Airship robot and adjustment method

Abstract

The application discloses a flying boat robot and an adjusting method, and relates to the technical field of flight equipment. The flying boat robot comprises a gas bag, a connecting assembly and a driving assembly. The connecting assembly comprises a first pull rope, a second pull rope, a third pull rope, a mounting plate arranged on the gas bag and an elastic swing piece arranged on the mounting plate. The first pull rope, the second pull rope and the third pull rope are arranged on the mounting plate in a circumferential interval of the elastic swing piece. The driving assembly is arranged at one end of the elastic swing piece away from the mounting plate. The driving assembly can wind and release different pull ropes to drive the elastic swing piece to swing. The technical scheme of the application adjusts the flight direction and the flight posture of the flying boat robot in a way of center of mass control. The flying boat robot has stronger adjusting capacity and can improve the ability of the flying boat robot to resist environmental airflow disturbance, so that stable flight of the flying boat robot is realized.

Description

Technical Field

[0001] This invention relates to the field of flight equipment technology, and in particular to an airship robot and its adjustment method. Background Technology

[0002] An airship robot is an innovative product combining airship and robotics technologies. It not only possesses the aerial navigation capabilities of an airship but also incorporates the intelligence and automation of robotics. This technological fusion enables airship robots to exhibit high flexibility and efficiency when performing tasks. However, existing airship robots are susceptible to environmental airflow disturbances, making stable flight difficult.

[0003] Therefore, it is necessary to provide a new airship robot and its adjustment method to solve the above-mentioned technical problems. Summary of the Invention

[0004] The main objective of this invention is to provide an airship robot and its adjustment method, which aims to solve the technical problem that existing airship robots have weak resistance to environmental airflow disturbances and are difficult to fly stably.

[0005] To achieve the above objectives, the present invention proposes an airship robot, comprising:

[0006] airbags;

[0007] A connecting assembly, the connecting assembly including a first pull cord, a second pull cord, a third pull cord, a mounting plate disposed on the airbag, and an elastic swing member disposed on the mounting plate, wherein the first pull cord, the second pull cord, and the third pull cord are circumferentially spaced on the mounting plate around the elastic swing member;

[0008] A drive assembly is disposed at the end of the elastic swing member away from the mounting plate;

[0009] The drive assembly is capable of winding up one or two of the first pull rope, the second pull rope, and the third pull rope, and simultaneously releasing the unwound first pull rope, the second pull rope, and the third pull rope;

[0010] Alternatively, the drive assembly can wind up one of the second and third pull ropes and simultaneously release the other of the second and third pull ropes to drive the elastic swing member to swing.

[0011] In one embodiment, the connecting assembly further includes a plurality of guide plates, and the mounting plate and the plurality of guide plates are spaced apart from the elastic swing member; one end of the first pull rope, the second pull rope, and the third pull rope are evenly spaced around the circumference of the elastic swing member on the mounting plate, and the other end passes through the plurality of guide plates in sequence and is connected to the driving assembly for transmission.

[0012] In one embodiment, the drive assembly includes a mounting frame, a first drive member, a second drive member, a first transmission mechanism, a second transmission mechanism, a first winding wheel for the first pull rope to be wound around, a second winding wheel for the second pull rope to be wound around, a third winding wheel for the third pull rope to be wound around, and a rotating shaft rotatably disposed on the mounting frame. The first winding wheel is disposed on the rotating shaft, the second winding wheel is disposed on the rotating shaft via the first transmission mechanism, and the third winding wheel is disposed on the rotating shaft via the second transmission mechanism. The winding directions of the second winding wheel and the third winding wheel are opposite to the winding direction of the first winding wheel.

[0013] The first driving member can drive the first rope winding wheel, the second rope winding wheel and the third rope winding wheel to rotate, and the rotation speed of the second rope winding wheel and the rotation speed of the third rope winding wheel are both half the rotation speed of the first rope winding wheel;

[0014] The second drive unit can drive the second and third rope winding wheels to rotate in opposite directions at the same speed.

[0015] In one embodiment, both the first transmission mechanism and the second transmission mechanism include a planetary gear, a first shaft disposed on the rotating shaft, and a second shaft rotatably disposed on the rotating shaft. The first shaft has a first meshing portion, and the second shaft has a second meshing portion. Both the first meshing portion and the second meshing portion mesh with the planetary gear. The second winding wheel and the third winding wheel both have inner surfaces, and the planetary gear is rotatably disposed on the corresponding inner surfaces.

[0016] The first driving member can drive the first rope wheel to rotate, thereby driving the first shaft to rotate. The second driving member can drive the second shafts of both the first transmission mechanism and the second transmission mechanism to rotate in opposite directions.

[0017] In one embodiment, both the first transmission mechanism and the second transmission mechanism further include a meshing gear disposed on the second shaft. The output end of the second drive member is provided with a first transmission gear and a second transmission gear. The first transmission gear meshes with the meshing gear of the first transmission mechanism. The mounting bracket is provided with a steering gear that meshes with the second transmission gear. The steering gear meshes with the meshing gear of the second transmission mechanism.

