Coaxial double-paddle type open-ground dual-purpose robot

Abstract

The invention relates to the technical field of robots, and discloses a coaxial double-paddle type air-ground dual-purpose robot. The dual-purpose robot comprises a ball cage structure, a pitching steering engine, a first carbon clamping plate mechanism, a transverse rolling steering engine, a pitching fixing base, coaxial double motors, double paddles, a second carbon clamping plate mechanism, a ball cage steering engine, a ball cage fixing base and a lithium battery, the ball cage structure is a cage-shaped rotary body structure, and the two axial ends of the ball cage structure are each of a hemispheroid structure; the ball cage steering engine is in transmission connection with the other end of the ball cage structure, the ball cage steering engine is used for driving the ball cage fixing seat to rotate around the axial direction of the ball cage structure, and the other end of the first carbon clamping plate mechanism is hinged to the ball cage fixing seat; the lithium battery is arranged at the position, below the coaxial double motors, of the second carbon clamping plate mechanism, one end of the second carbon clamping plate mechanism is connected with the pitching fixing base, and the other end of the second carbon clamping plate mechanism is connected with the ball cage fixing base.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a coaxial double-propeller air-to-ground dual-purpose robot. Background Art

[0002] Air-to-ground dual-purpose robots have shown broad application potential in search and rescue, exploration, inspection and other fields. The maneuverability and endurance of the aircraft are directly related to the effectiveness of task completion. In recent years, many teams have made significant progress in this field, among which the research on cage-type and wheeled air-to-ground dual-purpose robot configurations is particularly prominent. Relevant researchers from Tsinghua University designed a wheeled aircraft that combines a rotor with an Ackerman chassis, which successfully achieved continuous movement between air and ground. The cage-structured air-to-ground dual-purpose aircraft studied by the team of the Illinois Institute of Technology consists of a four-rotor aircraft and a cylindrical cage, which enhances the obstacle crossing capability. In the above research, the maneuverability and endurance of the air-to-ground dual-purpose aircraft have been improved to a certain extent, but there is still much room for improvement.

[0003] The aerial movement of hybrid air-to-ground dual-purpose aircraft is usually driven by rotors, and its energy efficiency is closely related to the number and layout of rotors. According to the actuator disc theory, under the same load, the larger the turntable area, the lower the propeller load per unit area, and the higher the hovering efficiency. Therefore, the twin-rotor UAV has the highest hovering efficiency and the lowest energy consumption at the same take-off weight and effective size. In this configuration, the UAV controls the rotor tilt through a servo motor and uses vector thrust to control the fuselage attitude. From the perspective of rotor layout, twin-rotor UAVs are mainly divided into coaxial type and "split-axis" type (horizontal type). Among them, the "split-axis" type has been widely studied, while the coaxial type has been less studied and usually has complex structural redundancy. However, relevant studies have shown that under the same effective size, the coaxial twin-rotor has lower power consumption, more compact structure, and better passability.

[0004] The coaxial design not only improves the performance of the hybrid air-ground dual-purpose aircraft in terms of maneuverability and endurance, but also makes it possible to achieve variable center of mass rolling on the ground. In previous studies, hybrid air-ground dual-purpose aircraft mostly use active wheel drive or wind-driven passive wheel rolling. Although active wheel drive is effective, the wheel structure is relatively redundant and the energy loss is large; and although wind propulsion has high energy efficiency, it has poor ground maneuverability, and the rotation of the rotor will cause additional energy loss. In fact, relevant studies have shown that achieving ground movement through variable center of mass can effectively improve energy utilization efficiency and reduce energy loss. Therefore, applying the variable center of mass structure to the ground movement of air-ground dual-purpose aircraft will help to further improve its endurance. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a coaxial double-propeller air-ground dual-purpose robot (land-air dual-purpose robot), comprising: a ball cage structure, a pitch servo, a first carbon splint mechanism, a roll servo, a pitch fixing seat, a coaxial double motor, double propeller blades, a second carbon splint mechanism, a ball cage servo, a ball cage fixing seat and a lithium battery.

[0006] The ball cage structure is a cage-shaped rotating body structure, and the axial ends of the ball cage structure are semi-spherical structures respectively.

[0007] The pitch servo is arranged in the pitch fixing seat, the pitch fixing seat is hinged at one axial end in the ball cage structure, the pitch servo is transmission-connected with one end of the first carbon splint mechanism, and the pitch servo is used to drive the first carbon splint mechanism to rotate around the axial direction of the ball cage structure.

