shaped docking mechanism to move along the arrangement direction of the fifth rigid pressure rod 5 and the sixth rigid pressure rod 6; the locking mechanism is used to lock the first X-shaped docking mechanism and the second X-shaped docking mechanism together; the first drive mechanism, the second drive mechanism, and the locking mechanism are all signal-connected to the control board 86; the other ends of the first and second links of the first X-shaped docking mechanism and the second X-shaped docking mechanism are both connected to the locking mechanism.

[0090] Specifically, the second drive mechanism has the same structure as the first drive mechanism. The following description uses the first drive mechanism as an example. The first drive mechanism includes a DC motor 82, two lead screws 84, two guide rails, two adapter blocks 85, and limit switches. The DC motor 82, guide rails, and limit switches are all fixedly mounted on the fifth rigid pressure rod 5. The DC motor 82 is signal-connected to the control board 86. The two lead screws 84 are symmetrically connected to both sides of the DC motor 82. The DC motor 82 can be connected to the lead screws 84 via a flexible coupling 83. The lead screws 84 are arranged parallel to the fifth rigid pressure rod 5 and are rotatably supported on the fifth rigid pressure rod 5. Each lead screw 84 has a screw threaded onto it. The adapter block 85 has two guide rails symmetrically distributed on both sides of the DC motor 82 and parallel to the fifth rigid pressure rod 5. The guide rails slide in contact with the adapter block 85 to guide the movement of the adapter block 85. The DC motor 82 drives the lead screw 84 to rotate, causing the adapter block 85 to move along the axial direction of the lead screw 84. The first connecting rod is hinged to the adapter block 85 on one side of the DC motor 82. The second connecting rod is hinged to the adapter block 85 on the other side of the DC motor 82. The limit switch is used to shut off the DC motor 82 when the adapter block 85 reaches its limit position. The limit switch ensures that the adapter block 85 moves within the normal range, avoiding structural damage caused by exceeding the set range.

[0091] like Figure 16 , Figure 17 and Figure 18As shown, the locking mechanism includes a locking support 94 fixedly installed on the first and second links of the first X-shaped docking mechanism, a locking motor 91 fixedly installed on the top of the locking support 94, a locking block 93 fixedly connected to the locking motor 91, a positioning plate 95 fixedly connected to the first and second links of the second X-shaped docking mechanism, and a positioning pin 92 fixedly connected to the top surface of the positioning plate 95; the locking support 94 is provided with a slot with an opening facing the positioning plate 95 and matching the shape of the positioning plate 95, and a positioning pin 92 for accommodating the positioning pin 92 and communicating with the slot. The positioning slot 96 has a flared opening facing the positioning pin 92. The locking motor 91 is connected to the control board 86 for signal transmission, driving the locking block 93 to rise and fall. The bottom surface of the locking block 93 has a guide hole 97 that matches the shape of the positioning pin 92. The guide hole 97 is tapered. The top of the positioning pin 92 has a tapered protrusion. When the locking mechanism locks the first X-shaped docking mechanism and the second X-shaped docking mechanism together, the positioning plate 95 is inserted into the slot, the positioning pin 92 is housed in the positioning slot 96, and the top of the positioning pin 92 is inserted into the guide hole 97. When locking is required, the locking block 93 is lowered by the locking motor 91, so that the guide hole 97 of the locking block 93 engages with the outer periphery of the tapered protrusion of the positioning pin 92, connecting the first and second links of the first and second X-shaped docking mechanisms together. When separation is required, the locking block 93 is raised by the locking motor 91, so that the locking block 93 is disengaged from the positioning pin 92. Then, the first connecting rod and the second connecting rod are deformed and retracted by the DC motor 82, so that the first and second X-shaped docking mechanisms are separated.

[0092] The aforementioned detachable rotary-wing UAV structure also includes a signal receiver 81, which is used to receive flight signals. After the control board 86 receives the signal from the host computer, the DC motor 82 drives the lead screws 84 on both sides to move along the optical axis through the flexible coupling 83, thereby causing the double X-shaped docking mechanism 8 to move along the arc trajectory, completing the separation and merging function, and realizing the switching between ground rolling and air flight motion.

[0093] The aforementioned cross-domain multimodal robot integrates a six-bar tensioned monolithic structure as the rolling module and a detachable rotorcraft structure as the flight module. It can change the robot's center of gravity position by controlling the change in the length of the elastic cable in the six-bar tensioned monolithic structure, enabling the robot to roll under the action of gravitational torque. At the same time, it can also achieve flight modes such as hovering and load flight through the rotor of the detachable rotorcraft structure. Therefore, the robot can realize two motion modes: ground rolling and aerial flight, and can flexibly switch between the ground rolling mode and the aerial flight mode, while ensuring the robot's impact resistance.

