A coaxial double-propeller air-ground dual-purpose robot

Abstract

The present invention relates to the field of robotics, and discloses a coaxial twin-propeller air-to-ground dual-purpose robot. The dual-purpose robot comprises a ball cage structure, a pitch servo, a first carbon splint mechanism, a roll servo, a pitch mount, coaxial twin motors, twin propeller blades, a second carbon splint mechanism, a ball cage servo, a ball cage mount, and a lithium battery. The ball cage structure is a cage-shaped rotating body structure, with hemispherical structures at both axial ends of the ball cage structure. The ball cage servo is transmission-connected to the other end of the ball cage structure, and is used to drive the ball cage mount to rotate about the axial direction of the ball cage structure. The other end of the first carbon splint mechanism is hinged to the ball cage mount. The lithium battery is disposed on the second carbon splint mechanism below the coaxial twin motors. One end of the second carbon splint mechanism is connected to the pitch mount, and the other end of the second carbon splint mechanism is connected to the ball cage mount.

Description

Technical Field

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

[0002] Air-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 mission completion. In recent years, many teams have made significant progress in this field, among which the research on cage-type and wheeled air-ground dual-purpose robot configurations is particularly prominent. Relevant researchers from Tsinghua University designed a wheeled aircraft that combines rotors and an Ackerman chassis, successfully achieving continuous movement in the air and on the ground. The cage-structured air-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-ground dual-purpose aircraft have been improved to a certain extent, but there is still much room for improvement.

[0003] Hybrid air-to-ground vehicles typically utilize rotor propulsion for aerial maneuvers, and their energy efficiency is closely related to the number and layout of rotors. According to actuator disc theory, under the same load, the larger the rotor area, the lower the rotor load per unit area, and the higher the hovering efficiency. Therefore, twin-rotor drones offer the highest hovering efficiency and lowest energy consumption for the same takeoff weight and effective size. In this configuration, the drone uses servo motors to control rotor tilt and vector thrust to control the fuselage's attitude. In terms of rotor layout, twin-rotor drones are primarily categorized into coaxial and split-rotor (horizontal) configurations. The split-rotor configuration has been extensively studied, while the coaxial configuration has been less studied and often suffers from structural redundancy and complexity. However, relevant research has shown that, for the same effective size, coaxial twin-rotor configurations offer lower power consumption, a more compact structure, and improved maneuverability.

[0004] The coaxial design not only improves the maneuverability and endurance of hybrid air-ground vehicles, but also enables variable-center-of-mass rolling on the ground. Previous research has shown that hybrid air-ground vehicles often utilize active wheel drive or wind-driven passive wheel rolling. While active wheel drive is effective, the wheeled structure is relatively redundant and results in significant energy loss. While wind-driven propulsion is energy-efficient, it suffers from poor ground maneuverability and the rotor rotation results in additional energy loss. In fact, relevant research has demonstrated that achieving ground motion using a variable-center-of-mass method can effectively improve energy efficiency and minimize energy loss. Therefore, applying a variable-center-of-mass structure to the ground motion of air-ground vehicles will help further enhance their endurance. Summary of the Invention

[0005] To solve the above problems, the present invention provides a coaxial twin-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 twin motor, twin propeller blades, a second carbon splint mechanism, a ball cage servo, a ball cage fixing seat and a lithium battery.

[0006] The cage structure is a cage-shaped rotating body structure, and the two axial ends of the cage structure are hemispherical 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 in transmission connection 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 CVJ servo is fixed in the CVJ fixing seat, which is arranged at the other axial end of the CVJ structure. The CVJ servo is transmission-connected to the other end of the CVJ structure. The CVJ servo is used to drive the CVJ fixing seat to rotate around the axial direction of the CVJ structure. The other end of the first carbon splint mechanism is hinged to the CVJ 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-ground dual-purpose robot further includes 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 the control circuit is provided with an electronic speed regulator.

[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 plywood 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 plywood 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 plywood 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, the one-end fixing seat is respectively connected to one end of the two first carbon plywood cross arms, 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 plywood 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 axis 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 bend 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 on 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 via 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 inward groove is arranged toward the axis of the cage structure.

[0025] The outer circumference 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 hub at one end and the 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 present invention has the following beneficial effects:

[0030] The pitch servo, the first carbon splint mechanism, the roll servo, the pitch fixing seat, the coaxial dual motors and the double propellers in the present invention together constitute a motor direction-changing structure design, realizing omnidirectional rotation of the coaxial dual propeller motors, allowing the robot to 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 movement on the ground can be achieved with less energy consumption.