[0008] The roll servo is arranged at the first carbon splint mechanism, the coaxial dual motor is arranged at the roll servo, the roll servo is used to drive the coaxial dual motor to swing back and forth along the axial direction of the ball cage structure, the double blades are arranged above the coaxial dual motor and are connected to the coaxial dual motor in a one-to-one transmission manner, the coaxial dual motor is used to drive the double blades to rotate differentially, and the coaxial dual motor is arranged at the center of the ball cage structure.

[0009] The CV cage servo is fixed in the CV cage fixing seat, the CV cage fixing seat is arranged at the other axial end in the CV cage structure, the CV cage servo is transmission-connected with the other end of the CV cage structure, the CV cage servo is used to drive the CV cage fixing seat to rotate around the axial direction of the CV cage structure, and the other end of the first carbon splint mechanism is hinged to the CV cage fixing seat.

[0010] The lithium battery is arranged at the second carbon splint mechanism below the coaxial dual motor, one end of the second carbon splint mechanism is connected to the pitch fixing seat, and the other end of the second carbon splint mechanism is connected to the ball cage fixing seat.

[0011] The lithium battery is connected to the pitch servo, the roll servo, the coaxial dual motor and the ball cage servo respectively.

[0012] Furthermore, the coaxial double-propeller air-to-ground dual-purpose robot further comprises a detection control unit and two wireless transceiver units.

[0013] The two wireless transceiver units are respectively arranged on the top of the pitch fixing seat and the ball cage fixing seat, the detection control unit is arranged at the lithium battery, and the detection control unit is respectively connected to the wireless transceiver unit, the pitch servo, the roll servo, the coaxial dual motor and the ball cage servo.

[0014] Furthermore, the wireless transceiver unit is a UWB module, the detection control unit includes a control circuit and a 6-axis inertial sensor, the 6-axis inertial sensor is connected to the control circuit, and an electronic speed regulator is provided in the control circuit.

[0015] Furthermore, the first carbon splint mechanism includes a roll servo fixed seat, a roll servo rocker arm, two first carbon splint cross arms, a fixed seat at one end and a fixed seat at the other end.

[0016] The two first carbon splint cross arms are arranged along the axial extension of the ball cage structure, the roll servo fixing seat is fixed between the two first carbon splint cross arms, the roll servo is arranged on the roll servo fixing seat, the coaxial dual motor is arranged above the roll servo, the coaxial dual motor and the two first carbon splint cross arms are respectively hinged through corresponding flange bearings, the output shaft of the roll servo is connected to the roll servo rocker arm, the roll servo rocker arm is arranged below the coaxial dual motor, and the roll servo rocker arm is used to drive the coaxial dual motor to swing around the flange bearing.

[0017] The one-end fixing seat is connected to the output shaft of the pitch servo, and the one-end fixing seat is respectively connected to one end of the two first carbon splint cross arms, and the other-end fixing seat is hinged to the ball cage fixing seat, and the other-end fixing seat is respectively connected to the other end of the two first carbon splint cross arms.

[0018] Furthermore, the two ends of the first carbon splint cross arm are respectively formed with downwardly concave structures, so that the first carbon splint cross arm is W-shaped in a vertical plane along the axial direction of the cage structure, and the double paddle is used to rotate in the concave structure.

[0019] Furthermore, the first carbon splint cross arm is a hollow structural member.

[0020] Furthermore, the second carbon splint mechanism includes two second carbon splint cross arms and a mounting frame, the second carbon splint cross arms are U-shaped in a vertical plane along the axial direction of the ball cage structure, the lithium battery is clamped at the bending part of the two second carbon splint cross arms, the two ends of the second carbon splint cross arms are respectively connected to the pitch fixing seat and the ball cage fixing seat, the mounting frame is installed at the second carbon splint cross arms above the lithium battery, and the control circuit and the 6-axis inertial sensor are both installed on the mounting frame.

[0021] Furthermore, the cage structure includes a plurality of spokes, a plurality of wheel rings, a hub at one end and a hub at the other end.

[0022] The plurality of spokes are evenly distributed around the axis of the cage structure, one end of each spoke is connected to the hub at one end, and the other end of each spoke is connected to the hub at the other end, and the plurality of wheel rings are sequentially spliced ​​with the plurality of spokes along the axis of the cage structure.