[0018] In one embodiment, the drive assembly includes a mounting base connected to one end of the elastic swing member away from the mounting plate, a first winding wheel for the first pull rope to be wound, a second winding wheel for the second pull rope to be wound, a third winding wheel for the third pull rope to be wound, a first drive unit capable of driving the first winding wheel to rotate, a second drive unit capable of driving the second winding wheel to rotate, and a third drive unit capable of driving the third winding wheel to rotate.

[0019] In one embodiment, the mounting frame is provided with a first guide rod corresponding to the first rope winding wheel, a second guide rod corresponding to the second rope winding wheel, and a third guide rod corresponding to the third rope winding wheel. The first pull rope passes through the first guide rod, the second pull rope passes through the second guide rod, and the third pull rope passes through the third guide rod.

[0020] In one embodiment, the airship robot further includes a clamping assembly, which includes a first gripper, a second gripper, and a drive body disposed on the mounting frame. The first gripper and the second gripper are both disposed on the drive body. The drive body can drive the first gripper and the second gripper to rotate in a direction that moves closer to or further away from each other.

[0021] In one embodiment, the airbag is provided with wings on both sides, the wings having an upper end face and a lower end face, the convexity of the upper end face being greater than the convexity of the lower end face.

[0022] In addition, the present invention also provides an adjustment method for an airship robot, applied to the aforementioned airship robot, wherein the control method for flight direction and flight attitude includes at least one of a first adjustment method and a second adjustment method:

[0023] The first adjustment method includes controlling the drive component to wind up or release the first pull rope, and simultaneously releasing or winding up the second and third pull ropes, thereby driving the elastic swing member to swing back and forth, which can change the position of the airship robot's center of mass, so as to adjust the airship robot's flight attitude and flight altitude.

[0024] The second adjustment method includes controlling the drive assembly to wind up one of the second pull rope and the third pull rope, and simultaneously releasing the other of the second pull rope and the third pull rope, thereby driving the elastic swing member to swing left and right, which can change the center of mass of the airship robot to adjust the flight direction and flight attitude of the airship robot.

[0025] The technical solution of this invention adjusts the flight direction and attitude of the airship robot through center-of-mass control, which has stronger adjustment capabilities and can improve the airship robot's ability to resist environmental airflow disturbances, thereby achieving stable flight. In this embodiment, the elastic swing member is elastic and can swing under the action of external force. The drive component can wind up one or two of the first, second, and third pull ropes and simultaneously release the unwinding first, second, and third pull ropes; or, the drive component can wind up one of the second and third pull ropes and simultaneously release the other one of the second and third pull ropes to drive the elastic swing member to swing. Since the drive component is located at the end of the elastic swing member away from the airbag, that is, the weight of the airship robot is concentrated at the end of the elastic swing member away from the airbag, the center of mass of the airship robot will change when the elastic swing member swings, thereby changing the flight direction and attitude of the airship robot. Specifically, when the drive assembly winds up the first pull rope and simultaneously releases the second and third pull ropes, or when the drive assembly releases the first pull rope and simultaneously releases the second and third pull ropes, the elastic swing member will swing towards the front or rear of the airbag under the action of the pull ropes, thereby causing the center of mass of the airship robot to move forward or backward, adjusting the flight attitude of the airship robot; when the drive assembly winds up the second pull rope and simultaneously releases the third pull rope, or when the drive assembly winds up the third pull rope and simultaneously releases the second pull rope, the elastic swing member will swing towards the left or right of the airbag under the action of the pull ropes, thereby causing the center of mass of the airship robot to move left or right, adjusting the flight direction of the airship robot. In this airship robot, the flight direction and attitude are adjusted through center-of-gravity control. Adjustment is achieved simply by winding or releasing the corresponding pull rope via the drive component, thus regulating the airship robot's center of gravity and adjusting its flight direction and attitude. This method offers enhanced adjustment capabilities and improves the airship robot's resistance to environmental airflow disturbances, resulting in stable flight. This airship robot is primarily applied in the field of small airship robot technology. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the airship robot in Embodiment 1 of the present invention;

[0028] Figure 2A schematic diagram showing the connection of the connecting component, driving component, clamping component and propeller in Embodiment 1 of the present invention;

[0029] Figure 3 for Figure 2 Another perspective illustration;

[0030] Figure 4 This is a schematic diagram showing the connection between the driving component and the clamping component in Embodiment 1 of the present invention;

[0031] Figure 5 for Figure 4 Another perspective illustration;

[0032] Figure 6 for Figure 5 Enlarged view of point A in the image;

[0033] Figure 7 This is a schematic diagram showing the connection between the first transmission mechanism and the rotating shaft in Embodiment 1 of the present invention;

[0034] Figure 8 The diagram shows the driving principle of the airship robot in Embodiment 1 of the present invention.

