Deformable air-ground amphibious robot

Abstract

The deformable air-ground amphibious robot comprises a deformable unmanned aerial vehicle module and a ground driven module, the deformable unmanned aerial vehicle module comprises a traditional power assembly, a deformation assembly and a control assembly, and the traditional power assembly comprises four motors and two pairs of paddles; the deformation assembly comprises a center frame, a deformation front frame, a deformation rear frame, a steering engine frame, a steering engine, a steering engine crank, two connecting rods, two crank seats and two hinge frames; the control assembly comprises a flight controller, an electronic speed controller, a computer rod and a battery; the ground driven module comprises two sets of driven wheel assemblies, and each driven wheel assembly comprises a driven wheel, a driven shaft and a wheel shaft clamp. The deformable land-air amphibious unmanned aerial vehicle can solve the endurance problem of the unmanned aerial vehicle, and is free of terrains, flexible and light.

Description

Technical Field

[0001] The invention relates to a deformable land and air amphibious robot. Background Art

[0002] With the development of drone and robot technology, more and more drones or robots have entered people's lives. Many photography enthusiasts use drones to take photos and videos; drones are often used to transport emergency supplies in hospitals; even in post-disaster rescue work, drones are needed for search work. However, drones currently have shortcomings such as short battery life and limited flight distance.

[0003] Compared to drones, robots are also beginning to play an important role in people's lives. They are responsible for delivering meals in hotels, transporting express in industrial logistics, and there are also robots that are specifically responsible for operating in complex terrains. However, compared to drones, robots have disadvantages such as slow movement speed and being restricted by terrain.

[0004] The existing power sets of land and air amphibious robots (UAVs) on the market are redundant. Most of them are about adding active wheels that can provide power under the UAV or adding flying blades to the unmanned vehicle. It is not that one set of power sets can solve the land and air problems, and the structure is complicated.

[0005] The existing power sleeve structure solves the problem of amphibious operations on land and in the air by increasing the pitch angle of the drone and using the horizontal component of the blade thrust to provide the power for the entire machine to move forward. Since the working angle of the sensor is limited, the pitch angle cannot be too large, resulting in the inability to fully utilize the thrust of the motor and low utilization of the battery power. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the present invention proposes a deformable land and air amphibious robot.

[0007] The present invention can be implemented through the following technical solutions:

[0008] A deformable land and air amphibious robot comprises a deformable UAV module and a ground driven module, wherein the deformable UAV module comprises a traditional power assembly, a deformable assembly and a control assembly, wherein the traditional power assembly comprises four motors and two pairs of blades; the deformable assembly comprises a center frame, a deformable front frame, a deformable rear frame, a steering gear frame, a steering gear, a steering gear crank, two connecting rods, two crank seats and two hinge frames, and the control assembly comprises a flight control, an electric regulator, a computer stick and a battery, wherein the flight control, the electric regulator and the computer stick provide a control algorithm for the deformable land and air amphibious robot; the steering gear is installed at the center position of the center frame through the steering gear frame; two hinge frames are installed at the front and rear positions of the center frame in a symmetrical manner in the upper and lower centers; two crank seats are installed on the hinge frame and form a rotating pair; the output shaft of the steering gear is fixedly connected to the steering gear crank, and the rotation of the steering gear drives the rotation of the steering gear crank, and the steering gear The two ends of the crank are each connected to a connecting rod to form a revolving pair; the other end of the connecting rod is connected to the crank seat to form a revolving pair, and finally two sets of double crank structures are formed, and at the same time they are controlled by the servo crank. Through mechanical limiting, the maximum swing amplitude of the two double crank structures is 90°; the servo rotates 90°, the deformed front frame and the motor and blades installed thereon rotate downward 90°, and the deformed rear frame and the motor and blades installed thereon rotate upward 90°; the ground driven module includes two sets of driven wheel assemblies, and the driven wheel assembly includes a driven wheel, a driven shaft and a wheel axle clamp; the driven wheel and one end of the driven shaft are connected by a bearing to form a revolving pair; the other end of the driven shaft is fixedly connected to the wheel axle clamp to form a driven wheel assembly; the two sets of driven wheel assemblies are fixedly connected to the center frame through the wheel axle clamp, the driven shafts on both sides are coaxial and ensure that the center of gravity of the deformed land and air amphibious robot is below the axis.

