Air-ground cooperative robot

Abstract

The invention discloses an air-ground cooperative robot, and particularly relates to the technical field of robots, the air-ground cooperative robot comprises a positioning penetration assembly, the positioning penetration assembly comprises a hinge arm, a positioning ring, a pressing ring, a slope ring and a silica gel ring, the positioning ring is located on one side of the hinge arm, and the pressing ring is arranged on the other side of the hinge arm; the opposite sides of the positioning ring and the pressing ring are each provided with an inclined plane ring, and the two inclined plane rings are fixedly connected with the positioning shaft. And each silica gel ring is positioned above the inclined plane ring. The positioning penetration assembly is adopted, and the beneficial effects that it is ensured that lubricating oil achieves penetration type sufficient lubrication on the hinge arm and the positioning shaft through a gap during switching adjustment every time, the durability of land-air cooperative switching is remarkably improved in the later period, and the service life is greatly prolonged are achieved; therefore, the problems that it is difficult to make the lubricating oil body penetrate through the hinged rotary contact part for lubrication during switching adjustment, and the durability of land-air cooperative switching in the later period is poor are solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a land-air collaborative robot. Background Technology

[0002] Land-air collaborative robots mainly break through the functional limitations of traditional single-modal robots by using land-air modal adaptive switching technology, achieving functional complementarity and expansion, improving intelligence and autonomy, and enabling robots to quickly switch working modes under different terrains and task requirements, realizing two driving operations: flight mode and land mode.

[0003] Among existing publicly available documents, patent publication number CN105034729A discloses a deformable multimodal land-air flying robot. This technology uses an autopilot to drive the hub device and the adsorption device separately. The autopilot drives the rotary joints of the wing arm device to rotate, causing the wing arm to rotate the hub device to a specified angle, thus achieving the switching between flight mode and ground walking mode. This invention has the advantages of low power consumption, strong environmental adaptability and multi-tasking capability, good structural stability, and high mobility, making it suitable for multimodal operations and meeting the various task requirements in complex and harsh environments. However, this technology still has the following drawbacks.

[0004] When a land-air collaborative robot switches between flight and land modes, or between land and flight modes, the articulated parts need to contact and rotate during the switching process to achieve the switching operation. However, because the articulated parts bear the wave forces of flight and walking, they experience high friction during the switching process and are prone to wear. It is difficult to ensure that the lubricating oil can penetrate the rotating contact parts of the articulated parts for lubrication during the switching and adjustment process. This results in the articulated parts of the land-air collaborative robot being prone to wear and having poor durability in the later stages of land-air collaborative switching. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, the present invention provides the following technical solution: a land-air collaborative robot, comprising a machine shell and a wireless controller, wherein positioning shafts are fixedly connected to the inner wall of the machine shell near its four corners, and a hinged arm is rotatably mounted on the outer wall of each positioning shaft, wherein a positioning penetration component is provided on one side of the hinged arm, and the positioning penetration component includes: A positioning ring is located on one side of the hinge arm, and a pressure ring is provided on the other side of the hinge arm. Both the positioning ring and the pressure ring are provided with inclined rings on opposite sides, and both inclined rings are fixedly connected to the positioning shaft. Each silicone ring is located above the inclined ring. The silicone ring is fixedly connected to the positioning ring, and another silicone ring is fixedly connected to the pressure ring. A sealing inclined ring is fixedly connected to the inner wall of the positioning ring, and another sealing inclined ring is fixedly connected to the inner wall of the pressure ring. Guide sleeves are fixedly connected to the outer walls of the positioning ring and the pressure ring respectively. A raised post is slidably installed on the inner wall of the guide sleeve. The raised post is fixedly connected to the machine housing. An electromagnet is provided on one side of the guide sleeve. The wireless controller is electrically connected to the electromagnet. The electromagnet is fixedly connected to the raised post.

[0006] In a preferred embodiment, a gap is provided between the positioning ring and the hinge arm, and the inner walls of both the positioning ring and the pressure ring have annular gaps with the outer wall of the positioning shaft.