[0035] Explanation of icon numbers:

[0036] 100. Airbag; 110. Wing; 200. Connecting assembly; 210. First pull rope; 220. Second pull rope; 230. Third pull rope; 240. Mounting plate; 250. Elastic swing element; 260. Guide plate; 300. Drive assembly; 310. Mounting bracket; 311. Steering gear; 312. First guide rod; 313. Second guide rod; 314. Third guide rod; 320. First drive element; 321. First gear; 330. Second drive element; 331. First transmission gear; 332. Second transmission gear; 340. First transmission mechanism; 3 41. Planetary gear; 342. First shaft; 3421. First meshing part; 343. Second shaft; 3431. Second meshing part; 344. Meshing gear; 350. Second transmission mechanism; 360. First rope winding wheel; 361. Second gear; 370. Second rope winding wheel; 380. Third rope winding wheel; 390. Rotating shaft; 400. Clamping assembly; 410. First gripper; 411. First connecting rod; 412. First bending rod; 420. Second gripper; 421. Second connecting rod; 422. Second bending rod; 430. Drive body; 500. Propeller.

[0037] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0040] Furthermore, if the embodiments of the present invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously.

[0041] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0042] Airship robots are innovative products combining airship and robotics technologies. They not only possess the aerial navigation capabilities of an airship but also incorporate the intelligence and automation of robotics. Due to their advantages such as long flight time, safe human-machine interaction, and low noise, they are applied in various technical fields, including environmental monitoring and disaster search and rescue. However, in practical applications, researchers have found that most existing airship robots control their flight direction and attitude by changing the thrust generated by propellers installed in different directions. Because the propellers are fixed, they can only expel air in a fixed direction. Therefore, when the airship robot is disturbed by environmental airflow, it is necessary to constantly balance and change the thrust between the propellers, making it difficult to achieve stable flight. In other words, controlling the flight direction and attitude of an airship robot by propellers installed in different directions has a weak resistance to environmental airflow disturbances, making it difficult to achieve stable flight.

[0043] This invention proposes an airship robot and its adjustment method, aiming to solve the technical problem that existing airship robots have weak resistance to environmental airflow disturbances and are difficult to fly stably.

[0044] Please see Figure 1 and Figure 2 In one embodiment of the present invention, the airship robot includes an airbag 100, a connecting assembly 200, and a driving assembly 300. The connecting assembly 200 includes a first pull rope 210, a second pull rope 220, a third pull rope 230, a mounting plate 240 disposed on the airbag 100, and an elastic swing member 250 disposed on the mounting plate 240. The first pull rope 210, the second pull rope 220, and the third pull rope 230 are circumferentially spaced on the mounting plate 240 around the elastic swing member 250. The driving assembly 300 is disposed on the elastic swing member 250. The end of the moving member 250 away from the mounting plate 240; the drive assembly 300 can wind up one or two of the first pull rope 210, the second pull rope 220 and the third pull rope 230, and simultaneously release the unwinding first pull rope 210, the second pull rope 220 and the third pull rope 230; or, the drive assembly 300 can wind up one of the second pull rope 220 and the third pull rope 230, and simultaneously release the other of the second pull rope 220 and the third pull rope 230, so as to drive the elastic swing member 250 to swing.

[0045] The technical solution of this invention adjusts the flight direction and attitude of the airship robot through center-of-mass control, which has stronger adjustment capabilities and can improve the airship robot's ability to resist environmental airflow disturbances, thereby achieving stable flight of the airship robot. In this embodiment, the elastic swing member 250 is elastic and can swing under the action of external force. The drive assembly 300 can wind up one or two of the first pull rope 210, the second pull rope 220, and the third pull rope 230, and simultaneously release the unwinding first pull rope 210, the second pull rope 220, and the third pull rope 230; or, the drive assembly 300 can wind up one of the second pull rope 220 and the third pull rope 230, and simultaneously release the other one of the second pull rope 220 and the third pull rope 230, to drive the elastic swing member 250 to swing. Since the drive assembly 300 is located at the end of the elastic swing member 250 away from the airbag 100, that is, the weight of the airship robot is concentrated at the end of the elastic swing member 250 away from the airbag 100, the center of mass of the airship robot will change when the elastic swing member 250 swings, thereby changing the flight direction and flight attitude of the airship robot. Specifically, when the drive assembly 300 winds up the first pull rope 210 and simultaneously releases the second pull rope 220 and the third pull rope 230, or when the drive assembly 300 releases the first pull rope 210 and simultaneously winds up the second pull rope 220 and the third pull rope 230, the elastic swing member 250 will swing towards the front or rear of the airbag 100 under the action of the pull ropes, thereby causing the center of mass of the airship robot to move forward or backward, adjusting the flight attitude of the airship robot; when the drive assembly 300 winds up the second pull rope 220 and simultaneously releases the third pull rope 230, or when the drive assembly 300 winds up the third pull rope 230 and simultaneously releases the second pull rope 220, the elastic swing member 250 will swing towards the left or right of the airbag 100 under the action of the pull ropes, thereby causing the center of mass of the airship robot to move to the left or right, adjusting the flight direction of the airship robot. This airship robot adjusts its flight direction and attitude through center-of-gravity control. During adjustment, simply winding or releasing the corresponding pull rope via the drive component 300 adjusts the airship robot's center of gravity, thereby adjusting its flight direction and attitude. It possesses enhanced adjustment capabilities, improving its resistance to environmental airflow disturbances and achieving stable flight. This airship robot is primarily applied in the field of small airship robot technology.

