Modularized assembly of ground-air dual-purpose robot and ground-air dual-purpose robot

Abstract

The invention belongs to the technical field of ground-air dual-purpose robots, and discloses a modular assembly of a ground-air dual-purpose robot and the ground-air dual-purpose robot, the modular assembly comprises a rotor module, a rotating wheel module, a mechanical transmission module, a conductive slip ring and a servo motor module, the power output by the servo motor module drives the rotating wheel module through the mechanical transmission module, and the rotating wheel module is driven by the conductive slip ring through the conductive slip ring. Ground torque output of the robot is achieved, the conductive slip ring receives external driving current so as to drive the rotor wing module, thrust output of the robot in the air is achieved, and tilting thrust output of the robot in the air can be achieved in cooperation with torque output of the rotating wheel module. Only one servo motor module and one rotor module are used for achieving the ground torque and the air tilting thrust of the robot. In cooperation with racks of different sizes provided by the invention, various robots such as a tilting double-rotor ground-air dual-purpose robot and a tilting four-rotor ground-air dual-purpose robot can be quickly combined, and the tilting four-rotor ground-air dual-purpose robot has great application potential.

Description

Technical Field

[0001] The invention belongs to the technical field of ground-air dual-purpose robots, and in particular relates to a ground-air dual-purpose robot modular component and a ground-air dual-purpose robot. Background Art

[0002] In recent years, with the rapid development of robotics and drone technology, the ability to perform tasks on the ground and in the air has been significantly improved. However, the mobility of traditional ground robots is limited in complex terrain, and although drones have superior aerial maneuverability, their endurance and load capacity are relatively limited. Therefore, in application scenarios such as inspection, rescue, and exploration, there is an urgent need for a type of robot system that can combine the advantages of the ground and the air to provide a more comprehensive and efficient solution.

[0003] Although existing wheeled mobile robots have the advantages of low noise, low energy consumption and easy maintenance, their mobility and flexibility in complex environments are limited, making it difficult to complete tasks that require multi-dimensional operations. Existing multi-rotor aircraft, although highly maneuverable, have deficiencies in ground operations and energy consumption, and are complex in structure and have high maintenance costs.

[0004] How to carry out modular design for ground-to-air dual-purpose robots is a major challenge in this field. Summary of the invention

[0005] The object of the present invention is to provide a ground-to-air dual-purpose robot modular assembly and a ground-to-air dual-purpose robot to solve the above-mentioned technical problems.

[0006] In order to solve the above technical problems, the specific technical solutions of a ground-to-air dual-purpose robot modular assembly and a ground-to-air dual-purpose robot of the present invention are as follows: A modular assembly of a ground-to-air dual-purpose robot comprises a rotor module, a rotating wheel module, a mechanical transmission module, a conductive slip ring and a servo motor module, wherein the mechanical transmission module is fixedly mounted on the axis of the rotating wheel module, the servo motor module is fixedly mounted on the mechanical transmission module, the conductive slip ring is fixedly mounted on the tail of the mechanical transmission module, and the rotor module is mounted on the front end of the mechanical transmission module. The power output by the servo motor module drives the rotating wheel module through the mechanical transmission module to realize the torque output of the robot on the ground, and the conductive slip ring receives an external driving current to drive the rotor module to realize the thrust output of the robot in the air, and cooperates with the torque output of the rotating wheel module to realize the tilt thrust output of the robot in the air.

[0007] Furthermore, the rotor module includes a propeller, a brushless motor, an aluminum column and a brushless motor fixing seat, the brushless motor is fixedly mounted on the brushless motor fixing seat through the aluminum column, the propeller is fixedly connected to the output end of the brushless motor, and the brushless motor fixing seat is fixedly mounted on the axis of the wheel module.

[0008] Furthermore, the rotating wheel module includes a carbon fiber tube, a carbon fiber wheel, a short plastic column and a tube wheel fixing ring, the two carbon fiber wheels are connected in parallel through a plurality of short plastic columns, the tube wheel fixing ring is arranged on the axis of the carbon fiber wheel, and the carbon fiber tube is vertically fixed to the axis of the carbon fiber wheel through the tube wheel fixing ring.

[0009] Furthermore, the mechanical transmission module includes a transmission gear, a driven gear, a thin-walled bearing and a gear box. The carbon fiber tube, driven gear and thin-walled bearing of the rotating wheel module are coaxially interference fit in the gear box. The transmission gear is connected to the servo motor module and driven to rotate by the servo motor module.

[0010] Furthermore, the conductive slip ring is arranged in a gear box of a mechanical transmission module, the conductive slip ring comprises a rotor and a stator, the stator and the gear box are coaxially interference fit, and the rotor and the carbon fiber tube are coaxially interference fit.