[0009] Furthermore, the crank seat on the front side of the center frame can only swing downwards within a swing range of 90°, and the crank seat on the rear side of the center frame can only swing upwards within a swing range of 90°, and the two crank seats are always linked.

[0010] Furthermore, the deformable front frame is fixed on the crank seat on the front side of the center frame; and the deformable rear frame is fixed on the crank seat on the rear side of the center frame.

[0011] Furthermore, the four motors are respectively fixed on the four ends of the deformable front frame and the deformable rear frame; the two pairs of blades are installed on the four motors according to the rules for installing forward and reverse propellers of drones.

[0012] Furthermore, the deformable front frame and the deformable rear frame are always linked and always parallel.

[0013] Beneficial Effects

[0014] 1. The deformable land and air amphibious robot of the present invention switches between two postures. It usually uses an energy-saving road driving posture, and adopts an aerial flying posture when encountering extreme terrain or when flying is required to ensure a longer operating distance;

[0015] 2. Compared with unmanned vehicles, the deformable land and air amphibious robot of the present invention can realize the rapid switching between the two postures of road driving and air flying, and has strong ground adaptability;

[0016] 3. The present invention realizes that the ground posture and the air posture share a set of power sets by adding a driven wheel and a clever blade motor direction deformation structure, which has a simple and clever structure;

[0017] 4. The present invention flips the front blade downward 90° and the rear blade upward 90°, thereby ensuring that the direction of the reaction force of the blade thrust is the movement direction of the deformable land-air amphibious robot while keeping the sensor angle unchanged, and there is no energy loss caused by the difference between the movement direction and the force direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram for demonstrating full utilization of the total thrust of the blade of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the deformable UAV module;

[0021] Figure 4 This is a side view of the transformable drone module;

[0022] Figure 5 This is a schematic diagram of the flight posture in the air;

[0023] Figure 6 For the road driving posture. DETAILED DESCRIPTION

[0024] The following describes the implementation of the present invention through specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0025] like Figure 1 As shown in the figure, the force analysis after the front and rear blades flip over:

[0026] 1. Torque offset argument:

[0027] Because the deformable front frame and its matching deformable components are exactly the same as the parts of the deformable rear frame, and the installation is symmetrical with the center of the wheel, so L 1 With L 2 Because the front and rear blades rotate at the same speed when moving forward, the thrust generated is the same, that is, F 1 Equal to F 2 . Due to F 1 and F 2They are respectively below and above the wheel axis, so the torques formed relative to the wheel center are in opposite directions. 1 =F 1 *L 1 and M 2 =F 2 *L 2 The torques are equal in size and opposite in direction, so they cancel each other out. In this state, the four propeller blades of the transformable land and air amphibious robot can move forward at the same speed, and the transformable drone module does not rotate.

[0028] 2. Demonstration of full utilization of thrust:

[0029] In this state, the total thrust of the blade is: F 总 =F 1 +F 2 , the thrust direction of the air on the blades is horizontally to the left, and the direction of movement of the drone is horizontally to the left, that is, the direction of movement and the direction of force are completely consistent, so the thrust of the blades is fully utilized.

[0030] Example

[0031] like Figure 2-4 As shown, a deformable land and air amphibious robot of the present invention comprises a deformable UAV module 1 and a ground driven module 2. The deformable UAV module 1 comprises a traditional power assembly 11, a deformable assembly 12 and a control assembly 13. The traditional power assembly 11 comprises four motors 111 and two pairs of blades 112; the deformable assembly 12 comprises a center frame 121, a deformable front frame 122, a deformable rear frame 123, a steering frame 124, a steering gear 125, a steering gear crank 126, two connecting rods 127, two crank seats 128 and two hinge frames 129. The control assembly 13 comprises a flight control 131, an electric regulator 132, a computer stick 133 and a battery 134.