[0046] In this embodiment, the airbag 100 has a first rotation axis and a second rotation axis, wherein the first rotation axis is as follows: Figure 1 As shown by X in the figure, the second axis of rotation is as follows Figure 1As shown in the diagram (Y), when the elastic swing member 250 swings towards the front or rear of the airbag 100, the airship robot rotates around the first rotation axis, i.e., the airship robot performs a pitching motion; when the elastic swing member 250 swings towards the left or right side of the airbag 100, the airship robot rotates around the second rotation axis, i.e., the airship robot performs a tumbling motion. In a specific embodiment, the elastic swing member 250 can be a swing rod made of elastic metal, which can swing in different directions under the action of external force. It should be noted that, in addition to the two swinging motions mentioned above, the elastic swing member 250 can also swing to the left front, left rear, right front, and right rear. Specifically, when the drive assembly 300 winds up the first pull rope 210 and the second pull rope 220 and simultaneously releases the third pull rope 230, the elastic swing member 250 will swing to the left front under the action of the pull ropes to adjust the flight direction and attitude of the airship robot. Similarly, when the drive assembly 300 winds up different pull ropes and simultaneously releases another pull rope, the elastic swing member 250 will swing to the left rear, right front, or right rear under the action of the pull ropes. The specific driving process will not be described in detail here.

[0047] Please see Figure 2 In one embodiment of the present invention, the connecting assembly 200 further includes a plurality of guide plates 260, and the mounting plate 240 and the plurality of guide plates 260 are spaced apart on the elastic swing member 250; one end of the first pull rope 210, the second pull rope 220, and the third pull rope 230 are evenly spaced around the circumference of the elastic swing member 250 on the mounting plate 240, and the other end passes through the plurality of guide plates 260 in sequence and is connected to the driving assembly 300 for transmission. Specifically, by evenly spaced around the circumference of the elastic swing member 250 on the mounting plate 240, the first pull rope 210, the second pull rope 220, and the third pull rope 230 can ensure that the position of the driving assembly 300 when driving the elastic swing member 250 to swing is accurate; and by passing each pull rope through each guide plate 260 in sequence, the guide plate 260 can provide guidance for the movement of the pull rope, so as to ensure that the position of the pull rope is accurate when the driving assembly 300 winds up or releases the pull rope, thereby avoiding the pull rope from tangling, knotting, etc. In one specific embodiment, each guide plate 260 can be a triangular plate, and each guide plate 260 has a through hole. A hollow column with a smooth inner surface is installed in the through hole. Each pull rope is threaded through the corresponding hollow column, which can reduce the wear of the pull rope caused by friction during movement, thereby improving the service life of the airship robot.

[0048] Please see Figure 4 and Figure 5In one embodiment of the present invention, the drive assembly 300 includes a mounting frame 310, a first drive member 320, a second drive member 330, a first transmission mechanism 340, a second transmission mechanism 350, a first winding wheel 360 for the first pull rope 210 to be wound, a second winding wheel 370 for the second pull rope 220 to be wound, a third winding wheel 380 for the third pull rope 230 to be wound, and a rotating shaft 390 rotatably disposed on the mounting frame 310. The first winding wheel 360 is disposed on the rotating shaft 390, the second winding wheel 370 is disposed on the rotating shaft 390 through the first transmission mechanism 340, and the third winding wheel... 380 is mounted on the rotating shaft 390 via the second transmission mechanism 350. The winding directions of the second winding wheel 370 and the third winding wheel 380 are opposite to those of the first winding wheel 360. The first driving member 320 can drive the first winding wheel 360, the second winding wheel 370, and the third winding wheel 380 to rotate in the same direction, and the rotational speeds of the second winding wheel 370 and the third winding wheel 380 are both half the rotational speed of the first winding wheel 360. The second driving member 330 can drive the second winding wheel 370 and the third winding wheel 380 to rotate in opposite directions at the same speed. In a specific embodiment, both the first driving member 320 and the second driving member 330 can be drive motors.

[0049] In this embodiment, the first driving member 320 can drive the first rope-winding wheel 360 to rotate, and can simultaneously drive the second rope-winding wheel 370 and the third rope-winding wheel 380 to rotate in the same direction at half the rotational speed of the first rope-winding wheel 360. Since the rope-winding directions of the second rope-winding wheel 370 and the third rope-winding wheel 380 are opposite to the rope-winding direction of the first rope-winding wheel 360, when driven by the first driving member 320, the second rope-winding wheel 370, the third rope-winding wheel 380 and the first rope-winding wheel 360 respectively wind up and release the rope. At this time, the elastic swing member 250 will swing towards the side where the rope is wound up, thereby driving the airship robot to rotate around the first rotation axis 390 to adjust the flight attitude of the airship robot. The second drive unit 330 can drive the second rope winding wheel 370 and the third rope winding wheel 380 to rotate in opposite directions at the same speed. When driven by the second drive unit 330, the second rope winding wheel 370 and the third rope winding wheel 380 respectively wind up and release the rope. At this time, the elastic swing member 250 will swing to the side where the rope is wound up, thereby driving the airship robot to rotate around the second rotation axis 390 to adjust the flight direction of the airship robot.