[0032] The cage structure of the present invention wraps around the robot's body, providing support while ensuring the robot's free rolling on the ground. In particular, the cage's axial ends are hemispherical, enhancing its steering flexibility and freedom. Furthermore, the cage's cage-like, rotating structure protects the robot's internal structure while significantly reducing its overall weight.

[0033] The robot's main components are flat and 3D-printed, and can be directly manufactured from lightweight, high-strength materials (such as carbon fiber sheets and PA12 nylon). This design and production can greatly reduce the complexity of the manufacturing process, shorten production time, and improve 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 life of the air-ground dual-purpose robot and reduce the robot's production cost and complexity. It has high engineering application value and good engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of the overall configuration of the coaxial double-propeller air-ground dual-purpose robot of the present invention;

[0036] Figure 2 This 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 Schematic diagram of the center of mass tilting structure of the coaxial double-propeller air-to-ground dual-purpose robot of the present invention;

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

[0039] Figure 5 for Figure 4 The enlarged schematic diagram of point 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 dual 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. Spoke; 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" and "lower" and the like indicate positions or location relationships based on the positions or location relationships during normal use of the product.

[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 specifying the number of technical features indicated. Therefore, 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 This embodiment provides a coaxial twin-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, coaxial twin motors 25, twin 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 cage structure 1 is a cage-shaped rotating body structure, and the two axial ends of the cage structure 1 are hemispherical structures.

[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 in transmission connection with one end of the first carbon splint mechanism 2. 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, and 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 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. The coaxial dual motor 25 is arranged at the center of the cage structure 1.

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

[0049] The lithium battery 34 is arranged on 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 flight, the coaxial twin motors 25 drive the twin blades 24 in differential rotation, providing sufficient flight power. The roll servo 22 drives the coaxial twin motors 25 to swing, controlling the robot's roll. The pitch servo 20 drives the first carbon splint mechanism 2 to rotate about the axial direction of the cage structure 1, driving the twin blades 24 in pitch. During this process, the other end of the first carbon splint mechanism 2 is hinged to the cage mount 35, ensuring smooth rotation of the first carbon splint mechanism 2 about the axial direction of the cage structure 1.

[0052] When the robot is moving on the ground, the C-shaped cage servo 36 drives the second carbon splint 3 to rotate or swing forward, causing the lithium battery 34, located in the lower center of the cage structure 1, to tilt forward. At this point, the robot's entire center of mass tilts forward, and the cage structure 1 is a horizontally positioned rotating structure. Under the action of gravity, the tilted lithium battery 34 drives the cage structure 1 to roll forward, causing the robot to move forward, and vice versa for backward movement. Furthermore, during forward and backward movement, the roll servo 22 controls the left and right swing of the coaxial twin motors 25 and the twin blades 24, causing the blades 24 to rotate accordingly. This, combined with the hemispherical structures at both axial ends of the cage structure 1, allows the cage structure 1 to deflect left and right, causing the robot to turn left or right. Furthermore, during this process, one end of the second carbon splint 3 is hinged to the pitch mount 31, ensuring smooth rotation of the second carbon splint 3 about the cage structure 1.

[0053] Thus, the present invention utilizes the second carbon splint mechanism 3, the CVJ servo 36, the CVJ mount 35, and the lithium battery 34 to achieve center-of-mass tilting with a relatively small driving force. After the center-of-mass tilt, gravity provides the driving force for ground locomotion. This improves the long-term ground endurance of the air-ground dual-purpose robot. Achieving ground locomotion through a variable center-of-mass approach effectively improves energy efficiency and minimizes 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 changing structure, thereby avoiding the influence of the coaxial dual motor 25 changing structure on the center of gravity of the body when rotating.

[0055] In addition, the differential motion of the two blades 24 can achieve the yaw motion of the robot. In the ground mode, the robot controls the rolling of the external cage structure 1 through the center of mass tilt structure, and achieves the yaw motion on the ground through the differential motion of the two blades 24.

[0056] Furthermore, the coaxial double-propeller air-ground dual-purpose robot further includes 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 also has a receiver for acquiring remote control signals. The UWB module is used to send and receive signals to the ground station. These signals contain information about the current and desired posture.

[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 control signals, and send control signals to the power components.

[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 29 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. The other-end fixing seat 29 is hinged to the ball cage fixing seat 35, and the other-end fixing seat 29 is respectively connected to the other end of the two first carbon splint cross arms 26.

