Rotor flying multi-legged robot

Abstract

The invention provides a rotor wing flying multi-legged robot, and relates to the technical field of flying machinery, the rotor wing flying multi-legged robot comprises a robot body, the robot body comprises a trunk part and a plurality of leg assemblies, the trunk part is provided with a rotor wing flying device, and the rotor wing flying device comprises a base platform; a mechanical arm and a propeller assembly arranged on the mechanical arm are arranged on the base platform, and the mechanical arm can be unfolded or folded so that the propeller assembly can move in the direction close to or away from the base platform. The problems that in the prior art, a power system is complex, the efficiency of a folding and unfolding mechanism is low, and the flying function of the robot is difficult to achieve are effectively solved, and a more efficient and reliable solution is provided for application of the robot in the complex environment.

Description

TECHNICAL FIELD

[0001] The embodiment of the present disclosure relates to the technical field of flying machines, in particular to a multi-legged robot capable of rotary wing flight. BACKGROUND

[0002] In the cross-application field of robot technology and aviation technology, there is a wide range of application requirements for robot systems with flight capability. Although traditional multi-legged robots have certain advantages in ground movement and operation, such as autonomous walking in complex terrain environments, load transportation, etc., they have obvious limitations in crossing large obstacles and long-distance rapid movement.

[0003] At present, the main ways to enable multi-legged robots to have flight capability are to directly install flight devices (such as jet engines, multi-rotors, etc.) or to be carried by external flight platforms. However, directly installing jet engines has problems such as complex power systems, large energy consumption, and high control difficulty; using multi-rotor form has relatively complex mechanical structure, large space occupation, and it is difficult to arrange and protect the multi-rotor in the folded storage state. The way of being carried by an external flight platform can realize the flight of the multi-legged robot, but the connection and separation mechanism design of the platform and the multi-legged robot is complex, and the cooperative control of the two during flight is not easy to achieve. SUMMARY

[0004] In order to solve the problems of complex power system, complex mechanical structure, folding and storage difficulty, large overall weight, high cost, and complex connection and separation mechanism design of the platform and the multi-legged robot, and the difficulty of cooperative control of the two during flight in the prior art, the embodiment of the present disclosure provides a multi-legged robot capable of rotary wing flight.

[0005] Therefore, the present disclosure provides a multi-legged robot capable of rotary wing flight, which comprises a robot body, the robot body comprising a trunk and a plurality of leg assemblies, a rotary wing flight device is arranged on the trunk, the rotary wing flight device comprises a base platform, a mechanical arm is arranged on the base platform, and a propeller assembly is arranged on the mechanical arm, the mechanical arm can be unfolded or folded to move the propeller assembly towards or away from the base platform.

[0006] In some embodiments, the rotary wing flight device further comprises a first motor; one end of the mechanical arm is connected with the propeller assembly, and the other end is rotatably connected with the base platform; the first motor is arranged on the base platform, an output shaft of the first motor is connected with the mechanical arm through a transmission member, and rotation of the first motor can drive the mechanical arm to rotate through the transmission member to move the propeller assembly towards or away from the base platform.

[0007] In some embodiments, the transmission member comprises a first gear, a second gear and a chain, the first gear is mounted on the output shaft of the first motor, the second gear is mounted on the mechanical arm, and the first gear and the second gear are connected by the chain.

[0008] In some embodiments, the transmission member comprises an adapter and a first connecting rod, the adapter is mounted on the output shaft of the first motor, one end of the first connecting rod is rotatably connected with the adapter, and the other end is rotatably connected with the mechanical arm.

[0009] In some embodiments, a limiting member is arranged on the base platform and cooperates with the first connecting rod.

[0010] In some embodiments, a plurality of the mechanical arms are arranged along the circumference of the base platform, and the adapter comprises a plurality of connecting portions which are connected with the mechanical arms one by one.

[0011] In some embodiments, the propeller assembly comprises a propeller, a second motor and a housing, the second motor is connected with the housing by a first fixing member, the output shaft of the second motor is connected with the propeller, the housing is provided with an air inlet and an air outlet, a duct is formed between the air inlet and the air outlet, and the air inlet area is larger than the air outlet area.

[0012] In some embodiments, the rotor flight device comprises a first motor, a rotating disc and a second connecting rod, the outer side of the base platform is provided with a guide rail, the mechanical arm is slidably connected with the guide rail, and the propeller assembly is arranged on the mechanical arm, one end of the second connecting rod is rotatably connected with the mechanical arm, and the other end is rotatably connected with the rotating disc, the rotating disc is connected with the output shaft of the first motor, and the first motor is rotatable to generate a torque on the second connecting rod, so that the second connecting rod drives the mechanical arm to move along the guide rail to make the propeller assembly move towards or away from the base platform.

[0013] In some embodiments, the first connection between the second connecting rod and the rotating disc is arranged at the edge of the rotating disc, and the second connection between the rotating disc and the output shaft of the first motor is arranged at the geometric center of the rotating disc.

[0014] In some embodiments, the propeller assembly comprises a propeller, a second motor and a housing, the housing is connected with a second fixing member, the propeller is rotatably connected with the second fixing member, the output shaft of the second motor is connected with the propeller, and the second motor is mounted on the mechanical arm, the housing is provided with an air inlet and an air outlet, a duct is formed between the air inlet and the air outlet, and the air inlet area is larger than the air outlet area.