[0050] It should be noted that in this embodiment, the first rope-winding wheel 360, the second rope-winding wheel 370, and the third rope-winding wheel 380 are driven by only two driving components, which can reduce the number of driving components, thereby reducing the weight of the airship robot and also reducing the manufacturing cost of the airship robot.

[0051] Please see Figures 6 to 8In one embodiment of the present invention, both the first transmission mechanism 340 and the second transmission mechanism 350 include a planetary gear 341, a first shaft 342 disposed on a rotating shaft 390, and a second shaft 343 rotatably disposed on the rotating shaft 390. The first shaft 342 forms a first meshing portion 3421, and the second shaft 343 forms a second meshing portion 3431. Both the first meshing portion 3421 and the second meshing portion 3431 mesh with the planetary gear 341. The second winding wheel 370 and the third winding wheel 380 both have inner surfaces, and the planetary gear 341 is rotatably disposed on the corresponding inner surfaces. The first driving member 320 can drive the first winding wheel 360 to rotate, thereby driving the first shaft 342 to rotate. The second driving member 330 can drive the second shafts 343 of both the first transmission mechanism 340 and the second transmission mechanism 350 to rotate in opposite directions. Specifically, the first shaft 342 is fixed on the rotating shaft 390, and the second shaft 343 is rotatably disposed on the rotating shaft 390.

[0052] In this embodiment, the output end of the first driving member 320 is provided with a first gear 321, and the first rope winding wheel 360 is provided with a second gear 361. The first gear 321 meshes with the second gear 361, that is, the first driving member 320 drives the first rope winding wheel 360 to rotate through gear meshing, which can ensure the stability of the first rope winding wheel 360 when rotating. The process of the first driving member 320 driving the second rope winding wheel 370 and the third rope winding wheel 380 to rotate is as follows (taking the second rope winding wheel 370 as an example for explanation): When the first driving member 320 drives the first rope winding wheel 360 to rotate, it will drive the rotating shaft 390 fixedly connected to the first rope winding wheel 360 to rotate, and drive the first shaft 342 of the first transmission mechanism 340 to rotate. Then, it drives the planetary gear 341 to revolve around the rotating shaft 390 while rotating on its own axis, thereby driving the second rope winding wheel 370 to rotate at half the speed of the first rope winding wheel 360. Similarly, the first driving member 320 drives the third winding wheel 380 to rotate at half the speed of the first winding wheel 360 through the second transmission mechanism 350. It should be noted that the principle by which the corresponding planetary gear 341 drives the second rope wheel 370 and the third rope wheel 380 to rotate at half the speed of the first rope wheel 360 is as follows: When the first shaft 390 drives the planetary gear 341 to rotate, since the position of the planetary gear 341 is not fixed, the planetary gear 341 will also revolve around the shaft 390 while rotating on its own axis. That is to say, when the first shaft 342 drives the planetary gear 341 to rotate, the planetary gear 341 will revolve around the shaft 390 at half the speed of the first rope wheel 360. The inner surfaces of the second rope wheel 370 and the third rope wheel 380 are rotatably connected to the corresponding planetary gear 341. Therefore, when the corresponding planetary gear 341 revolves around the shaft 390, it will drive the second rope wheel 370 and the third rope wheel 380 to rotate at half the speed of the first rope wheel 360. The specific principle can be referred to the differential structure in the prior art.

[0053] The process by which the second driving member 330 drives the second winding wheel 370 and the third winding wheel 380 to rotate in opposite directions is as follows: The second driving member 330 drives the second shafts 343 of the first transmission mechanism 340 and the second transmission mechanism 350 to rotate in opposite directions, and drives the planetary gears 341 of the first transmission mechanism 340 and the second transmission mechanism 350 to revolve around the rotating shaft 390 in opposite directions, thereby driving the second winding wheel 370 and the third winding wheel 380 to rotate in opposite directions. Specifically, the second winding wheel 370 and the third winding wheel 380 rotate at the same speed, which ensures the synchronicity of the second pull rope 220 and the third pull rope 230 during winding and releasing.

[0054] Please see Figure 4 , Figure 5 and Figure 7In one embodiment of the present invention, both the first transmission mechanism 340 and the second transmission mechanism 350 further include a meshing gear 344 disposed on the second shaft 343. The output end of the second driving member 330 is provided with a first transmission gear 331 and a second transmission gear 332. The first transmission gear 331 meshes with the meshing gear 344 of the first transmission mechanism 340. The mounting bracket 310 is provided with a steering gear 311 that meshes with the second transmission gear 332. The steering gear 311 meshes with the meshing gear 344 of the second transmission mechanism 350. Specifically, the second driving member 330 drives the second rope winding wheel 370 and the third rope winding wheel 380 to rotate in opposite directions through gear meshing, which can ensure the stability of the second rope winding wheel 370 and the third rope winding wheel 380 during rotation. The steering gear 311 mounted on the mounting bracket 310 can change the rotation direction of the second drive member 330 when it drives the meshing gear 344 of the second transmission mechanism 350 to rotate, so that the second rope wheel 370 and the third rope wheel 380 rotate in opposite directions.