[0094] The six-bar tensioned integral structure of the robot can serve as a buffer protection mechanism, providing high-strength collision resistance, protecting important internal components from impact, and enabling the robot to roll in an orderly manner and take off again after a fall.

[0095] Example 2

[0096] This embodiment provides a control method for the cross-domain multimodal robot in Embodiment 1 above. The control method is as follows:

[0097] When the robot is in a rolling motion on the ground, the first and second X-shaped docking mechanisms are in a separated state. The servo control board 1046 receives the control command from the host computer and drives the servo motor to rotate the winch shaft of the servo motor, which changes the length of the active end of the elastic cable, changes the overall center of gravity of the robot, and the robot will achieve rolling motion under the action of its own gravity torque.

[0098] When the robot is in the initial state before takeoff, the first and second X-shaped docking mechanisms are in a combined state, and the length of each elastic cable is basically the same. The internal preload maintains the overall shape of the six-bar tensioned frame. At this time, there is a certain angle between the plane of the robot's rotor and the ground. When preparing for takeoff, the eight rotors rotate and generate thrust to make the plane of the rotor parallel to the ground so that the robot can take off normally. After takeoff, the operator can control the robot's flight attitude through the host computer.

[0099] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A cross-domain multimodal robot integrating tensioning and unmanned aerial vehicle (UAV) technologies, characterized in that, It includes a rolling module and a flight module, which are used to realize two motion modes: ground rolling and air flight. The rolling module is a six-bar tensioned integral structure, including 6 rigid pressure bars and 24 elastic cables; each rigid pressure bar has 4 elastic cables connected to both ends, and the 4 elastic cables are respectively connected to the ends of the four rigid pressure bars that are closest to the end of the rigid pressure bar; the rolling module changes the position of the robot's center of gravity by controlling the change in the length of the elastic cables, so that the robot can roll under the action of gravitational torque; The flight module is a detachable rotorcraft structure installed between two rigid pressure bars, used to achieve flight; The six rigid compression bars are designated as the first rigid compression bar, the second rigid compression bar, the third rigid compression bar, the fourth rigid compression bar, the fifth rigid compression bar, and the sixth rigid compression bar, and are divided into three groups, wherein: The first rigid pressure bar and the second rigid pressure bar form the first group, the third rigid pressure bar and the fourth rigid pressure bar form the second group, and the fifth rigid pressure bar and the sixth rigid pressure bar form the third group. The two rigid pressure bars in each group are parallel to each other, and any two groups of the three groups of rigid pressure bars are perpendicular to each other. The six rigid pressure bars have the same structure, each including a hollow round bar, two bar cable connectors, four servo motors, servo motor batteries, and servo motor control boards; A rod-cable connector is fixedly installed at each end of the hollow round rod; The servo battery and the servo control board are fixedly installed in the middle of the hollow round rod; two servos are fixedly installed on the hollow round rod on both sides of the servo battery; the servo battery is electrically connected to the servo control board; the servo control board is signal connected to the four servos for controlling the four servos; each servo includes a winch shaft located inside the hollow round rod. The rod-and-cable connector includes a base, an arc-shaped cover, two active elastic cable connectors, two passive elastic cable connectors, and guide wheels. The base is fixedly installed at the end of the hollow round rod. The arc-shaped cover is connected to the outer end of the base by screws. The active and passive elastic cable connectors are distributed on the base in an alternating ring pattern and can rotate around a fixed axis to adapt to different angles of tension. Inside the base, a pair of guide wheels corresponding to each active elastic cable connector are also provided. The passive end of the elastic cable is fixedly connected to the passive elastic cable connector. The active end of the elastic cable enters the rod-and-cable connector through the active elastic cable connector, then passes through the pair of guide wheels and winds around the winch shaft. The length of the elastic cable is changed by the rotation of the winch shaft driven by the servo motor.

2. The robot as described in claim 1, characterized in that, The hollow round rod is a carbon fiber rod; The rod cable connector also includes a rubber cap sleeved on the outside of the base and the arc-shaped cover, the rubber cap being used to buffer the impact force received by the rod end; Both the base and the arc-shaped cover are made of aluminum alloy.