[0023] The wheel hub at one end is hinged to the pitch fixing seat, and the wheel hub at the other end is connected to the ball cage servo through a ball cage servo rocker arm transmission.

[0024] Furthermore, a plurality of inward grooves are formed at the center of each spoke, and the plurality of inward grooves are arranged in sequence along the length direction of the spoke, and each of the inward grooves is arranged toward the axis of the cage structure.

[0025] The outer circumferential edge of the wheel ring is provided with a plurality of outward grooves, the outward grooves are evenly distributed along the circumference of the wheel ring, the outward grooves extend along the radial direction of the wheel ring, and the outward grooves are used to be inserted into any designated inward grooves.

[0026] Furthermore, the spokes are glass fiber spokes, and the wheel ring is a glass fiber wheel ring.

[0027] The wheel hub at one end and the wheel hub at the other end are both made of PA12 nylon through 3D printing.

[0028] The pitch fixing seat, the ball cage fixing seat, the roll servo fixing seat, the roll servo rocker arm, the one end fixing seat, the other end fixing seat, the ball cage servo rocker arm and the mounting frame are all made of PA12 nylon through 3D printing.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] The pitch servo, the first carbon splint mechanism, the roll servo, the pitch fixing seat, the coaxial dual motors and the double propeller blades in the present invention together constitute a motor direction-changing structure design, realizing omnidirectional rotation of the coaxial dual propeller motors, so that the robot can move freely in the aerial mode.

[0031] The second carbon splint mechanism, ball cage servo, ball cage fixing seat and lithium battery in the present invention together constitute a center of mass tilting structure design. By concentrating the main weight of the robot on the lower unit and tilting it, rapid ground movement can be achieved with less energy consumption.

[0032] The ball cage structure of the present invention wraps the body, providing support while ensuring that the robot can roll freely on the ground. In particular, the two axial ends of the ball cage structure are semi-spherical structures, which improves the flexibility and freedom of the ball cage structure in turning. Moreover, the ball cage structure is a cage-shaped rotating body structure, which can not only protect the internal structure of the robot, but also fully reduce the overall weight of the robot.

[0033] The main parts of the robot are planar structures and 3D printed structures, and can be directly made of lightweight and high-strength materials (such as carbon fiber plates, PA12 nylon, etc.). This design and production can greatly reduce the complexity of the production process, shorten the production time, and improve the test efficiency.

[0034] In summary, the design of the present invention ensures the high maneuverability of the robot in the air and on the ground. At the same time, the lightweight and center of mass tilting structural design can extend the endurance of the air-ground dual-purpose robot and reduce the production cost and complexity of the robot. It has high engineering application value and good engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall configuration of the coaxial double-propeller air-to-ground dual-purpose robot of the present invention;

[0036] Figure 2 It is a schematic diagram of the motor direction-changing structure of the coaxial double-propeller air-to-ground dual-purpose robot of the present invention;

[0037] Figure 3 It is a schematic diagram of the mass center tilting structure of the coaxial double-propeller air-to-ground dual-purpose robot of the present invention;

[0038] Figure 4 It is a schematic diagram of the ball cage structure of the coaxial double-propeller air-to-ground dual-purpose robot of the present invention;

[0039] Figure 5 for Figure 4 The enlarged schematic diagram is shown at P in FIG.

[0040] Figure numerals: 1. ball cage structure; 2. first carbon splint mechanism; 20. pitch servo; 21. bearing; 22. roll servo; 23. roll servo rocker arm; 24. double blades; 25. coaxial double motors; 26. first carbon splint cross arm; 261. recessed structure; 27. roll servo fixing seat; 28. one end fixing seat; 29. ​​other end fixing seat; 3. second carbon splint mechanism; 30. wireless transceiver unit; 31. pitch fixing seat; 32. second carbon splint cross arm; 33. mounting frame; 34. lithium battery; 35. ball cage fixing seat; 36. ball cage servo; 37. ball cage servo rocker arm; 38. detection control unit; 40. spokes; 401. inward groove; 41. one end hub; 42. wheel ring; 421. outward groove; 43. other end hub. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] In the description of the present invention, it should be understood that the terms "upper", "lower" and the like indicate positions or location relationships that are based on the positions or location relationships when the product is normally used.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0044] See also Figures 1 to 5 The present embodiment provides a coaxial double-propeller air-to-ground dual-purpose robot, comprising: a ball cage structure 1, a pitch servo 20, a first carbon splint mechanism 2, a roll servo 22, a pitch fixing seat 31, a coaxial double motor 25, double propeller blades 24, a second carbon splint mechanism 3, a ball cage servo 36, a ball cage fixing seat 35 and a lithium battery 34.