[0007] In a preferred embodiment, an electric valve is fixedly connected to one side of the positioning ring; A miniature pump is fixedly installed at one end of an electric valve. The input end of the miniature pump is fixedly connected to a container tank, which is used to hold lubricating oil. Both the electric valve and the miniature pump are electrically connected to a wireless controller. An upper infrared sensor is installed through one side of the pressure ring, and a lower infrared sensor is provided below the positioning shaft, with the lower infrared sensor passing through the pressure ring and fixedly connected.

[0008] In a preferred embodiment, the upper infrared sensor and the lower infrared sensor are symmetrically arranged about the positioning axis, and both the upper infrared sensor and the lower infrared sensor are electrically connected to the wireless controller.

[0009] In a preferred embodiment, a spring sheet is fixedly connected between the guide sleeve and the machine housing, and the inner wall of the spring sheet is rounded.

[0010] In a preferred embodiment, a hinge block is hinged to the inner wall of the hinge arm and located below the positioning shaft. An electric cylinder is mounted on the lower inclined surface of the hinge block, and the output end of the electric cylinder is fixedly connected to the hinge block. The electric cylinder is electrically connected to the wireless controller, and a rotatably connected connecting shaft passes through the bottom end of the electric cylinder. Both ends of the connecting shaft are fixedly connected to support blocks, and the support blocks are fixedly connected to the machine housing.

[0011] In a preferred embodiment, the two support blocks are symmetrically arranged about a connecting axis, the outer wall of which is a smooth surface.

[0012] In a preferred embodiment, a drive motor is mounted on one side of the articulated arm, the output end of the drive motor is rotatably connected to the articulated arm, and a drive gear is fixedly connected to the outer wall of the output end of the drive motor. A rolling gear is meshed and driven by the outer wall of the drive gear, and the drive gear is used to drive the rolling gear to rotate on the articulated arm. A collar is provided on one side of the drive gear, and the collar is fixedly connected to the rolling gear disk. A drive motor is fixedly installed at the bottom end of the articulated arm. The outer wall of the drive motor is rotatably connected to the collar, and a drive blade is fixedly connected to the output end of the drive motor with the center. The drive motor is electrically connected to the wireless controller.

[0013] In a preferred embodiment, the outer wall of the rolling toothed disc is wrapped with a layer of rubber, and the drive motor is electrically connected to the wireless controller.

[0014] In a preferred embodiment, the wireless controller is located inside the machine housing, and a battery is fixedly mounted on the upper surface of the wireless controller. The battery is fixedly mounted between the battery and the machine housing, and the battery is used to power the wireless controller.

[0015] The technical effects and advantages of this invention are as follows: 1. This invention employs a positioning and penetration assembly. A wireless controller activates two electromagnets to achieve precise bidirectional movement of the guide sleeve. The positioning ring drives a silicone ring to press against the left side of the hinge arm for sealing, while the pressure ring drives another silicone ring to press against the right side of the hinge arm for sealing. Simultaneously, the sealing oblique ring and the oblique surface of the oblique ring cooperate to enhance the sealing effect. A gap is formed on the left side between the inside of the silicone ring and the oblique surface ring and the hinge arm, and a gap is formed on the right side between the inside of the other silicone ring and the other oblique surface ring and the right side of the hinge arm. This ensures that lubricating oil can penetrate and fully lubricate the hinge arm and positioning shaft through the gaps. Furthermore, the double sealing provides sufficient lubrication under high pressure, preventing easy wear on the hinge parts of the land-air collaborative robot. This significantly improves the durability of land-air collaborative switching and greatly extends its service life.

[0016] 2. In this invention, the micro pump is activated to pressurize the lubricating oil in the container. The oil enters the left gap of the hinge arm through the electric valve, then fills the rotation gap between the hinge arm and the positioning shaft, and flows to the right gap. When the sensing ends of the upper and lower infrared sensors are both blocked by the lubricating oil, it is determined that the rotation gap is fully lubricated. Subsequently, the wireless controller closes the electric valve and the micro pump to ensure that the lubricating oil is fully filled after detection. This achieves accurate detection and automatic control of the lubrication penetration state, ensuring that the hinge part is fully lubricated.

