Bimodal motion conversion robot

Abstract

The invention discloses a bimodal motion conversion robot, and relates to the technical field of robots, the bimodal motion conversion robot comprises a shell, a first wing arm, a second wing arm, a first walking flight structure and a second walking flight structure, the first wing arm and the second wing arm are both arranged on the shell, the first walking flight structure is arranged on the first wing arm, and the second walking flight structure is arranged on the second wing arm. The first walking and flying structure is arranged on the first wing arm, the second walking and flying structure is arranged on the second wing arm, the position of the first walking and flying structure is changed through the action of the first wing arm, and the position of the second walking and flying structure is changed through the action of the second wing arm, so that the bimodal motion conversion robot is converted between a walking mode and a flying mode. The dual-mode motion conversion robot can be converted between a walking mode and a flying mode according to the environment, the problem that an existing robot is poor in motion adaptability in the complex environment is solved, the adaptability and maneuverability in the complex environment are improved, and the application field and the task completion capacity are expanded.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a dual-mode motion conversion robot. Background Art

[0002] Robotics has evolved over the years, from its early simple structures to today's highly intelligent and complex systems. Early robots were mostly single-structured with fixed motion patterns, making them difficult to adapt to complex environments. While modern robots have achieved intelligence and automation to a certain extent, most still suffer from problems such as a single motion pattern and poor adaptability when faced with complex and changing terrain and mission requirements. For example, wheeled robots are efficient on flat ground but lack the ability to navigate large obstacles, steep slopes, or for aerial reconnaissance missions. Legged robots, while adaptable to rugged terrain, have high energy consumption and complex control. Flying robots, on the other hand, are unable to maneuver flexibly on the ground. This single motion pattern makes it difficult for robots to adapt to complex and changing terrain and mission requirements, greatly limiting their application in practical scenarios such as disaster relief and space exploration. Summary of the Invention

[0003] The purpose of the present invention is to provide a dual-mode motion conversion robot to solve the problem that existing robots have poor motion adaptability in complex environments.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a dual-mode motion conversion robot, comprising: an outer shell, a first wing arm, a second wing arm, a first walking and flying structure, and a second walking and flying structure. The first wing arm and the second wing arm are both arranged on the outer shell, the first walking and flying structure is arranged on the first wing arm, and the second walking and flying structure is arranged on the second wing arm. The dual-mode motion conversion robot is converted between walking mode and flying mode by changing the position of the first walking and flying structure through the movement of the first wing arm and changing the position of the second walking and flying structure through the movement of the second wing arm.

[0006] In some specific embodiments, the first wing arm and the second wing arm are symmetrically arranged on the housing.

[0007] In some specific embodiments, the first wing arm and the second wing arm have the same structure, and both the first wing arm and the second wing arm include a conversion drive structure and a wing arm. The conversion drive structure is arranged on the outer shell, and the power output shaft of the conversion drive structure is transmission-connected to the wing arm. Through the action of the conversion drive structure, the dual-mode motion conversion robot is converted between walking mode and flying mode.

[0008] In some specific schemes, the structures of the first walking and flying structure and the second walking and flying structure are the same, and the first walking and flying structure and the second walking and flying structure both include a walking drive structure, a walking wheel, a flight drive structure and a wing structure. The walking drive structure is arranged on the first wing arm or the second wing arm, and the power output shaft of the walking drive structure is transmission connected to the walking wheel. The flight drive structure and the wing structure are both arranged on the walking wheel, and the power output shaft of the flight drive structure is transmission connected to the wing structure.

[0009] In some specific embodiments, the walking wheel includes a walking wheel body, a bracket and an axle. The walking wheel body is transmission-connected to the walking drive structure. The bracket is arranged inside the walking wheel body. The axle is arranged on the first wing arm or the second wing arm. The axle is rotationally connected to the bracket.

[0010] In some specific embodiments, the flight drive structure is arranged on the bracket, the flight drive structure and the wing structure are both located on the inner side of the walking wheel body, and the power output shaft of the flight drive structure is transmission-connected to the wing structure.

[0011] In some specific solutions, an inner wheel cover is provided at one end of the running wheel body, and an outer wheel cover is provided at the other end of the running wheel body.

[0012] In some specific embodiments, the first walking and flying structure and the second walking and flying structure each further include a driving gear, the driving gear is in transmission connection with the walking drive structure, and the driving gear is meshed with the walking wheel.

[0013] In some specific embodiments, the first walking and flying structure and the second walking and flying structure each include two walking wheels, and the two walking wheels are symmetrically arranged on both sides of the driving gear.