[0032] The flight controller 131, the electric controller 132 and the computer stick 133 provide control algorithms for the transformable land and air amphibious robot, and the battery 134 provides kinetic energy.

[0033] The servo 125 is installed at the center of the center frame 121 through the servo frame 124; two hinge frames 129 are installed at the front and rear of the center frame 121 in a symmetrical manner; two crank seats 128 are installed on the hinge frame 129 and form a rotation pair; the output shaft of the servo 125 is fixedly connected to the servo crank 126, and the rotation of the servo 125 drives the servo crank 126 to rotate. The two ends of the servo crank 126 are each connected to a connecting rod 127 to form a rotation pair; the other end of the connecting rod 127 is connected to the crank seat 128 to form a rotation pair. Finally, two sets of double crank structures are formed, and they are controlled by the servo crank 126 at the same time. Through mechanical limit, the maximum swing amplitude of the two double crank structures is 90°. Among them, the crank seat 128 on the front side of the center frame 121 can only swing downward, with a swing range of 90°, and the crank seat 128 on the rear side of the center frame 121 can only swing upward, with a swing range of 90°, and the two crank seats 128 are always linked. The deformable front frame 122 is fixed on the crank seat 128 on the front side of the center frame 121; the deformable rear frame 123 is fixed on the crank seat 128 on the rear side of the center frame 121. The four motors 111 are respectively fixed on the four ends of the deformable front frame 122 and the deformable rear frame 123. Two pairs of blades 112 are installed on the four motors 111 according to the rules for installing forward and reverse propellers of drones.

[0034] Finally, the steering engine 125 rotates 90°, the deformed front frame 122 and the motor 111 and the propeller 112 installed thereon rotate downward 90°, and the deformed rear frame 123 and the motor 111 and the propeller 112 installed thereon rotate upward 90°. The deformed front frame 122 and the deformed rear frame 123 are always linked and always parallel.

[0035] The ground driven module 2 includes two sets of driven wheel assemblies 21 , and the driven wheel assemblies include driven wheels 211 , a driven shaft 212 and a wheel shaft clamp 213 .

[0036] The driven wheel 211 and one end of the driven shaft 212 are connected by a bearing to form a rotating pair; the other end of the driven shaft 212 is fixedly connected to the wheel axle clamp 213 to form a driven wheel assembly 21. The two sets of driven wheel assemblies 21 are fixedly connected to the center frame 121 through the wheel axle clamp 213, and the driven shafts 212 on both sides are coaxial and ensure that the center of gravity of the deformable land-air amphibious robot is below the axis.

[0037] The transformable land and air amphibious robot can be divided into an aerial flying posture and a road driving posture.

[0038] like Figure 5 As shown, the flight posture in the air: the deformable front frame 122 and the deformable rear frame 123 remain horizontal, the four motors 111 and the two pairs of blades 112 face upward, and the flight is no different from other drones. The ground driven module 2 plays a protective role at this time, and can protect the core components when the deformable land-air amphibious robot hits an obstacle or falls accidentally.

