Transformation type land-air amphibious robot

Abstract

The invention provides a transformable land-air amphibious robot. The transformable land-air amphibious robot comprises a robot body and foldable robot arms with propellers, motors and wheels. The middle of the aircraft is a fuselage, arms are arranged on the left side and the right side of the fuselage, the fuselage is connected with the arms through hinges, steering engines on the fuselage are controlled to achieve folding through connecting rods, the arms on the left side and the right side are of symmetrical structures, two motors with propellers are arranged on the arms on the left side and the right side, wheels are arranged on the arms on the right side, and two front wheels are variable-diameter wheels. When walking on land and encountering an obstacle, the robot can cross the obstacle by changing the diameter of the wheels, and if the aircraft flies in the air, the aircraft body can be adjusted in the air to cross a narrow space by controlling the left and right arms to fold, so that the obstacle avoidance problem of the robot in land and air modes can be improved. In addition, the folding machine arm in the air mode can further derive an air grabbing function.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious robots, and in particular to a variable land and air amphibious robot. Background Art

[0002] In the existing technology, multi-rotor aircraft and wheeled robots are widely used. Multi-rotor aircraft have strong maneuverability and wide range of spatial movement, but large energy loss, weak load capacity and short endurance; while wheeled robots have strong load capacity but poor mobility and obstacle crossing ability. Therefore, traditional single-domain robot platforms cannot better meet the needs of operations in complex environments. Amphibious robots can perform tasks on land for a long time and fly in the air over a wide area, and have received widespread attention in recent years.

[0003] However, it is not difficult to find that many existing land and air amphibious robots are a simple superposition of multi-rotor and wheeled robots (such as CN118683763A, CN117465708A). When encountering a narrow space in the air (such as a narrow door, window, etc.), they can only choose to bypass obstacles; in addition, although they have the advantages of both types of robots, due to the weak ground obstacle crossing ability of such robots, even if they encounter a small obstacle, the robot has to take off again to cross the obstacle. This process requires restarting the propeller motor and taking off again. Compared with the wheeled mode, it undoubtedly consumes more energy and brings greater noise, which is not convenient for the robot to conduct close-up reconnaissance. For example, CN116461265A mentions a land and air amphibious reconnaissance robot that can automatically rotate and fold the machine arm, but the wheels used in the wheeled mode are conventional small wheels, and the obstacle crossing performance is still poor. The obstacle crossing function of the system mainly relies on flight to achieve. Similar CN219988924U. Summary of the invention

[0004] According to the technical problems mentioned in the above background technology, a variable land and air amphibious robot is provided.

[0005] The technical means adopted by the present invention are as follows:

[0006] A transformable land-air amphibious robot, comprising:

[0007] Aircraft structure and aircraft drive;

[0008] The aircraft structure comprises: a fuselage, an arm, a fixed wheel, a support, a steering gear swing rod, a connecting rod, a connecting rod II, a hinge, a small steering gear rotating disk, a variable diameter wheel rotating disk, a variable diameter wheel sleeve, a variable diameter wheel, a variable diameter wheel upper rotating shaft, a variable diameter wheel lower rotating shaft and a variable diameter wheel swing rod;

[0009] The aircraft drive includes: a small motor, a propeller, a flight controller, a distribution board, a large motor, a large steering gear, a small steering gear, a lithium battery, a belt and a pulley;

[0010] The fuselage is supported by a plurality of pillars; the fuselage is connected to the arm through the hinge; the arm can be rotated and folded up and down under the hinge;

[0011] The propeller is tightly connected to the small motor; the small motor is fixed to the upper end of the machine arm, and the fixed wheel and the variable diameter wheel are fixedly arranged in the middle of the interlayer of the machine arm;

[0012] The lithium battery is arranged at the upper end of the fuselage;

[0013] The flight controller and the power distribution board are arranged inside the fuselage, and the large motor is fixedly arranged at the middle position of the aircraft arm; the large motor is provided with the pulley; the pulley is covered with the belt; the large motor drives the four-wheel wheels to rotate through the flight controller;

[0014] A large steering gear disposed at the bottom of the fuselage is fixedly connected to the machine arm via the steering gear swing rod, the connecting rod and the connecting rod II;

[0015] The small servo is fixedly arranged at the bottom of the machine arm. The small servo swings the variable diameter wheel rotating disk and the variable diameter wheel bushing arranged on the variable diameter wheel through the small servo rotating disk, so that the variable diameter wheel upper rotating shaft, the variable diameter wheel lower rotating shaft and the scissor-fork type variable diameter wheel swing arm on the variable diameter wheel body rotate as a whole.