[0045] The ball cage structure 1 is a cage-shaped rotating body structure, and the two axial ends of the ball cage structure 1 are semi-spherical structures respectively.

[0046] The pitch servo 20 is arranged in the pitch fixing seat 31, and the pitch fixing seat 31 is hinged at one axial end in the ball cage structure 1. The pitch servo 20 is transmission-connected with one end of the first carbon splint mechanism 2, and the pitch servo 20 is used to drive the first carbon splint mechanism 2 to rotate around the axial direction of the ball cage structure 1. The first carbon splint mechanism 2 is arranged along the axis of the ball cage structure 1.

[0047] The roll servo 22 is arranged at the first carbon splint mechanism 2, the coaxial dual motor 25 is arranged at the roll servo 22, the roll servo 22 is used to drive the coaxial dual motor 25 to swing back and forth along the axial direction of the ball cage structure 1, the double blades 24 are arranged above the coaxial dual motor 25 and are connected to the coaxial dual motor 25 in a one-to-one transmission manner, the coaxial dual motor 25 is used to drive the double blades 24 to rotate differentially, and the coaxial dual motor 25 is arranged at the center of the ball cage structure 1.

[0048] The ball cage servo 36 is fixed in the ball cage fixing seat 35, and the ball cage fixing seat 35 is arranged at the other axial end in the ball cage structure 1. The ball cage servo 36 is transmission-connected with the other end of the ball cage structure 1, and the ball cage servo 36 is used to drive the ball cage fixing seat 35 to rotate around the axial direction of the ball cage structure 1. The other end of the first carbon splint mechanism 2 is hinged to the ball cage fixing seat 35.

[0049] The lithium battery 34 is arranged at the second carbon splint mechanism 3 below the coaxial dual motor 25, one end of the second carbon splint mechanism 3 is connected to the pitch fixing seat 31, and the other end of the second carbon splint mechanism 3 is connected to the ball cage fixing seat 35.

[0050] The lithium battery 34 is connected to the pitch servo 20 , the roll servo 22 , the coaxial dual motor 25 and the ball cage servo 36 , respectively.

[0051] During the flight, the coaxial dual motors 25 drive the dual blades 24 to perform differential operation, providing sufficient flight power for the robot, and the roll servo 22 drives the coaxial dual motors 25 to swing, controlling the robot's roll, and the pitch servo 20 drives the first carbon splint mechanism 2 to rotate around the axial direction of the ball cage structure 1, driving the dual blades 24 to perform pitch rotation. In this process, the other end of the first carbon splint mechanism 2 is hinged to the ball cage fixing seat 35, ensuring that the first carbon splint mechanism 2 rotates smoothly around the axial direction of the ball cage structure 1.

[0052] When the robot is moving on the ground, the ball cage servo 36 is used to drive the second carbon splint mechanism 3 to rotate or swing forward, so that the lithium battery 34 located at the lower center of the ball cage structure 1 is in a forward tilting state. At this time, the overall center of mass of the robot is tilted forward, and the ball cage structure 1 is a horizontally placed rotating body structure. At this time, under the action of gravity, the forward-tilted lithium battery 34 drives the ball cage structure 1 to roll forward, so that the robot moves forward, and the robot moves backward on the contrary. In addition, during the forward and backward movement, the coaxial dual motor 25 and the double blades 24 are controlled by the roll servo 22 to swing left and right, and the double blades 24 are rotated accordingly. At the same time, the two axial ends of the ball cage structure 1 are respectively hemispherical structures, so that the ball cage structure 1 can be deflected left and right accordingly, so that the robot turns left and right. In addition, in this process, one end of the second carbon splint mechanism 3 is hinged with the pitch fixing seat 31 to ensure that the second carbon splint mechanism 3 rotates smoothly around the axial direction of the ball cage structure 1.

[0053] In this way, the present invention uses the second carbon splint mechanism 3, the ball cage servo 36, the ball cage fixing seat 35 and the lithium battery 34 to achieve a smaller driving force to tilt the center of mass. After the center of mass of the robot tilts, gravity is used to provide a driving force for the ground movement of the robot. This improves the ground endurance of the air-ground dual-purpose robot for a long time. Realizing ground movement by changing the center of mass can effectively improve energy utilization efficiency and reduce energy loss.