[0039] like Figure 6 As shown, the road driving posture: the deformable land and air amphibious robot turns the deformed front frame 122 downward by 90°, and the deformed rear frame 123 turns upward by 90°. The thrust of the two blades 112 on the front side of the deformable land and air amphibious robot is horizontally backward, and the thrust of the two blades 112 on the rear side is also horizontally backward. And because the whole set of deformation structure is centrally symmetrical with the center of the circle of the driven wheel 211. Therefore, the torque generated when the front blade 112 rotates to make the deformable drone module 1 around the driven shaft 212 and the torque generated when the rear blade 112 rotates to make the deformable drone module 1 around the driven shaft 212 are exactly offset. Therefore, outside the deformation process, the steering gear 125 does not need to provide additional torque. In this state, the thrust (lift) generated by the rotation of the blade 112 is in the horizontal direction, and the power of the motor 111 is completely converted into the thrust of the deformable land and air amphibious robot to move forward, realizing the maximum utilization of the effectiveness. It is worth mentioning that if the blades 112 on the left and right sides of the deformable land-air amphibious robot rotate at the same speed, the robot can turn in the opposite direction while driving on the road; the speed difference of the blades 112 on both sides can realize turning in this posture, and controlling the size of the speed difference can control the turning radius. The deformable land-air amphibious robot can increase its working range by switching between two postures (the energy consumed by the road driving posture is much less than that of the flying posture in the air), while also ensuring the flexibility of driving without being limited by the ground.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A deformable land and air amphibious robot, characterized in that: The invention comprises a deformable unmanned aerial vehicle module (1) and a ground driven module (2), wherein the deformable unmanned aerial vehicle module (1) comprises a conventional power assembly (11), a deformable assembly (12) and a control assembly (13), wherein the conventional power assembly (11) comprises four motors (111) and two pairs of blades (112); the deformable assembly (12) comprises a central frame (121), a deformable front frame (122), a deformable rear frame (123), a steering gear frame (124), a steering gear (125), a steering gear crank (126), two connecting rods (127), two crank seats (128) and two hinge frames (129); the control assembly (13) comprises a flight control (131), an electric regulator (132), a computer stick (133) and a battery (134); the flight control (131), the electric regulator (132) and the computer stick (133) provide a control algorithm for the deformable land and air amphibious robot; The steering gear (125) is installed at the center position of the center frame (121) through the steering gear frame (124); two hinge frames (129) are installed at the front and rear positions of the center frame (121) in a vertically symmetrical manner; two crank seats (128) are installed on the hinge frames (129) and form a rotation pair; the output shaft of the steering gear (125) is fixedly connected to the steering gear crank (126), and the steering gear (125) rotates to drive the steering gear crank (126) to rotate, and the two ends of the steering gear crank (126) are respectively connected to a connecting rod (127) to form a rotation pair; the other end of the connecting rod (127) is connected to the crank seat (128) to form a rotation pair, and finally two sets of double crank structures are formed, and are controlled by the steering gear crank (126) at the same time. Through mechanical limit, the maximum swing amplitude of the two double crank structures is 90°; The steering gear (125) rotates 90°, the deformed front frame (122) and the motor (111) and the propeller blade (112) installed thereon rotate downwards by 90°, and the deformed rear frame (123) and the motor (111) and the propeller blade (112) installed thereon rotate upwards by 90°; The ground driven module (2) comprises two sets of driven wheel assemblies (21), the driven wheel assemblies comprising driven wheels (211), driven shafts (212) and axle clamps (213); the driven wheels (211) and one end of the driven shaft (212) are connected via bearings to form a rotating pair; the other end of the driven shaft (212) is fixedly connected to the axle clamp (213) to form a driven wheel assembly (21); the two sets of driven wheel assemblies (21) are fixedly connected to the center frame (121) via the axle clamps (213), the driven shafts (212) on both sides are coaxial and ensure that the center of gravity of the deformable land-air amphibious robot is below the axis.

2. The deformable land-air amphibious robot according to claim 1, characterized in that: The crank seat (128) on the front side of the center frame (121) can only swing downwards within a swing range of 90 degrees, and the crank seat (128) on the rear side of the center frame (121) can only swing upwards within a swing range of 90 degrees, and the two crank seats (128) are always linked.

3. The deformable land-air amphibious robot according to claim 1, characterized in that: The deformable front frame (122) is fixed on a crank seat (128) on the front side of the center frame (121); and the deformable rear frame (123) is fixed on the crank seat (128) on the rear side of the center frame (121).

4. The deformable land-air amphibious robot according to claim 1, characterized in that: The four motors (111) are respectively fixed to the four ends of the deformable front frame (122) and the deformable rear frame (123); the two pairs of blades (112) are installed on the four motors (111) according to the rules for installing forward and reverse propellers of a drone.

5. The deformable land-air amphibious robot according to claim 1, characterized in that: The deformable front frame (122) and the deformable rear frame (123) are always linked and always parallel.

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