[0014] In some specific embodiments, a base is further included, and the base is arranged on the housing.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The present invention enables the dual-mode motion conversion robot to switch between walking mode and flying mode by manipulating the first wing-arm to change the position of the first walking and flying structure, and the second wing-arm to change the position of the second walking and flying structure. This design enables the robot to flexibly switch between two motion modes to adapt to different environments and task requirements. This design improves the robot's adaptability and maneuverability in complex environments, expanding its application areas and task completion capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 Schematic diagram of a dual-mode motion conversion robot (walking mode) in some embodiments of the present invention;

[0019] Figure 2 Schematic diagram of a dual-mode motion conversion robot (flight mode) in some embodiments of the present invention;

[0020] Figure 3 Schematic diagram of the first wing arm and the first walking and flying structure in some embodiments of the present invention;

[0021] Figure 4 Schematic diagram of the first wing arm and the first walking and flying structure in some embodiments of the present invention (without the wing arm);

[0022] Figure 5 It is a front view of the running wheels, flight drive structure and wing structure in some embodiments of the present invention;

[0023] Figure 6 for Figure 5 AA section view;

[0024] In the figure: 1-base, 2-housing, 3-conversion drive structure, 4-wing arm, 5-travel drive structure, 6-flight drive structure, 7-wing structure, 8-first positioning frame, 9-second positioning frame, 10-travel wheel body, 11-bracket, 12-axle, 13-bearing seat, 14-fixing ring, 15-inner wheel cover, 16-outer wheel cover, 17-driving gear. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] The purpose of the present invention is to provide a dual-mode motion conversion robot to solve the problem that existing robots have poor motion adaptability in complex environments.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figures 1 to 6 As shown, this embodiment provides a dual-mode motion conversion robot, comprising: a base 1, a housing 2, a first wing arm, a second wing arm, a first walking and flying structure, and a second walking and flying structure. The base 1 is a hollow structural skeleton that serves as a foundational support and provides a stable mounting interface for other components. The housing 2 is mounted on the base 1, supporting the superstructure and protecting the internal components. The first wing arm and the second wing arm are symmetrically mounted on either side of the housing 2. The first walking and flying structure are disposed on the first wing arm, and the second walking and flying structure is disposed on the second wing arm. The dual-mode motion conversion robot can switch between walking mode and flying mode by changing the position of the first walking and flying structure by moving the first wing arm and the second wing arm. This embodiment precisely controls the first and second wing arms to switch the first and second walking and flying structures between horizontal and vertical positions, achieving the transition between flying mode and walking mode. This embodiment enables the robot to flexibly switch between two motion modes to adapt to different environments and task requirements. Through this design, this embodiment improves the robot's adaptability and maneuverability in complex environments, expanding its application areas and task completion capabilities.

[0029] In the specific implementation of some embodiments, the first wing arm and the second wing arm have the same structure, and both the first wing arm and the second wing arm include a conversion drive structure 3 and a wing arm 4. The conversion drive structure 3 is preferably a servo, and the conversion drive structure 3 is arranged on the outer shell 2. The power output shaft of the conversion drive structure 3 is transmission-connected with the wing arm 4. Through the action of the conversion drive structure 3, the first walking structure and the second walking structure are driven to be in a vertical state and a horizontal state, so that the dual-mode motion conversion robot can switch between walking mode and flight mode.

[0030] In some specific implementations of the embodiments, the structures of the first walking and flying structure and the second walking and flying structure are the same. The first walking and flying structure and the second walking and flying structure both include a walking drive structure 5, a walking wheel, a flight drive structure 6 and a wing structure 7. The walking drive structure 5 is arranged on the wing arm 4. The walking drive structure 5 is preferably a stepping motor. The power output shaft of the walking drive structure 5 is rotatably connected to the positioning frame on the wing arm 4 through a bearing. The positioning frame includes a first positioning frame 8 and a second positioning frame 9. The first positioning frame 8 and the second positioning frame 9 form a stable mechanical support frame to provide reliable positioning and support for modal conversion. The power output shaft of the walking drive structure 5 is connected to the walking wheel for driving the walking wheel in the walking mode. The flight drive structure 6 and the wing structure 7 are both arranged on the walking wheel, and the power output shaft of the flight drive structure 6 is connected to the wing structure 7.