[0017] In summary, through the interaction of the above-mentioned multiple effects, firstly, a left-side gap is formed between the inside of the silicone ring and the inclined ring and the hinge arm; secondly, a right-side gap is formed between the inside of another silicone ring and the other inclined ring and the right side of the hinge arm. Thirdly, the lubricating oil is pressurized, flowing from the left-side gap to fill the rotational gap between the hinge arm and the positioning shaft, and then flowing to the right-side gap. When both the upper and lower infrared sensor sensing ends are blocked by the lubricating oil, it is determined that the rotational gap is sufficiently lubricated. Therefore, during each adjustment and switching, the lubricating oil ensures thorough lubrication of the hinge arm and positioning shaft through the gaps, and also provides sufficient lubrication under high-pressure sealing through double sealing. This significantly reduces wear in the rotational hinge area of ​​the hinge arm and positioning shaft, significantly improving the durability of the land-air coordinated switching system and greatly extending its service life. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the land-air collaborative robot of the present invention.

[0019] Figure 2 This is a schematic diagram of the vertical cross-sectional structure of the land-air collaborative robot of the present invention.

[0020] Figure 3 This is a partial structural diagram of the vertical cross-section at the connection between the positioning shaft and the machine housing of the present invention.

[0021] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle.

[0022] Figure 5 This is a partial structural diagram of the connection between the guide sleeve and the spring sheet of the present invention.

[0023] Figure 6 For the present invention Figure 3 Enlarged structural diagram at point B.

[0024] Figure 7 This is a side view schematic diagram of the land-air collaborative robot of the present invention.

[0025] Figure 8 This is a partial structural diagram of the connection between the hinge arm and the positioning shaft of the present invention.

[0026] Figure 9 This is a schematic diagram of a partial section of the structure at the connection between the articulated arm and the drive motor of the present invention.

[0027] The attached diagram is labeled as follows: 1. Machine housing; 2. Positioning shaft; 3. Hinge arm; 4. Positioning ring; 5. Pressure ring; 6. Inclined ring; 7. Silicone ring; 8. Sealing oblique ring; 9. Guide sleeve; 10. Raised bar post; 11. Electromagnet; 12. Electric valve; 13. Miniature pump; 14. Loading tank; 15. Upper infrared sensor; 16. Lower infrared sensor; 17. Spring; 18. Hinge block; 19. Electric cylinder; 20. Connecting shaft; 21. Support block; 22. Drive motor; 23. Drive gear; 24. Rolling gear disc; 25. Collar; 26. Transmission motor; 27. Transmission blade; 28. Wireless controller; 29. ​​Battery. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] like Figure 1 - Figure 9 The illustration shows a land-air collaborative robot equipped with a positioning and penetration component. This component ensures that lubricating oil can penetrate and fully lubricate the articulated arm 3 and the positioning shaft 2 through the gaps. Furthermore, it provides sufficient lubrication under high-pressure sealing conditions through double sealing, significantly reducing wear in the rotational articulation area of ​​the articulated arm 3 and the positioning shaft 2. This greatly improves the durability of land-air collaborative switching and significantly extends the service life. The specific structural configuration of the positioning and penetration component is as follows.