[0016] Furthermore, during the rotation process, the scissor-fork-shaped variable diameter wheel swing rod will stretch out, so that the scissor-fork-shaped variable diameter wheel swing rod and the three connected large variable diameter wheels can achieve diameter change.

[0017] Furthermore, the fuselage is a rectangular parallelepiped surrounded by four large side panels.

[0018] Furthermore, the machine arm is a two-layer carbon fiber plate, and the two layers of carbon fiber plates are supported by a plurality of pillars.

[0019] Furthermore, the robot also has a camera and a GPS; the camera and the GPS are arranged at the upper end of the body.

[0020] Furthermore, the robot is also provided with four wheels; and pulleys are also provided on the wheels.

[0021] Furthermore, the large steering gear drives the arms to rotate and fold through the flight controller, thereby realizing folding or grabbing of the aircraft in the air.

[0022] Furthermore, during the rotation process, the robot controls the large steering gear at the bottom of the arm through the flight controller to complete the folding and unfolding of the robot's arm, drives the propeller through the small motor at the upper end of the arm to complete the flight, and completes the wheel diameter change of the variable diameter wheel (24) through the small steering gear (20) at the bottom of the arm (8).

[0023] Furthermore, in the flying state of the aircraft with the variable diameter wheels folded and the walking state on land, the arm rotates and folds during the flight of the robot, and the flight controller controls the large steering gear at the bottom of the fuselage to drive the arm to swing, thereby realizing the grasping function.

[0024] Furthermore, when the aircraft is walking on land, the flight controller controls the large motor on the arm to drive the wheels to rotate through the belt and the pulley to walk on the ground.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] The middle part of the aircraft of the present invention is a fuselage, and the two sides are symmetrical arms. The fuselage and the arms are connected by four hinges, and then connected to the arms by connecting rods through the steering gear on the fuselage. The steering gear is driven to realize folding of the arms, wherein the upper part of the arms is a motor and a propeller, and the lower part is a wheel, thereby forming an amphibious robot that can convert between land and air modes, and can fold the arms in the air mode to pass through narrow spaces in the air.

[0027] The aircraft arms of the present invention are symmetrically arranged on the left and right sides. There are four motors and propellers on the symmetrical arms and four wheels on the bottom. The two front wheels are variable-diameter wheels. At the same time, the motors on the arms are linked through belts and pulleys. There is also a small steering gear under the two variable-diameter wheels for driving the wheels to change their diameters, thereby realizing the variable-diameter walking of the aircraft on land. Compared with vehicles with ordinary wheels walking on land, the variable-diameter wheels are more conducive to crossing uneven obstacles when walking on land.

[0028] The aircraft of the present invention has a simple structure and is easy to operate and control, and all functions can be realized by controlling one flight controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 It is a schematic diagram of the upper axial side of the overall structure of the robot of the present invention.

[0031] Figure 2 It is a schematic diagram of the lower axial side of the overall structure of the robot of the present invention.

[0032] Figure 3 This is a schematic diagram of the robot variable diameter wheel of the present invention when unfolded.

[0033] Figure 4 It is an axial side schematic diagram of the upper diameter-changing wheel in the closed wheel state of the overall structure of the robot of the present invention.

[0034] Figure 5 It is an axle side schematic diagram of the robot of the present invention in a folded state.

[0035] Figure 6 It is an axle-side schematic diagram of the robot of the present invention in an unfolded state.

[0036] Among them, 1 is the fuselage; 2 is the camera; 3 is the GPS; 4 is the lithium battery; 5 is the flight controller; 6 is the distribution board; 7 is the large motor; 8 is the machine arm; 9 is the belt; 10 is the pulley; 11 is the small motor; 12 is the propeller; 13 is the fixed wheel; 14 is the pillar; 15 is the large steering gear; 16 is the steering gear rocker; 17 is the connecting rod; 18 is the connecting rod II; 19 is the hinge; 20 is the small steering gear; 21 is the small steering gear rotating disk; 22 is the reducing wheel rotating disk; 23 is the reducing wheel bushing; 24 is the reducing wheel; 25 is the reducing wheel upper rotating shaft; 26 is the reducing wheel lower rotating shaft; 27 is the reducing wheel rocker. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0041] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0042] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0043] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0044] like Figure 1 ,and Figure 2 and Figure 3 The figure shows the overall layout of the aircraft structure, including: an aircraft structure part and an aircraft drive part.