[0031] In the specific implementation of some embodiments, specifically, the walking wheel includes a walking wheel body 10, a bracket 11 and an axle 12, the walking wheel body 10 is connected to the walking drive structure 5 by transmission, the bracket 11 is arranged inside the walking wheel body 10 and is fixedly connected to the walking wheel body 10, the axle 12 is fixedly arranged on the wing arm 4, and the axle 12 serves as a key connection and support component to ensure the stable rotation of the walking wheel and bear the load when the robot moves on the ground. The axle 12 is rotatably connected to the bracket 11 through a bearing, and the bearing seat 13 is installed at the corresponding position of the bracket 11 to provide stable support and precise positioning for rotating parts such as the axle 12, reduce the friction resistance of movement, and ensure the smooth rotation of the walking wheel. The bearing seat 13 is fixedly connected to the axle 12 through a fixing ring 14 to ensure that each component is tightly assembled and operates stably. When the dual-mode motion conversion robot of this embodiment is converted to walking mode, the walking wheel is in a vertical state, and the walking drive structure 5 drives the walking wheel body 10 to rotate to achieve walking.

[0032] In some embodiments, the flight drive structure 6 is fixedly mounted on the bracket 11. The flight drive structure 6 is preferably a motor. The flight drive structure 6 and the wing structure 7 are both located inside the running wheel body 10. The power output shaft of the flight drive structure 6 is in transmission connection with the wing structure 7. The wing structure 7 includes three equally spaced wings, and the shape and number of the wings can be customized. When the dual-mode motion conversion robot of this embodiment switches to flight mode, the running wheels are horizontal, and the flight drive structure 6 drives the wing structure 7 to rotate, achieving flight.

[0033] In some embodiments, an inner wheel cover 15 is provided at one end of the running wheel body 10, and an outer wheel cover 16 is provided at the other end of the running wheel body 10. The inner wheel cover 15 and the outer wheel cover 16 are both annular, and the running wheel body 10, the inner wheel cover 15, and the outer wheel cover 16 are coaxially arranged. By providing the inner wheel cover 15 and the outer wheel cover 16 on the running wheel body 10, the internal structure of the running wheel body 10 is protected, and the internal mechanical structure (for example, the bracket 11, the flight drive structure 6, and the wing structure 7) is prevented from being impacted and damaged by external forces, and the strength and stability of the running wheel can be enhanced.

[0034] In some embodiments, the first walking and flying structure and the second walking and flying structure each further include a driving gear 17, which is in transmission connection with the walking drive structure 5. The outer side of the walking wheel body 10 is provided with meshing teeth, and the walking wheel body 10 is preferably a ring gear, and the driving gear 17 meshes with the walking wheel body 10. The driving gear 17 and the walking wheel precisely transmit power through gear meshing, ensuring power support and motion performance when the robot is walking on the ground. By adopting the method of meshing the driving gear 17 with the walking wheel body 10, the power transmission efficiency and motion control accuracy in the ground walking mode are guaranteed.

[0035] In specific implementations of some embodiments, the first walking and flying structure and the second walking and flying structure each include two walking wheels, which are symmetrically arranged on both sides of the driving gear 17, and the driving gear 17 is respectively engaged with the two walking wheel bodies 10.

[0036] The dual-mode motion conversion robot of this embodiment utilizes multifunctional components and a reconfigurable structural design, enabling it to flexibly switch between two motion modes according to environmental and task requirements, improving adaptability and maneuverability in complex environments and expanding its application areas and mission capabilities. During use: When switching to walking mode, the conversion drive structure 3 of the first and second wing arms respectively drives the first walking and flying structures, causing the running wheels of the first and second walking and flying structures to be in a vertical position. The walking drive structure 5 then drives the driving gear 17 to rotate, which engages with the running wheel body 10, driving the running wheels to rotate, achieving walking. At this time, the flight drive structure 6 is inoperative. When switching to flight mode, the conversion drive structure 3 of the first and second wing arms respectively drives the first walking and flying structures, causing the running wheels of the first and second walking and flying structures to be in a horizontal position. The flight drive structure 6 then drives the wing structure 7 to rotate, achieving flight. At this time, the walking drive structure 5 is inoperative. The dual-mode motion conversion robot of this embodiment achieves effective compatibility and efficient switching between different motion modes through the organic combination and precise coordination of its components. This embodiment organically combines a wheeled structure with a flight mechanism. Through gear meshing and servo drive, it can both stably walk on the ground and efficiently switch to flight mode, significantly improving the robot's environmental adaptability and mission execution capabilities. This embodiment can be combined with an autonomous control system to automatically select a motion mode based on environmental information. By optimizing control algorithms and path planning, it can precisely control the robot's motion state and path planning, thereby ensuring the robot's rapid and accurate switching between different modes and improving mission execution efficiency.