[0030] In this embodiment, as Figure 1 - Figure 6As shown, the positioning and penetration assembly includes: a positioning ring 4 located on one side of the hinge arm 3, a pressure ring 5 on the other side of the hinge arm 3, and inclined rings 6 on opposite sides of both the positioning ring 4 and the pressure ring 5, both of which are fixedly connected to the positioning shaft 2; each silicone ring 7 located above the inclined ring 6, fixedly connected to the positioning ring 4, and another silicone ring 7 fixedly connected to the pressure ring 5; a sealing inclined ring 8 fixedly connected to the inner wall of the positioning ring 4, and another sealing inclined ring 8 fixedly connected to the inner wall of the pressure ring 5; guide sleeves 9 fixedly connected to the outer walls of the positioning ring 4 and the pressure ring 5; a protruding post 10 slidably mounted on the inner wall of the guide sleeve 9, fixedly connected to the machine housing 1; an electromagnet 11 on one side of the guide sleeve 9, an electrical connection between the wireless controller 28 and the electromagnet 11, and a fixed connection between the electromagnet 11 and the protruding post 10. A gap is provided between the positioning ring 4 and the hinge arm 3, and an annular gap is provided between the inner walls of the positioning ring 4 and the pressure ring 5 and the outer wall of the positioning shaft 2. To facilitate the magnetic attraction of the guide sleeve 9 after the electromagnet 11 is energized, the guide sleeve 9 moves to the right along the outer wall of the convex post 10. Meanwhile, another guide sleeve 9 moves to the left under the magnetic attraction of another electromagnet 11. This causes the guide sleeve 9 to move the positioning ring 4 to the right, which in turn causes the silicone ring 7 to move to the right and press against the left side of the hinge arm 3 for sealing. The inclined surface of the sealing ring 8 and the inclined surface of the inclined ring 6 move and press against each other for sealing, creating a left-side gap between the silicone ring 7 and the inclined ring 6 and the hinge arm 3. Simultaneously, the pressure ring 5 causes another silicone ring 7 to contact the right side of the hinge arm 3 for sealing, causing the other sealing ring 8 to move to the left and contact the inclined surface of the other inclined ring 6 for sealing. This creates a right-side gap between the other silicone ring 7 and the other inclined ring 6 and the right side of the hinge arm 3. This double-sided sealing gap facilitates a gap seal and provides sufficient clearance for through-lubrication.

[0031] In this embodiment, as Figure 4 - Figure 6As shown, an electric valve 12 is fixedly connected to one side of the positioning ring 4; a micro pump 13 is fixedly installed at one end of the electric valve 12, and the input end of the micro pump 13 is fixedly connected to a container tank 14 for holding lubricating oil. Both the electric valve 12 and the micro pump 13 are electrically connected to the wireless controller 28; an upper infrared sensor 15 is installed through one side of the pressure ring 5, and a lower infrared sensor 16 is provided below the positioning shaft 2, passing through the pressure ring 5 and fixedly connected. The upper infrared sensor 15 and the lower infrared sensor 16 are symmetrically arranged about the positioning shaft 2, and both are electrically connected to the wireless controller 28. So that the micro pump 13 can pressurize and discharge the lubricating oil inside the container tank 14. The pressurized lubricating oil enters the gap on the left side of the hinge arm 3 through the electric valve 12. The pressurized lubricating oil fully lubricates and fills the rotation gap between the hinge arm 3 and the positioning shaft 2. The left side of the lower infrared sensor 16 and the left side of the upper infrared sensor 15 are blocked by the lubricating oil. In this way, both the lower infrared sensor 16 and the upper infrared sensor 15 can sense the lubricating oil. Thus, the lubricating oil fully fills the gap from the lower part to the upper part.

[0032] In this embodiment, as Figure 4 As shown, a spring piece 17 is fixedly connected between the guide sleeve 9 and the machine housing 1. The inner wall of the spring piece 17 is rounded. This is so that the guide sleeve 9 can pull the spring piece 17 in the early stage, and the spring piece 17 will deform to generate elastic force. In the later stage, the spring piece 17 will perform a spring-rebound operation on the guide sleeve 9.

[0033] In this embodiment, as Figure 8 As shown, a hinge block 18 is hinged to the inner wall of the hinge arm 3, located below the positioning shaft 2. An electric cylinder 19 is mounted on the lower inclined surface of the hinge block 18, and the output end of the electric cylinder 19 is fixedly connected to the hinge block 18. The electric cylinder 19 is electrically connected to the wireless controller 28, and a rotatably connected connecting shaft 20 passes through the bottom end of the electric cylinder 19. Support blocks 21 are fixedly connected to both ends of the connecting shaft 20, and the support blocks 21 are fixedly connected to the machine housing 1. The two support blocks 21 are symmetrically arranged about the connecting shaft 20, and the outer wall of the connecting shaft 20 is a smooth surface. This allows the electric cylinder 19 to be activated, and the output end of the electric cylinder 19 pushes the hinge block 18 to rotate. The hinge block 18 then drives the hinge arm 3 to rotate counterclockwise. In this way, the hinge arm 3 rotates counterclockwise on the outer wall of the positioning shaft 2 until the hinge arm 3 is in a horizontal state, at which point it can be switched to the aerial flight state, facilitating hinge switching.