[0054] In addition, the first carbon splint mechanism 2 is arranged along the axis of the ball cage structure 1, the coaxial dual motor 25 is arranged on the first carbon splint mechanism 2, and the coaxial dual motor 25 is arranged at the center of the ball cage structure 1, so that the intersection of the pitch axis and the roll axis is coincident with the center of gravity of the coaxial dual motor 25 change structure, thereby avoiding the influence of the coaxial dual motor 25 change structure 25 on the center of gravity of the body when rotating.

[0055] In addition, the differential motion of the double blades 24 can realize the yaw motion of the robot. In the ground mode, the robot controls the rolling of the external cage structure 1 through the mass center tilting structure, and realizes the yaw motion on the ground through the differential motion of the double blades 24.

[0056] Furthermore, the coaxial double-propeller air-to-ground dual-purpose robot further comprises a detection control unit 38 and two wireless transceiver units 30.

[0057] The two wireless transceiver units 30 are respectively arranged on the top of the pitch fixing seat 31 and the ball cage fixing seat 35, and the detection control unit 38 is arranged at the lithium battery 34. The detection control unit 38 is respectively connected to the wireless transceiver unit 30, the pitch servo 20, the roll servo 22, the coaxial dual motor 25 and the ball cage servo 36.

[0058] Furthermore, the wireless transceiver unit 30 is a UWB module, and the detection control unit 38 includes a control circuit and a 6-axis inertial sensor. The 6-axis inertial sensor is connected to the control circuit, and an electronic speed regulator is provided in the control circuit.

[0059] The 6-axis inertial sensor here can be a BMI088 sensor. The control circuit is also provided with a receiver for acquiring remote control signals. The UWB module is used to send and receive signals to the ground station, and these signals contain current posture and expected posture information.

[0060] The two wireless transceiver units 30 are respectively arranged on the top of the pitch fixing seat 31 and the ball cage fixing seat 35 to ensure that the robot can send and receive signals smoothly.

[0061] The control system board in the circuit system of the control circuit is used to detect the robot's motion posture, receive remote control signals, and send control signals to the power component.

[0062] Furthermore, the first carbon splint mechanism 2 includes a roll servo 22 fixing seat, a roll servo 22 rocker arm, two first carbon splint cross arms 26, a fixing seat 28 at one end and a fixing seat 2928 at the other end.

[0063] The two first carbon plywood cross arms 26 are arranged along the axial extension of the ball cage structure 1, the roll servo 22 fixing seat is fixed between the two first carbon plywood cross arms 26, the roll servo 22 is arranged on the roll servo 22 fixing seat, the coaxial dual motor 25 is arranged above the roll servo 22, the coaxial dual motor 25 and the two first carbon plywood cross arms 26 are respectively hinged through corresponding bearings 21, the output shaft of the roll servo 22 is connected to the roll servo 22 rocker arm, the roll servo 22 rocker arm is arranged below the coaxial dual motor 25, and the roll servo 22 rocker arm is used to drive the coaxial dual motor 25 to swing around the bearing 21,

[0064] The one-end fixing seat 28 is connected to the output shaft of the pitch servo 20, and the one-end fixing seat 28 is respectively connected to one end of the two first carbon splint cross arms 26, and the other-end fixing seat 2928 is hinged to the ball cage fixing seat 35, and the other-end fixing seat 2928 is respectively connected to the other end of the two first carbon splint cross arms 26.

[0065] There can be two bearings 21, both of which are flange bearings. The flange bearing 21 is embedded in a hole reserved on a first carbon splint cross arm 26. A ball bearing 21 is embedded in the position of the other first carbon splint cross arm 26 corresponding to the pitch servo 20 to reduce rotation damping and ensure the symmetry and continuity of the pitch motion.

[0066] Furthermore, there are downwardly concave structures 261 near both ends of the first carbon splint cross arm 26 , so that the first carbon splint cross arm 26 is W-shaped in a vertical plane along the axial direction of the cage structure 1 , and the double blades 24 are used to rotate in the concave structures 261 .

[0067] This design can prevent the blades 24 from colliding with the first carbon splint cross arm 26 or other structures during the lateral swinging of the double blades 24, thereby preventing motion interference.