[0055] In this embodiment, the rotational speeds of the first winding reel 360, the second winding reel 370, and the third winding reel 380 are:

[0056] n1 = -kn x

[0057]

[0058] Where n1 refers to the rotational speed of the first winding sheave 360, n2 refers to the rotational speed of the second winding sheave 370, n3 refers to the rotational speed of the third winding sheave 380, and n x This refers to the output speed of the first driving component 320, n y N refers to the output speed of the second driving component 330. k refers to the same gear ratio between the first gear 321 and the second gear 361, between the first transmission gear 331 and the meshing gear 344 of the first transmission mechanism 340, and between the second transmission gear 332 and the meshing gear 344 of the second transmission mechanism 350. Specifically, N... x N1 refers to the number of teeth on the first gear 321, and N1 refers to the number of teeth on the second gear 361. y N1 refers to the number of teeth of the first transmission gear 331, and N2 refers to the number of teeth of the meshing gear 344 of the first transmission mechanism 340. z N3 refers to the number of teeth of the second transmission gear 332, and N3 refers to the number of teeth of the meshing gear 344 of the second transmission mechanism 350.

[0059] In this embodiment, the first rope winding wheel 360, the second rope winding wheel 370, and the third rope winding wheel 380 have equal radii. Based on the aforementioned drive assembly 300, the motion output of the first pull rope 210, the second pull rope 220, and the third pull rope 230 is as follows:

[0060]

[0061] in, This refers to the 360-degree speed of the first winding pulley. This refers to the speed of the second winding pulley at 370 degrees. "r" refers to the speed of the third winding wheel 380, and "r" refers to the radius of the first winding wheel 360, the second winding wheel 370, and the third winding wheel 380.

[0062] As can be seen from the above formula, the first drive member 320 and the second drive member 330 of the drive assembly 300 can simultaneously control the movement of the first rope winding wheel 360, the second rope winding wheel 370, and the third rope winding wheel 380. This is suitable for situations where the three rope-wound elastic oscillating members 250 are evenly spaced circumferentially, enabling independent control of two degrees of freedom of the elastic oscillating member 250 by the two drive members. Specifically, when only the first drive member 320 is outputting, i.e., n y =0, the first rope-winding wheel 360, the second rope-winding wheel 370, and the third rope-winding wheel 380 rotate in the same direction, and the rotational speed of the second rope-winding wheel 370 and the third rope-winding wheel 380 is half the rotational speed of the first rope-winding wheel 360. At this time, the center of mass of the airship robot moves forward or backward, and the airship robot performs pitch motion. That is to say, under the drive of the first drive unit 320, the center of mass of the airship robot can be moved forward or backward to adjust the flight attitude of the airship robot. When only the second drive unit 330 is output, i.e., n x =0. At this time, the first rope wheel 360 does not rotate, while the second rope wheel 370 and the third rope wheel 380 move in opposite directions at the same rotation speed. At this time, the center of mass of the airship robot moves to the left or right, and the airship robot performs a tumbling motion. That is to say, under the drive of the second drive unit 330, the center of mass of the airship robot can be moved to the left or right to adjust the flight direction of the airship robot. When the first drive unit 320 and the second drive unit 330 output simultaneously, the center of mass of the airship robot will move to the left front, left rear, right front, and right rear according to the actual situation, so that the airship robot will perform a tumbling motion while performing a pitching motion.

[0063] In another embodiment of the present invention, the drive assembly 300 includes a mounting base connected to the end of the elastic swing member 250 away from the mounting plate 240, a first winding wheel for the first pull rope 210 to be wound, a second winding wheel for the second pull rope 220 to be wound, a third winding wheel for the third pull rope 230 to be wound, a first drive unit capable of driving the first winding wheel to rotate, a second drive unit capable of driving the second winding wheel to rotate, and a third drive unit capable of driving the third winding wheel to rotate. Specifically, by driving the three winding wheels to rotate through the three drive units respectively, the drive structure of the airship robot can be simplified, thereby reducing the manufacturing difficulty of the airship robot and facilitating later repair and maintenance.

[0064] Please see Figure 4 and Figure 5 In another embodiment of the present invention, the mounting frame 310 is provided with a first guide rod 312 corresponding to the first winding wheel 360, a second guide rod 313 corresponding to the second winding wheel 370, and a third guide rod 314 corresponding to the third winding wheel 380. A first pull rope 210 passes through the first guide rod 312, a second pull rope 220 passes through the second guide rod 313, and a third pull rope 230 passes through the third guide rod 314. Each guide rod provides guidance for the movement of the pull rope, ensuring that the position of the pull rope is accurate when the drive assembly 300 winds or releases the pull rope, thereby avoiding tangling or knotting. To reduce wear caused by the pull rope moving in the corresponding guide rod, the inner surface of the guide rod can be polished smooth, and both ends of the guide rod can be rounded. In a specific embodiment, each guide rod is L-shaped, and when the elastic swing member 250 is not swinging, one end of each guide rod faces the corresponding winding wheel, and the other end faces the mounting plate 240.