[0034] In this embodiment, as Figure 9As shown, a drive motor 22 is mounted on one side of the articulated arm 3. The output end of the drive motor 22 is rotatably connected to the articulated arm 3, and a drive gear 23 is fixedly connected to the outer wall of the output end of the drive motor 22. A rolling gear disk 24 is meshed and driven by the outer wall of the drive gear 23. The drive gear 23 is used to drive the rolling gear disk 24 to rotate on the articulated arm 3. A collar 25 is provided on one side of the drive gear 23, and the collar 25 is fixedly connected to the rolling gear disk 24. A transmission motor 26 is fixedly mounted on the bottom end of the articulated arm 3. The outer wall of the transmission motor 26 is rotatably connected to the collar 25, and a transmission blade 27 is fixedly connected to the output end of the transmission motor 26 at the same center. The drive motor 22 is electrically connected to the wireless controller 28. The outer wall of the rolling gear disk 24 is covered with a layer of rubber, and the drive motor 22 is electrically connected to the wireless controller 28. To facilitate land movement, multiple drive motors 22 are activated. The output of each drive motor 22 rotates on the articulated arm 3, causing the drive gear 23 to engage and rotate the rolling gear 24. The rolling gear 24 drives the collar 25 to rotate stably and limit its rotation on the outer shell of the transmission motor 26. The rolling of the rolling gear 24 causes the collar 25 to move the transmission motor 26, and the articulated arm 3 moves the positioning shaft 2, enabling the machine housing 1 to perform land movement. In the later aerial flight state, the transmission motor 26 drives the transmission blades 27, allowing the transmission blades 27 to rotate and perform aerial flight operations.

[0035] In this embodiment, as Figure 7 As shown, the wireless controller 28 is located inside the machine housing 1, and a battery 29 is fixedly installed on the upper surface of the wireless controller 28. The battery 29 is fixedly installed between the battery and the machine housing 1, and the battery 29 is used to power the wireless controller 28.

[0036] The working principle of the land-air collaborative robot of this invention is as follows: First, when the present invention is used for land movement, the top cover of the container 14 is opened, lubricating oil is injected into the container 14 and stored, and then the cover is closed to seal the top of the container 14. Then, the wireless controller 28 is powered by the battery 29. The wireless controller 28 starts multiple drive motors 22. The output end of the drive motor 22 rotates on the hinge arm 3. At the same time, the output end of the drive motor 22 drives the drive gear 23 to rotate. The drive gear 23 drives the rolling gear 24 to mesh and rotate. The outer rubber layer of the rolling gear 24 achieves rotation. In this way, the rolling gear 24 drives the collar 25 to rotate. The collar 25 is stably limited and rotated on the outer shell of the transmission motor 26. The rolling toothed disk 24 can roll, and the rolling toothed disk 24 rolling will cause the collar 25 to drive the drive motor 26 to move. The drive motor 26 drives the articulated arm 3 to move, the articulated arm 3 drives the positioning shaft 2 to move, and the positioning shaft 2 drives the machine housing 1 to move. In this way, the machine housing 1 moves. When the movement is completed and it is necessary to switch to the aerial flight state, the drive motor 22 is turned off by the wireless controller 28.