[0011] Furthermore, the three input wires of the brushless motor are connected to the three output wires of the rotor of the conductive slip ring, the wires are arranged in the carbon fiber tube of the rotor module, and the conductive slip ring receives an external driving current to drive the brushless motor to rotate.

[0012] Furthermore, the servo motor module includes a servo motor, a servo motor fixing seat and a frame connecting piece, the servo motor is fixedly installed at the bottom of the servo motor fixing seat, the frame connecting piece is installed on the upper part of the servo motor fixing seat, the frame connecting piece is used to connect the frame, and multiple robot modular components are combined and connected, the servo motor output shaft is connected to the power through the transmission gear, and the power output by the servo motor is driven by the transmission gear to drive the driven gear, thereby driving the carbon fiber tube to output torque.

[0013] The present invention also discloses a tilt-rotor dual-purpose ground-air robot, comprising two groups of the ground-air robot modular components and a frame, the two groups of the ground-air robot modular components and the frame are combined in a two-wheeled vehicle layout, and the two ends of the frame are respectively fixedly connected to the frame connector and the gear box of the ground-air robot modular components to connect the two groups of the ground-air robot modular components.

[0014] The present invention also discloses a tilt-rotor quad-rotor ground-to-air robot, comprising four groups of ground-to-air robot modular components and a frame, wherein the four groups of ground-to-air robot modular components and a frame are combined in a four-wheel vehicle layout, and the four corners of the frame are respectively fixedly connected to the frame connectors and gear boxes of the ground-to-air robot modular components to connect the four groups of ground-to-air robot modular components.

[0015] A ground-to-air dual-purpose robot modular component and a ground-to-air dual-purpose robot of the present invention have the following advantages: the ground-to-air dual-purpose robot modular component provided by the present invention only uses one servo motor module and one rotor module to achieve the robot's ground torque and tilt thrust in the air. With the different sizes of frames provided by the present invention, it can be quickly combined into a variety of robots such as a tilt-rotor dual-rotor ground-to-air dual-purpose robot and a tilt-rotor quad-rotor ground-to-air dual-purpose robot. This type of robot combines the high aerial maneuverability of a multi-rotor aircraft with the low noise and low energy consumption of a wheeled mobile robot on the ground, and has great application potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the modular components of the ground-to-air dual-purpose robot in an embodiment of the present invention.

[0017] Figure 2 It is a schematic diagram of the rotor module structure of the modular components in an embodiment of the present invention.

[0018] Figure 3 Schematic diagram of the structure of the rotary wheel module of the modular assembly in the embodiment of the present invention.

[0019] Figure 4 It is a schematic diagram of the mechanical transmission module structure of the modular components in an embodiment of the present invention.

[0020] Figure 5 Schematic diagram of the conductive slip ring structure of the modular component in the embodiment of the present invention.

[0021] Figure 6 It is a schematic diagram of the servo motor module structure of the modular component in an embodiment of the present invention.

[0022] Figure 7 It is a schematic diagram of a method for combining modular components into a tilt-rotor dual-purpose ground-to-air robot in an embodiment of the present invention.

[0023] Figure 8 It is a schematic diagram of a method for combining modular components into a tilt-rotating quadrotor ground-to-air dual-purpose robot in an embodiment of the present invention.

[0024] Explanation of marks in the figure: 1. Rotor module; 101. Propeller; 102. Brushless motor; 103. Aluminum column; 104. Brushless motor fixing seat; 2. Rotor module; 201. Carbon fiber tube; 202. Carbon fiber wheel; 203. Short plastic column; 204. Tube and wheel fixing ring; 3. Mechanical transmission module; 301. Transmission gear; 302. Driven gear; 303. Thin-walled bearing; 304. Gearbox; 4. Conductive slip ring; 401. Rotor; 402. Stator; 5. Servo motor module; 501. Servo motor; 502. Servo motor fixing seat; 503. Frame connector; 601. Modular components of ground-air dual-purpose robot; 602. Frame. DETAILED DESCRIPTION

[0025] In order to better understand the purpose, structure and function of the present invention, the modular components of a ground-to-air dual-purpose robot and the ground-to-air dual-purpose robot of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0026] like Figure 1 As shown, a modular assembly 601 of a ground-to-air dual-purpose robot of the present invention includes a rotor module 1, a wheel module 2, a mechanical transmission module 3, a conductive slip ring 4 and a servo motor module 5. The mechanical transmission module 3 is fixedly mounted on the axis of the wheel module 2, the servo motor module 5 is fixedly mounted on the mechanical transmission module 3, the conductive slip ring 4 is fixedly mounted on the tail of the mechanical transmission module 3, and the rotor module 1 is mounted on the front end of the mechanical transmission module 3. The power output by the servo motor module 5 drives the wheel module 2 through the mechanical transmission module 3 to realize the torque output of the robot on the ground. The conductive slip ring 4 receives an external driving current, thereby driving the rotor module 1 to realize the thrust output of the robot in the air, and cooperates with the torque output of the wheel module 2 to realize the tilt thrust output of the robot in the air.