[0065] Please see Figure 2 and Figure 3In another embodiment of the present invention, the airship robot further includes a gripping assembly 400, which includes a first gripper 410, a second gripper 420, and a drive body 430 disposed on the mounting frame 310. Both the first gripper 410 and the second gripper 420 are disposed on the drive body 430. The drive body 430 can drive the first gripper 410 and the second gripper 420 to rotate in a direction closer to or further away from each other. Specifically, the gripping assembly 400 enables the airship robot to have grasping capabilities. When encountering harsh environments such as strong winds, the airship robot can fly to a graspable object (such as a tree branch). At this time, the drive body 430 drives the first gripper 410 and the second gripper 420 to rotate in a direction closer to each other, thus gripping the graspable object and achieving safe fixation of the airship robot in harsh environments. In one specific embodiment, the drive body 430 may be a drive motor, and there are two drive bodies 430, with the first gripper 410 and the second gripper 420 being disposed on the two drive bodies 430 in a one-to-one correspondence.

[0066] Please see Figure 3 In another embodiment of the present invention, the first gripper 410 includes a first connecting rod 411 connected to the drive body 430 and a first bent rod 412 connected to the first connecting rod 411. The second gripper 420 includes a second connecting rod 421 connected to the drive body 430 and two second bent rods 422 symmetrically arranged on the second connecting rod 421. That is to say, the gripping component 400 of the airship robot is a three-claw gripping structure, which can ensure the reliability of the gripping component 400 when gripping the graspable object. It can also improve the adaptive capability of the gripping component 400. That is, the gripping is achieved through the three-claw gripping structure, which can not only grip rod-shaped objects such as branches, but also spherical, square and other objects.

[0067] Please see Figure 1In another embodiment of the present invention, wings 110 are provided on both sides of the airbag 100. Each wing 110 has an upper end surface and a lower end surface, with the upper end surface having a greater convexity than the lower end surface. In this embodiment, the wings 110 provided on both sides of the airbag 100 can provide aerodynamic lift for the airship robot, thereby improving its aerodynamic performance. Simultaneously, they can also assist the airship robot in changing its flight direction, reducing the difficulty of adjusting its flight direction. It should be noted that the principle of the wings 110 providing aerodynamic lift and assisting in changing flight direction can refer to the design of existing passenger aircraft wings 110. Specifically, because the convexity of the upper end surface is greater than that of the lower end surface, the airflow velocity above the wing 110 is faster than below. According to Bernoulli's principle, the pressure is lower above where the airflow velocity is faster, and higher below where the airflow velocity is slower, thus creating an upward pressure difference, thereby providing aerodynamic lift for the airship robot. Meanwhile, when the aircraft needs to change direction during flight, the airship robot can be rolled to change the effect of the airflow on the wing 110, thereby generating a corresponding torque and achieving a change in flight direction.

[0068] Please see Figure 2 In another embodiment of the invention, the airship robot further includes a propeller 500, which is disposed on the mounting plate 240. Specifically, the propeller 500 is driven by a drive motor, which provides thrust to drive the airship robot. In a specific embodiment, the airbag 100 may be elliptical, which can reduce wind resistance during airship robot flight, and the airbag 100 is filled with a low-density gas such as helium, which can provide static lift (i.e., buoyancy) for the airship robot. It should be noted that the static lift provided by the airbag 100 needs to be slightly less than the total mass of the airship robot, that is, to ensure that the airship robot can descend slowly under its own weight when stationary, so as to ensure that the airship robot can still land on the ground in the event of loss of control.

[0069] The present invention also provides an adjustment method for an airship robot, applied to the aforementioned airship robot, wherein the control method for flight direction and flight attitude includes at least one of a first adjustment method and a second adjustment method:

[0070] The first adjustment method includes controlling the drive component 300 to wind up or release the first pull rope 210, and simultaneously releasing or winding up the second pull rope 220 and the third pull rope 230, thereby driving the elastic swing member 250 to swing back and forth, which can change the position of the center of mass of the airship robot to adjust the flight attitude and flight altitude of the airship robot, even if the airship robot performs pitch motion, thereby adjusting the flight altitude of the airship robot;

[0071] The second adjustment method includes controlling the drive assembly 300 to wind up one of the second pull rope 220 and the third pull rope 230, and simultaneously releasing the other of the second pull rope 220 and the third pull rope 230, thereby driving the elastic swing member 250 to swing left and right, which can change the center of mass of the airship robot to adjust the flight direction and flight attitude of the airship robot, even if the airship robot performs a tumbling motion, thereby adjusting the flight direction of the airship robot.