[0037] Secondly, during positioning, the machine housing 1 supports the protruding posts 10, and the wireless controller 28 activates two electromagnets 11 on each set of protruding posts 10. When energized, the two electromagnets 11 generate magnetic attraction, which magnetically attracts the guide sleeve 9. The guide sleeve 9 moves to the right along the outer wall of the protruding post 10, pulling the spring piece 17, which deforms and generates elastic force. Simultaneously, another guide sleeve 9 moves to the left under the magnetic attraction of another electromagnet 11, and another spring piece 17 on the other guide sleeve 9 also deforms and generates elastic force. This causes the guide sleeve 9 to move the positioning ring 4 to the right, which in turn moves the silicone ring 7 to the right. The silicone ring 7 presses against the left side of the hinge arm 3 for sealing. Simultaneously, the positioning ring 4 moves the sealing inclined ring 8 to the right, and the inclined surface of the sealing inclined ring 8 presses against the inclined surface of the inclined ring 6 for sealing. At the same time, the positioning shaft 2 supports the inclined ring 6, creating a gap on the left side between the silicone ring 7 and the inclined ring 6 and the hinge arm 3. At the same time, the pressure ring 5 drives another silicone ring 7 to contact the right side of the hinge arm 3 for sealing. Simultaneously, the pressure ring 5 drives another sealing oblique ring 8 to move to the left and contact the inclined surface of another oblique ring 6 for sealing. In this way, a right-side gap is formed between the inside of the other silicone ring 7 and the other oblique ring 6 and the right side of the hinge arm 3.

[0038] Then, during the penetration detection, the micro pump 13 is activated by the wireless controller 28. The micro pump 13 pressurizes and discharges the lubricating oil inside the container 14. The pressurized lubricating oil enters the left gap of the hinge arm 3 through the electric valve 12, and then enters the rotation gap between the hinge arm 3 and the positioning shaft 2. Thus, the pressurized lubricating oil fully lubricates and fills the rotation gap between the hinge arm 3 and the positioning shaft 2. The pressurized lubricating oil flows to the right gap after filling the rotation gap between the hinge arm 3 and the positioning shaft 2. The lower infrared sensor 16 is supported by the pressure ring 5. The left side of the lower infrared sensor 16 and the left side of the upper infrared sensor 15 are blocked by lubricating oil. In this way, both the lower infrared sensor 16 and the upper infrared sensor 15 sense the lubricating oil, indicating that the rotation gap between the hinge arm 3 and the machine housing 1 is fully filled by the lubricating oil and is adequately lubricated. Then, the electric valve 12 and the micro pump 13 are closed by the wireless controller 28.

[0039] At the same time, the wireless controller 28 shuts down the two electromagnets 11. Under the action of the spring force of the spring 17, the spring 17 drives the guide sleeve 9 to move to the left and the other guide sleeve 9 to move to the right. In this way, the guide sleeve 9 drives the positioning ring 4 to move to the left. The positioning ring 4 drives the silicone ring 7 to no longer contact the hinge arm 3. At the same time, the pressure ring 5 drives the other silicone ring 7 to no longer contact the hinge arm 3, thus completing the reset operation.

[0040] Finally, when switching flight states, the present invention activates the electric cylinder 19 via the wireless controller 28. The output of the electric cylinder 19 pushes the hinge block 18 to rotate, which in turn drives the hinge arm 3 to rotate counterclockwise. The hinge arm 3 rotates counterclockwise on the outer wall of the positioning shaft 2. Since the positioning shaft 2 and the hinge arm 3 are lubricated through the shaft, the wear between them is significantly reduced. Thus, the wireless controller 28 can achieve positioning and sealing followed by through-lubrication during state switching. When the hinge arm 3 is adjusted to a horizontal state, the drive motor 26 is activated. The drive motor 26 drives the drive blade 27, which rotates. Under force, the drive motor 26 is driven to ascend into the air.

[0041] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are existing technologies, and will not be described here.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A land-air collaborative robot, comprising a machine shell (1) and a wireless controller (28), wherein positioning shafts (2) are fixedly connected to the inner wall of the machine shell (1) and near its four corners, and a hinged arm (3) is rotatably mounted on the outer wall of each positioning shaft (2), characterized in that: One side of the hinge arm (3) is provided with a positioning and penetration assembly, the positioning and penetration assembly comprising: The positioning ring (4) is located on one side of the hinge arm (3), and the other side of the hinge arm (3) is provided with a pressure ring (5). The positioning ring (4) and the pressure ring (5) are provided with inclined rings (6) on opposite sides, and the two inclined rings (6) are fixedly connected to the positioning shaft (2). Each silicone ring (7) is located above the inclined ring (6). The silicone ring (7) is fixedly connected to the positioning ring (4), and another silicone ring (7) is fixedly connected to the pressure ring (5). The inner wall of the positioning ring (4) is fixedly connected to a sealing inclined ring (8), and the inner wall of the pressure ring (5) is fixedly connected to another sealing inclined ring (8). The outer walls of the positioning ring (4) and the pressure ring (5) are respectively fixedly connected to guide sleeves (9). A raised post (10) is slidably installed on the inner wall of the guide sleeve (9). The raised post (10) is fixedly connected to the machine housing (1). An electromagnet (11) is provided on one side of the guide sleeve (9). The wireless controller (28) is electrically connected to the electromagnet (11). The electromagnet (11) is fixedly connected to the raised post (10).