[0065] There can be two bearings 21, both flanged. The flanged bearing 21 is embedded in a pre-reserved hole in one of the first carbon crossbars 26. A ball bearing 21 is embedded in the other first carbon crossbar 26 at the position corresponding to the pitch servo 20 to reduce rotational damping and ensure symmetry and continuity in pitch motion.

[0066] Furthermore, there are downwardly concave recessed 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 recessed structures 261.

[0067] This design prevents the blades 24 from colliding with the first carbon splint cross arm 26 or other structures during the yaw process, thereby preventing motion interference.

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

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

[0070] Furthermore, the second carbon splint mechanism 3 includes two second carbon splint cross arms 32 and a mounting bracket 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 bend 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 bracket 33 is installed on the second carbon splint cross arms 32 above the lithium battery 34. The control circuit and the 6-axis inertial sensor are both installed on the mounting bracket 33.

[0071] The second carbon-clad cross-arms 32 form a U-shape in a vertical plane along the axis of the cage structure 1. The lithium battery 34 is sandwiched between the two second carbon-clad cross-arms 32 at the bend, minimizing the center of gravity of the overall structure and providing sufficient power for the robot's rolling motion. A mounting bracket 33 secures the two second carbon-clad cross-arms 32, providing space for mounting and securing the control circuitry and 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 43 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 43 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 43 at the other end is connected to the CVJ servo 36 via a rocker arm transmission of the CVJ servo 36 .

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

[0076] The outer circular 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 specified 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 CVJ 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 CVJ servo 36 rocker arm and the mounting bracket 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 model of which is CR23M, which 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 propellers. The two blades of this model, one facing forward and one facing backward, are stacked up and mounted on a coaxial brushless motor.

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

[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 pulled by a coaxial dual motor 25 through a 1mm thick iron wire to perform roll motion.

[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 can be 8, and the thickness can be 1 mm; the number of rims can be 2, and the thickness can be 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 blades 24 in the present invention together constitute a motor direction-changing structure design, which realizes the omnidirectional rotation of the coaxial dual-propeller motor, allowing the robot to 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. By concentrating the main weight of the robot on the lower unit and tilting it, rapid movement on the ground can be achieved with less energy consumption.

[0094] The cage structure 1 of the present invention wraps around the robot body, providing support while ensuring the robot's free rolling on the ground. In particular, the cage structure 1's two axial ends are hemispherical structures, which enhances the cage structure's steering flexibility and freedom. Furthermore, the cage structure 1's cage-like rotating body not only protects the robot's internal structure but also significantly reduces its overall weight.

[0095] The robot's main components are flat and 3D-printed, and can be directly manufactured from lightweight, high-strength materials (such as carbon fiber sheets and PA12 nylon). This design and production can greatly reduce the complexity of the manufacturing process, shorten production time, and improve 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 life of the air-ground dual-purpose robot and reduce the robot's production cost and complexity. It has high engineering application value and good engineering application prospects.

[0097] Although the present disclosure is disclosed as above, the protection scope of the present 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 present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A coaxial double-propeller air-ground dual-purpose robot, characterized in that: include: Ball cage structure, pitch servo, first carbon splint mechanism, roll servo, pitch fixed seat, coaxial dual motor, double blades, second carbon splint mechanism, ball cage servo, ball cage fixed seat and lithium battery, The cage structure is a cage-shaped rotating body structure, and the two axial ends of the cage structure are hemispherical 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 in transmission connection 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 CVJ servo is fixed in the CVJ fixing seat, which is arranged at the other axial end of the CVJ structure. The CVJ servo is transmission-connected to the other end of the CVJ structure. The CVJ servo is used to drive the CVJ fixing seat to rotate around the axial direction of the CVJ structure. The other end of the first carbon splint mechanism is hinged to the CVJ 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-ground dual-purpose robot according to claim 1, characterized in that: The coaxial double-propeller air-ground dual-purpose robot further includes 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-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. An electronic speed regulator is provided in the control circuit.

4. The coaxial double-propeller air-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 plywood 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 plywood 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 plywood 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, the one-end fixing seat is respectively connected to one end of the two first carbon plywood cross arms, 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 plywood cross arms.

5. The coaxial double-propeller air-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 axis of the cage structure, and the double paddle is used to rotate in the concave structures.

6. The coaxial double-propeller air-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-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 axis of the ball cage structure. The lithium battery is clamped at the bend 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 on the second carbon splint cross arms above the lithium battery. The control circuit and the 6-axis inertial sensor are both installed on the mounting frame.

8. The coaxial double-propeller air-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 via a ball cage servo rocker arm transmission.

9. The coaxial double-propeller air-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 circumference 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-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 hub at one end and the 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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