[0027] like Figure 2 As shown, the rotor module 1 includes a propeller 101, a brushless motor 102, an aluminum column 103 and a brushless motor fixing seat 104. The brushless motor 102 is fixedly mounted on the brushless motor fixing seat 104 through the aluminum column 103, and the propeller 101 is fixedly connected to the output end of the brushless motor 102. The brushless motor fixing seat 104 is fixedly mounted on the axis of the wheel module 2.

[0028] like Figure 3 As shown, the rotating wheel module 2 includes a carbon fiber tube 201, a carbon fiber wheel 202, a short plastic column 203 and a tube wheel fixing ring 204. Two carbon fiber wheels 202 are connected in parallel through a plurality of short plastic columns 203. The tube wheel fixing ring 204 is arranged at the axis of the carbon fiber wheel 202, and the carbon fiber tube 201 is vertically fixed to the axis of the carbon fiber wheel 202 through the tube wheel fixing ring 204.

[0029] like Figure 4 As shown, the mechanical transmission module 3 includes a transmission gear 301, a driven gear 302, a thin-walled bearing 303 and a gear box 304. The carbon fiber tube 201 of the wheel module 2 and the driven gear 302 and the thin-walled bearing 303 are coaxially arranged in the gear box 304 with interference fit. The transmission gear 301 is connected to the servo motor module 5 and driven to rotate by the servo motor module 5.

[0030] like Figure 5As shown, the conductive slip ring 4 is arranged in the gear box 304 of the mechanical transmission module 3, and the conductive slip ring 4 includes a rotor 401 and a stator 402. The stator 402 and the gear box 304 are coaxially interference fit, and the rotor 401 and the carbon fiber tube 201 are coaxially interference fit.

[0031] The three input wires of the brushless motor 102 are connected to the three output wires of the rotor 401 of the conductive slip ring 4, and the wires are arranged in the carbon fiber tube 201 of the wheel module 2. The conductive slip ring 4 receives an external driving current, thereby driving the brushless motor 102 to rotate.

[0032] like Figure 6 As shown, the servo motor module 5 includes a servo motor 501, a servo motor fixing seat 502 and a frame connector 503. The servo motor 501 is fixedly mounted at the bottom of the servo motor fixing seat 502, and the frame connector 503 is mounted on the upper part of the servo motor fixing seat 502. The frame connector 503 is used to connect the frame to connect multiple robot modular components. The output shaft of the servo motor 501 is connected to the power through the transmission gear 301, and the power output by the servo motor 501 is transmitted to the driven gear 302 through the transmission gear 301, thereby driving the carbon fiber tube 201 to output torque.

[0033] like Figure 7 As shown, a tilt-rotor dual-rotor ground-to-air robot comprises two groups of the above-mentioned ground-to-air robot modular components 601 and a frame 602. The two groups of ground-to-air robot modular components 601 and the frame 602 are combined in a two-wheeled vehicle layout, and the two ends of the frame 602 are respectively fixedly connected to the frame connector 503 and the gear box 304 of the ground-to-air robot modular components 601. The two groups of ground-to-air robot modular components 601 are connected together, and then combined with other necessary hardware, such as a controller, a power supply module, etc., the same type of tilt-rotor dual-rotor ground-to-air robot can be quickly designed by changing the sizes of the modular components 601 and the frame 602.

[0034] like Figure 8 As shown, a tilt-quadrotor ground-to-air robot comprises four groups of the above-mentioned ground-to-air robot modular components 601 and a frame 602. The four groups of ground-to-air robot modular components 601 and the frame 602 are combined in a four-wheeled vehicle layout. The four corners of the frame 602 are respectively fixedly connected to the frame connector 503 and the gear box 304 of the ground-to-air robot modular components 601. The four groups of ground-to-air robot modular components 601 are connected together, and then combined with other necessary hardware, such as a controller, a power supply module, etc., the same type of tilt-quadrotor ground-to-air robot can be quickly designed by changing the sizes of the modular components 601 and the frame 602.