2. The land-air collaborative robot according to claim 1, characterized in that: A gap is provided between the positioning ring (4) and the hinge arm (3), and the inner walls of the positioning ring (4) and the pressure ring (5) are provided with annular gaps with the outer wall of the positioning shaft (2).

3. The land-air collaborative robot according to claim 1, characterized in that: An electric valve (12) is fixedly connected to one side of the positioning ring (4). A micro pump (13) is fixedly installed at one end of an electric valve (12). The input end of the micro pump (13) is fixedly connected to a container (14). The container (14) is used to hold lubricating oil. The electric valve (12) and the micro pump (13) are both electrically connected to a wireless controller (28). An upper infrared sensor (15) is installed through one side of the pressure ring (5), and a lower infrared sensor (16) is provided below the positioning shaft (2), and the lower infrared sensor (16) passes through the pressure ring (5) and is fixedly connected.

4. The land-air collaborative robot according to claim 3, characterized in that: The upper infrared sensor (15) and the lower infrared sensor (16) are symmetrically arranged about the positioning axis (2), and both the upper infrared sensor (15) and the lower infrared sensor (16) are electrically connected to the wireless controller (28).

5. The land-air collaborative robot according to claim 1, characterized in that: A spring piece (17) is fixedly connected between the guide sleeve (9) and the machine housing (1), and the inner wall of the spring piece (17) is rounded.

6. The land-air collaborative robot according to claim 1, characterized in that: A hinge block (18) is hinged to the inner wall of the hinge arm (3) and located below the positioning shaft (2). An electric cylinder (19) is installed on the lower inclined surface of the hinge block (18), and the output end of the electric cylinder (19) is fixedly connected to the hinge block (18). The electric cylinder (19) is electrically connected to the wireless controller (28). A rotating connecting shaft (20) passes through the bottom end of the electric cylinder (19). Both ends of the connecting shaft (20) are fixedly connected to support blocks (21), and the support blocks (21) are fixedly connected to the machine housing (1).

7. The land-air collaborative robot according to claim 6, characterized in that: The two support blocks (21) are symmetrically arranged about the connecting shaft (20), and the outer wall of the connecting shaft (20) is a smooth surface.

8. The land-air collaborative robot according to claim 1, characterized in that: A drive motor (22) is installed on one side of the articulated arm (3). The output end of the drive motor (22) is rotatably connected to the articulated arm (3). A drive gear (23) is fixedly connected to the outer wall of the output end of the drive motor (22). A rolling gear disk (24) is meshed and driven to the outer wall of the drive gear (23). The drive gear (23) is used to drive the rolling gear disk (24) to rotate on the articulated arm (3). A collar (25) is provided on one side of the drive gear (23). The collar (25) is fixedly connected to the rolling gear disk (24). A drive motor (26) is fixedly installed at the bottom end of the hinge arm (3). The outer wall of the drive motor (26) is rotatably connected to the collar (25). The output end of the drive motor (26) is fixedly connected to a drive blade (27) at the same center. The drive motor (22) is electrically connected to the wireless controller (28).

9. The land-air collaborative robot according to claim 8, characterized in that: The outer wall of the rolling toothed disc (24) is covered with a layer of rubber, and the drive motor (22) is electrically connected to the wireless controller (28).

10. The land-air collaborative robot according to claim 1, characterized in that: The wireless controller (28) is located inside the machine housing (1), and a battery (29) is fixedly installed on the upper surface of the wireless controller (28). The battery (29) is fixedly installed between the battery and the machine housing (1), and the battery (29) is used to power the wireless controller (28).

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