[0037] The dual-mode motion conversion robot of this embodiment integrates two motion modes to adapt to different environments and task requirements, significantly improving adaptability to complex environments and task completion capabilities. This embodiment can select the most appropriate motion mode according to task requirements and optimize energy consumption performance. For example, it uses a low-energy walking mode to move quickly on flat ground, switches to a higher-energy flying mode to cross when encountering obstacles, and then switches back to the walking mode to continue moving forward, achieving a balance between energy consumption and efficiency. The housing 2 of this embodiment can be used to carry a control system, using a highly integrated design to tightly integrate the motion components and the control system, reducing volume and weight, improving overall performance, and enhancing adaptability to small spaces and complex environments. This embodiment can automatically switch motion modes according to environmental and task requirements through an autonomous control system, optimize control algorithms and path planning algorithms, achieve fast and accurate switching between different modes, and improve task execution efficiency.

[0038] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0039] In the description of the present invention, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; they may refer to mechanical or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application.

[0040] Any component provided by the present invention may be assembled from multiple separate components, or may be a separate component manufactured by an integral molding process.

[0041] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention.

[0042] It should also be noted that in the embodiments of the present application, the same figure mark represents the same component or the same part.

[0043] Adaptive changes based on actual needs are all within the scope of protection of the present invention.

[0044] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A dual-mode motion conversion robot, characterized in that: include: An outer shell, a first wing arm, a second wing arm, a first walking and flying structure, and a second walking and flying structure. The first wing arm and the second wing arm are both arranged on the outer shell, the first walking and flying structure is arranged on the first wing arm, and the second walking and flying structure is arranged on the second wing arm. The position of the first walking and flying structure is changed by the movement of the first wing arm, and the position of the second walking and flying structure is changed by the movement of the second wing arm, so that the dual-mode motion conversion robot can be converted between walking mode and flying mode.

2. The dual-mode motion conversion robot according to claim 1, characterized in that: The first wing arm and the second wing arm are symmetrically arranged on the housing.

3. The dual-mode motion conversion robot according to claim 1, characterized in that: The first wing arm and the second wing arm have the same structure. Both the first wing arm and the second wing arm include a conversion drive structure and a wing arm. The conversion drive structure is arranged on the outer shell. The power output shaft of the conversion drive structure is transmission-connected to the wing arm. Through the action of the conversion drive structure, the dual-mode motion conversion robot is converted between walking mode and flying mode.

4. The dual-mode motion conversion robot according to claim 1, characterized in that: The structures of the first walking and flying structure and the second walking and flying structure are the same. The first walking and flying structure and the second walking and flying structure both include a walking drive structure, a walking wheel, a flight drive structure and a wing structure. The walking drive structure is arranged on the first wing arm or the second wing arm, and the power output shaft of the walking drive structure is transmission connected to the walking wheel. The flight drive structure and the wing structure are both arranged on the walking wheel, and the power output shaft of the flight drive structure is transmission connected to the wing structure.

5. The dual-mode motion conversion robot according to claim 4, characterized in that: The walking wheel includes a walking wheel body, a bracket and a wheel axle. The walking wheel body is transmission-connected to the walking drive structure. The bracket is arranged inside the walking wheel body. The wheel axle is arranged on the first wing arm or the second wing arm. The wheel axle is rotationally connected to the bracket.

6. The dual-mode motion conversion robot according to claim 5, characterized in that: The flight drive structure is arranged on the bracket. The flight drive structure and the wing structure are both located on the inner side of the walking wheel body. The power output shaft of the flight drive structure is transmission-connected to the wing structure.

7. The dual-mode motion conversion robot according to claim 5, characterized in that: One end of the walking wheel body is provided with an inner wheel cover, and the other end of the walking wheel body is provided with an outer wheel cover.

8. The dual-mode motion conversion robot according to claim 4, characterized in that: The first walking and flying structure and the second walking and flying structure both further include a driving gear, which is transmission-connected to the walking drive structure and meshes with the walking wheel.

9. The dual-mode motion conversion robot according to claim 8, characterized in that: The first walking and flying structure and the second walking and flying structure each include two walking wheels, and the two walking wheels are symmetrically arranged on both sides of the driving gear.

10. The dual-mode motion conversion robot according to claim 1, characterized in that: A base is also included, and the base is arranged on the shell.

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