3. The robot as described in claim 1, characterized in that, The 24 elastic cables have the same structure, each including a rigid rope at the active end, a rigid rope at the passive end, a spring, and two locking devices; One end of the active end rigid rope is wound around the winch shaft, and the other end is fixedly connected to one end of the spring through a locking device; One end of the passive rigid rope is fixedly connected to the passive elastic rope connector, and the other end is fixedly connected to the other end of the spring through another locking device. The active end rigid rope and the passive end rigid rope are surrounded by silicone sleeves; The length of the active end rigid rope is eight times the length of the passive end rigid rope; Fishing line is threaded inside the spring to prevent it from undergoing plastic deformation.

4. The robot as described in any one of claims 1-3, characterized in that, The detachable rotorcraft structure includes a detachable and combinable mechanism, a battery, a rotor motor, rotors, a control board, an electronic speed controller, and a flight control system. The detachable and merging mechanism is detachably connected between a set of rigid pressure bars; The rotor motor, the battery, and the control board are symmetrically mounted on the rigid pressure bar; the rotor motor is electrically connected to the battery via the electronic speed controller (ESC) and is used to drive the rotor to rotate; the flight control system is connected to the ESC via signal.

5. The rotary-wing UAV as described in claim 4, characterized in that, The detachable and merging mechanism includes a first driving mechanism, a second driving mechanism, a first X-shaped docking mechanism, a second X-shaped docking mechanism, and a locking mechanism; Both the first X-shaped docking mechanism and the second X-shaped docking mechanism are formed by the cross-hinged connection of the first link and the second link; The first drive mechanism is fixedly installed in the middle of one of the rigid pressure bars and is hinged to one end of the first link and the second link of the first X-shaped docking mechanism, for driving the first X-shaped docking mechanism to move along the arrangement direction of the set of rigid pressure bars; The second drive mechanism is fixedly mounted on another rigid pressure bar relative to the first drive mechanism, and is hinged to one end of the first link and the second link of the second X-shaped docking mechanism, for driving the second X-shaped docking mechanism to move along the arrangement direction of the set of rigid pressure bars; The locking mechanism is used to lock the first X-shaped docking mechanism and the second X-shaped docking mechanism together. The first driving mechanism, the second driving mechanism, and the locking mechanism are all signal-connected to the control board; The other ends of the first and second connecting rods of the first X-shaped docking mechanism and the second X-shaped docking mechanism are both connected to the locking mechanism.

6. The rotary-wing UAV as described in claim 5, characterized in that, The first drive mechanism includes a DC motor, two lead screws, two guide rails, two adapter blocks, and limit switches; The DC motor, the guide rail, and the limit switch are all fixedly mounted on one of the rigid pressure rods; the DC motor is signal-connected to the control board; Two lead screws are symmetrically connected to both sides of the DC motor; the lead screws are arranged parallel to the rigid pressure rod on which the DC motor is mounted and are rotatably supported by the rigid pressure rod; each lead screw is screwed with an adapter block; The two guide rails are symmetrically distributed on both sides of the DC motor and are arranged parallel to the rigid pressure rod; the guide rails are slidably engaged with the adapter block to guide the movement of the adapter block; The DC motor is used to drive the lead screw to rotate, so that the adapter block moves along the axial direction of the lead screw; The first connecting rod is hinged to the adapter block on one side of the DC motor; The second connecting rod is hinged to the adapter block on the other side of the DC motor; The second drive mechanism has the same structure as the first drive mechanism; The limit switch is used to shut off the DC motor when the adapter block reaches its limit position.

7. The rotary-wing UAV as described in claim 6, characterized in that, The locking mechanism includes a locking support fixedly installed on the first link and the second link of the first X-shaped docking mechanism, a locking motor fixedly installed on the top of the locking support, a locking block fixedly connected to the locking motor, a positioning plate fixedly connected to the first link and the second link of the second X-shaped docking mechanism, and a positioning pin fixedly connected to the top surface of the positioning plate. The locking support is provided with a slot that faces the positioning plate and matches the shape of the positioning plate, and a positioning groove for accommodating the positioning pin and communicating with the slot. The positioning groove is provided with a flared opening that faces the positioning pin. The locking motor is signal-connected to the control board and is used to drive the locking block to rise and fall; the bottom surface of the locking block is provided with a guide hole that matches the shape of the positioning pin; When the locking mechanism locks the first X-shaped docking mechanism and the second X-shaped docking mechanism together, the positioning plate is inserted into the slot, the positioning pin is accommodated in the positioning groove, and the top of the positioning pin is inserted into the guide hole.

8. The rotary-wing UAV as described in claim 7, characterized in that, The guide hole is a tapered hole; The top of the positioning pin is provided with a tapered protrusion.

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