[0068] Furthermore, the first carbon splint cross arm 26 is a hollow structure.

[0069] The first carbon splint cross arm 26 is a hollow structure, so that a plurality of slots and round holes are left on the first carbon splint cross arm 26. On the one hand, the long slots and round holes are used to facilitate the fixation of other structures, and on the other hand, the weight of the fuselage is reduced by hollowing out.

[0070] Furthermore, the second carbon splint mechanism 3 includes two second carbon splint cross arms 32 and a mounting frame 33, the second carbon splint cross arms 32 are U-shaped in a vertical plane along the axial direction of the ball cage structure 1, the lithium battery 34 is clamped at the bending part of the two second carbon splint cross arms 32, the two ends of the second carbon splint cross arms 32 are respectively connected to the pitch fixing seat 31 and the ball cage fixing seat 35, the mounting frame 33 is installed at the second carbon splint cross arm 32 above the lithium battery 34, and the control circuit and the 6-axis inertial sensor are both installed on the mounting frame 33.

[0071] The second carbon splint cross arm 32 is U-shaped in a vertical plane along the axial direction of the cage structure 1. The lithium battery 34 is clamped at the bend of the two second carbon splint cross arms 32, which can reduce the center of gravity of the overall structure as much as possible, and provide sufficient power for the robot when rolling on the ground. The two second carbon splint cross arms 32 are fixed in the middle by a mounting frame 33, and the structure also provides space for installing and fixing the control circuit and the lithium battery 34.

[0072] Furthermore, the cage structure 1 includes a plurality of spokes 40, a plurality of wheel rings 42, a hub 41 at one end and a hub 4341 at the other end.

[0073] The plurality of spokes 40 are evenly distributed around the axis of the cage structure 1, one end of each spoke 40 is connected to the hub 41 at one end, and the other end of each spoke 40 is connected to the hub 4341 at the other end. The plurality of wheel rings 42 are sequentially spliced ​​with the plurality of spokes 40 along the axis of the cage structure 1.

[0074] The wheel hub 41 at one end is hinged to the pitch fixing seat 31 , and the wheel hub 4341 at the other end is connected to the ball cage servo 36 through the rocker arm transmission of the ball cage servo 36 .

[0075] Furthermore, a plurality of inward grooves 401 are formed at the center of each spoke 40, and the plurality of inward grooves 401 are arranged in sequence along the length direction of the spoke 40, and each of the inward grooves 401 is arranged toward the axis of the cage structure 1.

[0076] The outer circumferential edge of the wheel ring 42 is provided with a plurality of outward grooves 421 , which are evenly distributed along the circumference of the wheel ring 42 and extend radially along the wheel ring 42 . The outward grooves 421 are used to be inserted into any designated inward groove 401 .

[0077] The outward groove 421 is used to be inserted into any designated inward groove 401, so that the ball cage structure 1 can adjust the number of wheel rings 42 according to specific usage needs, and according to actual needs, the outward groove 421 of the wheel ring 42 is docked with the inward groove 401 at the corresponding position of the spoke 40 to adjust the layout position of each wheel ring 42, thereby improving the adaptability of the ball cage structure 1 to actual application scenarios.

[0078] Furthermore, the spokes 40 are glass fiber spokes 40, and the wheel ring 42 is a glass fiber wheel ring 42.

[0079] The one-end wheel hub 41 and the other-end wheel hub 4341 are both made of PA12 nylon by 3D printing, and the pitch fixing seat 31, the ball cage fixing seat 35, the roll servo 22 fixing seat, the roll servo 22 rocker arm, the one-end fixing seat 28, the other-end fixing seat 2928, the ball cage servo 36 rocker arm and the mounting frame 33 are all made of PA12 nylon by 3D printing.

[0080] This setting reduces the overall weight of the robot.

[0081] In addition, the material is glass fiber, which has the advantage of low density while ensuring structural strength. Compared with carbon fiber material, it is not easy to block UWB signals and does not interfere with signal transmission during robot movement.

[0082] It should be noted that the coaxial dual motor 25 is a coaxial brushless motor, the motor model is CR23M, and it can provide power for the robot through its own rotation.

[0083] It should be noted that the double blades 24 in this embodiment are a pair of GWS7035 blades, which are three-blade blades. Two blades of this type, one positive and one negative, are stacked up and down and installed on a coaxial brushless motor.