[0045] The aircraft structure includes: a fuselage 1, an arm 8, a fixed wheel 13, a pillar 14, a steering gear rocker 16, a connecting rod 17, a connecting rod II18, a hinge 19, a small steering gear rotating disk 21, a reducing wheel rotating disk 22, a reducing wheel bushing 23, a reducing wheel 24, a reducing wheel upper rotating shaft 25, a reducing wheel lower rotating shaft 26 and a reducing wheel rocker 27.

[0046] The aircraft driving unit includes: a small motor 11, a propeller 12, a flight controller 5, a distribution board 6, a large motor 7, a large steering gear 15, a small steering gear 20, a lithium battery 4, a belt 9 and a pulley 10.

[0047] Among them, four propellers 12 are fastened to four small motors 11, and the four small motors 11 are installed and fixed on the upper ends of the left and right arms 8. Two fixed wheels 13 and two variable diameter wheels 24 are installed and fixed in the middle of the interlayer of the arm 8. The fuselage 1 is surrounded by four large side panels to form a cuboid and supported by a number of pillars 14. The fuselage 1 is connected to the left and right arms 8 through four hinges 19. At the same time, the left and right arms 8 can be rotated and folded up and down when the hinges 19 are connected. The arm 8 is composed of two layers of carbon fiber plates, which are supported by a number of pillars 14 in the middle. A lithium battery 4, GPS3 and a camera 2 are installed on the upper end of the fuselage 1, and a flight controller 5 and a distribution board 6 are installed inside the fuselage 1. Two large motors 7 are respectively installed and fixed in the middle of the left and right arms 8. There is a pulley 10 on the large motor 7, and a belt 9 is mounted on the pulley 10. There are also pulleys 10 on the four wheels. The large motor 7 can be The flight controller 5 drives the four-wheel wheels to rotate, so that the aircraft can walk on land. The two large steering gears 15 at the bottom of the fuselage 1 are fixedly connected to the left and right arms 8 through the steering gear swing rod 16, the connecting rod 17 and the connecting rod II. The large steering gear 15 can drive the left and right arms 8 to rotate and fold through the flight controller 5, so as to realize the folding or grabbing function of the aircraft in the air. The two small steering gears 20 are respectively fixedly installed at the bottom of the two arms 8. The small steering gear 20 swings the variable diameter wheel rotating disk 22 and the variable diameter wheel shaft sleeve 23 on the variable diameter wheel 24 through the small steering gear rotating disk 21, so that the variable diameter wheel upper rotating shaft 25, the variable diameter wheel lower rotating shaft 26 and the scissor-fork type variable diameter wheel swing rod 27 on the main body of the variable diameter wheel 24 rotate as a whole. During the rotation process, the scissor-fork type variable diameter wheel swing rod 27 will stretch out, so that the scissor-fork type variable diameter wheel swing rod 27 and the three connected variable diameter wheels 24 can achieve diameter change. In this case, the main structure of the aircraft will control the two large servos 15 at the bottom of the left and right arms 8 through a flight controller 5 to complete the folding and unfolding of the left and right arms 8 of the aircraft, and the four small motors 11 at the upper ends of the left and right arms 8 will drive the four propellers 12 to complete the flight, and the small servos 20 at the bottom of the left and right arms 8 will complete the wheel diameter change of the variable wheel 24.

[0048] like Figure 4 and Figure 5 The figure shows the flight and land walking states of the aircraft with the variable diameter wheels folded. During the flight, the left and right arms 8 of the aircraft can be rotated and folded, and the flight controller 5 can control the large steering gear 15 at the bottom of the fuselage 1 to drive the left and right arms 8 to swing to achieve the grabbing function. During the land walking process of the aircraft, the flight controller 5 can control the large motor 7 on the arm 8 to drive the wheels to rotate through the belt 9 and the pulley 10 to walk on the ground.