[0072] It should be noted that the first adjustment method and the second adjustment amplification can also be used in combination. That is, the elastic swing member 250 is driven by the drive component 300 to swing to the left front, left rear, right front and right rear, so as to adjust the flight direction, flight attitude and flight altitude of the airship robot at the same time.

[0073] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An airship robot, characterized in that, include: airbags; A connecting assembly, the connecting assembly including a first pull cord, a second pull cord, a third pull cord, a mounting plate disposed on the airbag, and an elastic swing member disposed on the mounting plate, wherein the first pull cord, the second pull cord, and the third pull cord are circumferentially spaced on the mounting plate around the elastic swing member; A drive assembly is disposed at the end of the elastic swing member away from the mounting plate; The drive assembly is capable of winding up one or two of the first pull rope, the second pull rope, and the third pull rope, and simultaneously releasing the unwound first pull rope, the second pull rope, and the third pull rope; Alternatively, the drive assembly can wind up one of the second and third pull ropes and simultaneously release the other of the second and third pull ropes to drive the elastic swing member to swing. The connecting assembly further includes multiple guide plates, and the mounting plate and the multiple guide plates are spaced apart from the elastic swing member; one end of the first pull rope, the second pull rope, and the third pull rope are evenly spaced around the circumference of the elastic swing member on the mounting plate, and the other end passes through the multiple guide plates in sequence and is connected to the driving assembly for transmission. The drive assembly includes a mounting frame, a first drive member, a second drive member, a first transmission mechanism, a second transmission mechanism, a first winding wheel for the first pull rope to be wound around, a second winding wheel for the second pull rope to be wound around, a third winding wheel for the third pull rope to be wound around, and a rotating shaft rotatably mounted on the mounting frame. The first winding wheel is mounted on the rotating shaft, the second winding wheel is mounted on the rotating shaft via the first transmission mechanism, and the third winding wheel is mounted on the rotating shaft via the second transmission mechanism. The winding directions of the second winding wheel and the third winding wheel are opposite to the winding direction of the first winding wheel. The first driving member can drive the first rope winding wheel, the second rope winding wheel and the third rope winding wheel to rotate, and the rotation speed of the second rope winding wheel and the rotation speed of the third rope winding wheel are both half the rotation speed of the first rope winding wheel; The second driving member can drive the second rope wheel and the third rope wheel to rotate in opposite directions at the same speed; Both the first transmission mechanism and the second transmission mechanism include a planetary gear, a first shaft body disposed on the rotating shaft, and a second shaft body rotatably disposed on the rotating shaft. The first shaft body forms a first meshing portion, and the second shaft body forms a second meshing portion. Both the first meshing portion and the second meshing portion mesh with the planetary gear. The second winding wheel and the third winding wheel both have inner surfaces, and the planetary gear is rotatably disposed on the corresponding inner surfaces. The first driving member can drive the first rope wheel to rotate, thereby driving the first shaft to rotate. The second driving member can drive the second shafts of both the first transmission mechanism and the second transmission mechanism to rotate in opposite directions.

2. The airship robot as described in claim 1, characterized in that, Both the first transmission mechanism and the second transmission mechanism further include a meshing gear disposed on the second shaft. The output end of the second drive member is provided with a first transmission gear and a second transmission gear. The first transmission gear meshes with the meshing gear of the first transmission mechanism. The mounting bracket is provided with a steering gear that meshes with the second transmission gear. The steering gear meshes with the meshing gear of the second transmission mechanism.

3. The airship robot as described in claim 1 or 2, characterized in that, The mounting frame is provided with a first guide rod corresponding to the first rope winding wheel, a second guide rod corresponding to the second rope winding wheel, and a third guide rod corresponding to the third rope winding wheel. The first pull rope passes through the first guide rod, the second pull rope passes through the second guide rod, and the third pull rope passes through the third guide rod.

4. The airship robot as described in claim 1 or 2, characterized in that, The airship robot also includes a clamping assembly, which includes a first gripper, a second gripper, and a drive body disposed on the mounting frame. The first gripper and the second gripper are both disposed on the drive body. The drive body can drive the first gripper and the second gripper to rotate in a direction that moves closer to or further away from each other.

5. The airship robot as described in claim 1 or 2, characterized in that, The airbag is provided with wings on both sides, and the wings have an upper end face and a lower end face, with the upper end face having a greater convexity than the lower end face.

6. A method for adjusting an airship robot, applied to an airship robot as described in any one of claims 1 to 5, characterized in that, The adjustment method for the airship robot includes at least one of a first adjustment method and a second adjustment method: The first adjustment method includes controlling the drive component to wind up or release the first pull rope, and simultaneously releasing or winding up the second and third pull ropes, thereby driving the elastic swing member to swing back and forth, which can change the position of the airship robot's center of mass, so as to adjust the airship robot's flight attitude and flight altitude. The second adjustment method includes controlling the drive assembly to wind up one of the second pull rope and the third pull rope, and simultaneously releasing the other of the second pull rope and the third pull rope, thereby driving the elastic swing member to swing left and right, which can change the center of gravity position of the airship robot to adjust the flight direction and flight attitude of the airship robot.

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