[0084] It should be noted that the overall size of the robot in this embodiment may be 300 mm×125 mm×125 mm.

[0085] In addition, the dimensions of the flange bearing 21 may be an inner diameter of 5 mm, an outer diameter of 8 mm, a thickness of 2 mm, a flange edge thickness of 0.8 mm, and a flange edge diameter of 10 mm.

[0086] In addition, the rocker arm of the roll servo 22 can be rolled by pulling the coaxial dual motor 25 through a 1mm thick iron wire.

[0087] In addition, the thickness of the first carbon plate cross arm 26 may be 2 mm.

[0088] In addition, the thickness of the second carbon plate cross arm 32 may be 1.5 mm.

[0089] In addition, the lithium battery 34 may be a 3S, 850mAh lithium battery 34 .

[0090] In addition, the number of spokes 40 may be 8, with a thickness of 1 mm; the number of rims may be 2, with a thickness of 1 mm.

[0091] In addition, the size of the control circuit can be 43 mm×25 mm×25 mm.

[0092] The pitch servo 20, the first carbon splint mechanism 2, the roll servo 22, the pitch fixing seat 31, the coaxial dual motor 25 and the double propeller 24 in the present invention together constitute a motor direction-changing structure design, realizing the omnidirectional rotation of the coaxial dual propeller motor, so that the robot can move freely in the aerial mode.

[0093] The second carbon splint mechanism 3, the ball cage servo 36, the ball cage fixing seat 35 and the lithium battery 34 in the present invention together constitute a center of mass tilting structure design, which can ensure rapid ground movement with less energy consumption by concentrating the main weight of the robot on the lower unit and tilting it.

[0094] The cage structure 1 of the present invention wraps the body, providing support while ensuring that the robot can roll freely on the ground. In particular, the two axial ends of the cage structure 1 are semi-spherical structures, which improves the flexibility and freedom of turning of the cage structure 1. Moreover, the cage structure 1 is a cage-shaped rotating body structure, which can not only protect the internal structure of the robot, but also fully reduce the overall weight of the robot.

[0095] The main parts of the robot are planar structures and 3D printed structures, and can be directly made of lightweight and high-strength materials (such as carbon fiber plates, PA12 nylon, etc.). This design and production can greatly reduce the complexity of the production process, shorten the production time, and improve the test efficiency.

[0096] In summary, the design of the present invention ensures the high maneuverability of the robot in the air and on the ground. At the same time, the lightweight and center of mass tilting structural design can extend the endurance of the air-ground dual-purpose robot and reduce the production cost and complexity of the robot. It has high engineering application value and good engineering application prospects.

[0097] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A coaxial double-propeller air-to-ground dual-purpose robot, characterized in that: include: Ball cage structure, pitch servo, first carbon splint mechanism, roll servo, pitch fixing seat, coaxial twin motors, twin blades, second carbon splint mechanism, ball cage servo, ball cage fixing seat and lithium battery, The ball cage structure is a cage-shaped rotating body structure, and the axial ends of the ball cage structure are semi-spherical structures respectively. The pitch servo is arranged in the pitch fixing seat, the pitch fixing seat is hinged at one axial end in the ball cage structure, the pitch servo is transmission-connected with one end of the first carbon splint mechanism, and the pitch servo is used to drive the first carbon splint mechanism to rotate around the axial direction of the ball cage structure. The roll servo is arranged at the first carbon splint mechanism, the coaxial dual motor is arranged at the roll servo, the roll servo is used to drive the coaxial dual motor to swing back and forth along the axial direction of the ball cage structure, the double blades are arranged above the coaxial dual motor and are connected to the coaxial dual motor in a one-to-one transmission manner, the coaxial dual motor is used to drive the double blades to rotate differentially, and the coaxial dual motor is arranged at the center of the ball cage structure. The CV cage servo is fixed in the CV cage fixing seat, the CV cage fixing seat is arranged at the other axial end in the CV cage structure, the CV cage servo is transmission-connected with the other end of the CV cage structure, the CV cage servo is used to drive the CV cage fixing seat to rotate around the axial direction of the CV cage structure, and the other end of the first carbon splint mechanism is hinged to the CV cage fixing seat. The lithium battery is arranged at the second carbon splint mechanism below the coaxial dual motor, one end of the second carbon splint mechanism is connected to the pitch fixing seat, and the other end of the second carbon splint mechanism is connected to the ball cage fixing seat. The lithium battery is connected to the pitch servo, the roll servo, the coaxial dual motor and the ball cage servo respectively.

2. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 1, characterized in that: The coaxial double-propeller air-to-ground dual-purpose robot further comprises a detection control unit and two wireless transceiver units. The two wireless transceiver units are respectively arranged on the top of the pitch fixing seat and the ball cage fixing seat, the detection control unit is arranged at the lithium battery, and the detection control unit is respectively connected to the wireless transceiver unit, the pitch servo, the roll servo, the coaxial dual motor and the ball cage servo.

3. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 2, characterized in that: The wireless transceiver unit is a UWB module, the detection control unit includes a control circuit and a 6-axis inertial sensor, the 6-axis inertial sensor is connected to the control circuit, and an electronic speed regulator is provided in the control circuit.

4. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 3, characterized in that: The first carbon splint mechanism includes a roll servo fixed seat, a roll servo rocker arm, two first carbon splint cross arms, a fixed seat at one end and a fixed seat at the other end. The two first carbon splint cross arms are arranged along the axial extension of the ball cage structure, the roll servo fixing seat is fixed between the two first carbon splint cross arms, the roll servo is arranged on the roll servo fixing seat, the coaxial dual motor is arranged above the roll servo, the coaxial dual motor and the two first carbon splint cross arms are respectively hinged through corresponding flange bearings, the output shaft of the roll servo is connected to the roll servo rocker arm, the roll servo rocker arm is arranged below the coaxial dual motor, and the roll servo rocker arm is used to drive the coaxial dual motor to swing around the flange bearing. The one-end fixing seat is connected to the output shaft of the pitch servo, and the one-end fixing seat is respectively connected to one end of the two first carbon splint cross arms, and the other-end fixing seat is hinged to the ball cage fixing seat, and the other-end fixing seat is respectively connected to the other end of the two first carbon splint cross arms.

5. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 4, characterized in that: Both ends of the first carbon splint cross arm are respectively formed with downwardly concave structures, so that the first carbon splint cross arm is W-shaped in a vertical plane along the axial direction of the cage structure, and the double paddle is used to rotate in the concave structure.

6. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 5, characterized in that: The first carbon splint cross arm is a hollow structural member.

7. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 6, characterized in that: The second carbon splint mechanism includes two second carbon splint cross arms and a mounting frame, the second carbon splint cross arms are U-shaped in a vertical plane along the axial direction of the ball cage structure, the lithium battery is clamped at the bending part of the two second carbon splint cross arms, the two ends of the second carbon splint cross arms are respectively connected to the pitch fixing seat and the ball cage fixing seat, the mounting frame is installed at the second carbon splint cross arms above the lithium battery, and the control circuit and the 6-axis inertial sensor are both installed on the mounting frame.

8. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 7, characterized in that: The cage structure includes a plurality of spokes, a plurality of wheel rings, a hub at one end and a hub at the other end. The plurality of spokes are evenly distributed around the axis of the cage structure, one end of each spoke is connected to the hub at one end, and the other end of each spoke is connected to the hub at the other end, and the plurality of wheel rings are sequentially spliced ​​with the plurality of spokes along the axis of the cage structure. The wheel hub at one end is hinged to the pitch fixing seat, and the wheel hub at the other end is connected to the ball cage servo through a ball cage servo rocker arm transmission.

9. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 8, characterized in that: A plurality of inward grooves are formed at the center of each spoke, and the plurality of inward grooves are arranged in sequence along the length direction of the spoke, and each inward groove is arranged toward the axis of the cage structure. The outer circumferential edge of the wheel ring is provided with a plurality of outward grooves, the outward grooves are evenly distributed along the circumference of the wheel ring, the outward grooves extend along the radial direction of the wheel ring, and the outward grooves are used to be inserted into any designated inward grooves.

10. The coaxial double-propeller air-to-ground dual-purpose robot according to claim 9, characterized in that: The spokes are glass fiber spokes, and the wheel ring is a glass fiber wheel ring. The wheel hub at one end and the wheel hub at the other end are both made of PA12 nylon through 3D printing. The pitch fixing seat, the ball cage fixing seat, the roll servo fixing seat, the roll servo rocker arm, the one end fixing seat, the other end fixing seat, the ball cage servo rocker arm and the mounting frame are all made of PA12 nylon through 3D printing.

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