[0049] like Figure 6The figure shows the state of the aircraft driving after the wheels are changed in diameter on the ground. When the flight controller 5 controls the small steering gear 20 to swing the rotating shaft on the variable diameter wheel 24, the scissor-fork variable diameter wheel swing rod 27 will make the variable diameter wheel unfold to achieve wheel diameter change. At this time, the aircraft can cross obstacles encountered during ground driving. Through the above links, the aircraft realizes the functions of amphibious operation, crossing obstacles, folding in the air, and grabbing in the air.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A deformable land and air amphibious robot, characterized in that: include: Aircraft structure and aircraft drive; The aircraft structure comprises: a fuselage (1), an arm (8), a fixed wheel (13), a support column (14), a steering gear swing rod (16), a connecting rod (17), a connecting rod II (18), a hinge (19), a small steering gear rotating disk (21), a variable diameter wheel rotating disk (22), a variable diameter wheel shaft sleeve (23), a variable diameter wheel (24), a variable diameter wheel upper rotating shaft (25), a variable diameter wheel lower rotating shaft (26) and a variable diameter wheel swing rod (27); The aircraft drive comprises: a small motor (11), a propeller (12), a flight controller (5), a power distribution board (6), a large motor (7), a large steering gear (15), a small steering gear (20), a lithium battery (4), a belt (9) and a pulley (10); The fuselage (1) is supported by a plurality of pillars (14); the fuselage (1) is connected to the arm (8) via the hinge (19); the arm (8) is rotated and folded up and down under the hinge (19); The propeller (12) is tightly connected to the small motor (11); the small motor (11) is fixed to the upper end of the machine arm (8); the fixed wheel (13) and the variable diameter wheel (24) are fixedly arranged in the middle of the interlayer of the machine arm (8); The lithium battery (4) is arranged at the upper end of the body (1); The flight controller (5) and the power distribution board (6) are arranged inside the fuselage (1); the large motor (7) is fixedly arranged at the middle position of the machine arm (8); the large motor (7) is provided with the pulley (10); the pulley (10) is covered with the belt (9); the large motor (7) drives the four wheels to rotate through the flight controller (5); A large steering gear (15) arranged at the bottom of the fuselage (1) is fixedly connected to the machine arm (8) via the steering gear swing rod (16), the connecting rod (17) and the connecting rod II (18); The small steering gear (20) is fixedly arranged at the bottom of the machine arm (8). The small steering gear (20) swings the variable diameter wheel rotating disk (22) and the variable diameter wheel shaft sleeve (23) arranged on the variable diameter wheel (24) through the small steering gear rotating disk (21), so that the variable diameter wheel upper rotating shaft (25), the variable diameter wheel lower rotating shaft (26) and the scissor-fork type variable diameter wheel swing rod (27) on the main body of the variable diameter wheel (24) rotate as a whole.

2. A modified land-air amphibious robot according to claim 1, characterized in that: During the rotation process, the scissor-fork-shaped variable diameter wheel swing rod (27) will stretch out, so that the scissor-fork-shaped variable diameter wheel swing rod (27) and the three connected large variable diameter wheels (24) can achieve diameter change.

3. A modified land-air amphibious robot according to claim 1, characterized in that: The fuselage (1) is a rectangular parallelepiped surrounded by four large side panels.

4. The modified land-air amphibious robot according to claim 1, characterized in that: The machine arm (8) is a two-layer carbon fiber plate, and the two-layer carbon fiber plate is supported by a plurality of pillars (14).

5. The modified land-air amphibious robot according to claim 1, characterized in that: The robot also has a camera (2) and a GPS (3); the camera (2) and the GPS (3) are arranged at the upper end of the body (1).

6. The modified land-air amphibious robot according to claim 1, characterized in that: The robot is also provided with four wheels; the wheels are also provided with pulleys (10).

7. The modified land-air amphibious robot according to claim 1, characterized in that: The large steering gear (15) drives the aircraft arm (8) to rotate and fold through the flight controller (5), thereby realizing the folding or grabbing of the aircraft in the air.

8. The modified land-air amphibious robot according to claim 1, characterized in that: During the rotation process, the robot controls the large steering gear (15) at the bottom of the arm (8) through the flight controller (5) to complete the folding and unfolding of the robot's arm (8), drives the propeller (12) through the small motor (11) at the upper end of the arm (8) to complete the flight, and completes the wheel diameter change of the variable diameter wheel (24) through the small steering gear (20) at the bottom of the arm (8).

9. The modified land-air amphibious robot according to claim 1, characterized in that: When the aircraft is in the flying and land walking states with the variable diameter wheels closed, the robot's arms (8) rotate and fold during flight, and the flight controller (5) controls the large steering gear (15) at the bottom of the fuselage (1) to drive the arms (8) to swing, thereby realizing a grasping function.

10. The modified land-air amphibious robot according to claim 1, characterized in that: When the aircraft is moving on land, the flight controller (5) controls the large motor (7) on the aircraft arm (8) to drive the wheels to rotate through the belt (9) and the pulley (10) so that the aircraft moves on the ground.

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