[0035] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A modular assembly (601) of a ground-to-air dual-purpose robot, comprising a rotor module (1), a wheel module (2), a mechanical transmission module (3), a conductive slip ring (4) and a servo motor module (5), characterized in that: The mechanical transmission module (3) is fixedly mounted on the axis of the rotating wheel module (2), the servo motor module (5) is fixedly mounted on the mechanical transmission module (3), the conductive slip ring (4) is fixedly mounted on the tail of the mechanical transmission module (3), and the rotor module (1) is mounted on the front end of the mechanical transmission module (3). The power output by the servo motor module (5) drives the rotating wheel module (2) through the mechanical transmission module (3) to achieve torque output of the robot on the ground. The conductive slip ring (4) receives an external driving current to drive the rotor module (1) to achieve thrust output of the robot in the air. In combination with the torque output of the rotating wheel module (2), tilt thrust output of the robot in the air can be achieved.

2. The ground-air dual-purpose robot modular assembly according to claim 1, characterized in that: The rotor module (1) comprises a propeller (101), a brushless motor (102), an aluminum column (103) and a brushless motor fixing seat (104); the brushless motor (102) is fixedly mounted on the brushless motor fixing seat (104) via the aluminum column (103); the propeller (101) is fixedly connected to an output end of the brushless motor (102); and the brushless motor fixing seat (104) is fixedly mounted on the axis of the wheel module (2).

3. The ground-air dual-purpose robot modular assembly according to claim 1, characterized in that: The rotating wheel module (2) comprises a carbon fiber tube (201), a carbon fiber wheel (202), a short plastic column (203) and a tube wheel fixing ring (204); two carbon fiber wheels (202) are connected in parallel via a plurality of short plastic columns (203); the tube wheel fixing ring (204) is arranged at the axis of the carbon fiber wheel (202); and the carbon fiber tube (201) is vertically fixed to the axis of the carbon fiber wheel (202) via the tube wheel fixing ring (204).

4. The ground-air dual-purpose robot modular assembly according to claim 3, characterized in that: The mechanical transmission module (3) comprises a transmission gear (301), a driven gear (302), a thin-walled bearing (303) and a gear box (304); the carbon fiber tube (201) of the rotating wheel module (2), the driven gear (302) and the thin-walled bearing (303) are coaxially interference-fitted and arranged in the gear box (304); the transmission gear (301) is connected to a servo motor module (5) and is driven to rotate by the servo motor module (5).

5. The ground-air dual-purpose robot modular assembly according to claim 4, characterized in that: The conductive slip ring (4) is arranged in a gear box (304) of a mechanical transmission module (3), the conductive slip ring (4) comprises a rotor (401) and a stator (402), the stator (402) and the gear box (304) are coaxially interference fit, and the rotor (401) and the carbon fiber tube (201) are coaxially interference fit.

6. The ground-air dual-purpose robot modular assembly according to claim 5, characterized in that: The three input wires of the brushless motor (102) are connected to the three output wires of the rotor (401) of the conductive slip ring (4); the wires are arranged in the carbon fiber tube (201) of the wheel module (2); the conductive slip ring (4) receives an external driving current, thereby driving the brushless motor (102) to rotate.

7. The ground-air dual-purpose robot modular assembly according to claim 4, characterized in that: The servo motor module (5) comprises a servo motor (501), a servo motor fixing seat (502) and a frame connecting piece (503); the servo motor (501) is fixedly mounted on the bottom of the servo motor fixing seat (502); the frame connecting piece (503) is mounted on the top of the servo motor fixing seat (502); the frame connecting piece (503) is used to connect the frame (602) to combine and connect a plurality of robot modular components; the output shaft of the servo motor (501) is connected to power through a transmission gear (301); the power output by the servo motor (501) is transmitted through the transmission gear (301) to drive the driven gear (302), thereby driving the carbon fiber tube (201) to output torque.

8. A tilt-rotor dual-purpose ground-to-air robot, characterized in that: The invention comprises two groups of ground-to-air dual-purpose robot modular components (601) as described in any one of claims 1 to 7 and a frame (602), wherein the two groups of ground-to-air dual-purpose robot modular components (601) and the frame (602) are combined in a two-wheeled vehicle layout, and the two ends of the frame (602) are respectively fixedly connected to the frame connector (503) and the gear box (304) of the ground-to-air dual-purpose robot modular components (601), thereby connecting the two groups of ground-to-air dual-purpose robot modular components (601).

9. A tilt-rotating quad-rotor ground-to-air dual-purpose robot, characterized in that: The invention comprises four groups of ground-to-air dual-purpose robot modular components (601) as described in any one of claims 1 to 7 and a frame (602), wherein the four groups of ground-to-air dual-purpose robot modular components (601) and the frame (602) are combined in a four-wheel vehicle layout, and the four corners of the frame (602) are respectively fixedly connected to the frame connector (503) and the gear box (304) of the ground-to-air dual-purpose robot modular components (601), thereby connecting the four groups of ground-to-air dual-purpose robot modular components (601).

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