[0015] In some embodiments, the number of the first motors is one. The folding and unfolding of the plurality of mechanical arms is achieved by one first motor, which avoids the redundancy of the driving mechanism caused by multiple motors, and reduces the weight and cost of the overall mechanism.

[0016] The structure of the present disclosure is simple, effectively solves the problems of complex power system, low efficiency of folding and unfolding mechanism and difficulty in realizing the flight function of multi-legged robot in the prior art, and provides a more efficient and reliable solution for the application of multi-legged robot in complex environment, so that the multi-legged robot can cross larger obstacles and move quickly at a long distance.

[0017] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0018] In the drawings, which are not necessarily drawn to scale, like numerals can describe similar components throughout the several views. Like numerals having different letter suffixes can represent different instances of similar components. The drawings illustrate generally, by way of example, various embodiments discussed herein, and are not intended to limit the disclosure to the embodiments depicted. The same or similar reference numerals can be used to denote the same or similar parts in all the drawings. Such embodiments are illustrative, and not intended to be exhaustive or limiting of the present devices and methods. The drawings herein are used to provide an understanding of the disclosure, constitute a part of the specification, and illustrate illustrative embodiments of the present disclosure and the specification, which are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the drawings:

[0019] Figure 1 is a schematic view of a multi-legged robot provided by the first embodiment of the present disclosure;

[0020] Figure 2 is a schematic view of a propeller assembly of a multi-legged robot provided by the first embodiment of the present disclosure;

[0021] Figure 3 is a schematic view of a multi-legged robot provided by the second embodiment of the present disclosure;

[0022] Figure 4 is a schematic view of a multi-legged robot provided by the second embodiment of the present disclosure;

[0023] Figure 5 is a schematic view of a multi-legged robot provided by the third embodiment of the present disclosure;

[0024] Figure 6is a folding schematic view of a multi-legged robot provided by a third embodiment of the present disclosure;

[0025] Figure 7 is a folding schematic view of a multi-legged robot provided by a third embodiment of the present disclosure;

[0026] Figure 8 is an unfolding schematic view of a multi-legged robot provided by a fourth embodiment of the present disclosure;

[0027] Figure 9 is a folding schematic view of a multi-legged robot provided by a fourth embodiment of the present disclosure.

[0028] wherein the above-mentioned Figures 1 to 9 includes the following reference signs:

[0029] 100 - base platform; 200 - propeller assembly; 201 - propeller; 202 - second motor; 203 - housing; 204 - first fixing member; 205 - second fixing member; 206 - air inlet; 207 - air outlet; 208 - duct; 300 - transmission member; 301 - chain; 302 - first gear; 303 - second gear; 304 - adapter; 3041 - connecting portion; 305 - first connecting rod; 306 - limiting member; 307 - rotary disc; 308 - second connecting rod; 309 - guide rail; 400 - mechanical arm; 500 - robot body; 600 - trunk; 601 - mounting groove; 602 - mounting boss; 700 - leg assembly; 701 - leg connecting member; 702 - thigh unit; 703 - shank unit; 704 - foot unit; 800 - first motor. DETAILED DESCRIPTION

[0030] Hereinafter, specific embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, but not limited thereto.

[0031] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be considered to be limiting, but merely as an example of how the embodiments can be implemented. Other modifications within the scope and spirit of the present disclosure will be apparent to those skilled in the art.

[0032] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0033] These and other characteristics of the present disclosure will become apparent from the following description of the preferred forms given, by way of non-limiting example, with reference to the attached drawings.

[0034] It should also be understood that, although the present disclosure has been described in terms of certain embodiments, and although it is apparent that many other forms of the present disclosure can be practiced under the teachings of the present disclosure, the present disclosure is not to be limited to the embodiments disclosed. Rather, the present disclosure is to cover all reasonable modifications and equivalents thereof.

[0035] The above and other aspects, features, and advantages of the present disclosure will become more apparent with reference to the following detailed description when taken in conjunction with the accompanying drawings, which illustrate an exemplary embodiment of the present disclosure.

[0036] Specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings; however, it will be understood that the disclosed embodiments are merely examples of the present disclosure, which can be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present disclosure unnecessarily. Therefore, specific structural and functional details disclosed herein are not intended to limit, but merely as a basis for the claims and a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriate detailed structure.

[0037] It is noted that the terms "first", "second", and the like, used in the description and in the claims of the present disclosure as well as above-mentioned drawings, are used to distinguish between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so construed can be interchanged, where appropriate, to describe the embodiments of the present disclosure described herein in other than the given order. Moreover, the terms "comprising", "having", and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a list of steps or units can not necessarily be limited to those steps or units that are clearly recited, but can include other not expressly recited steps or units, without departing from the process, method, product, or apparatus.

[0038] The present specification can use the phrases "in an embodiment," "in another embodiment," "in yet another embodiment," or "in at least one embodiment," which can refer to one or more embodiments of the present disclosure.

[0039] The embodiment of the present disclosure provides a rotary-wing multi-legged robot, which comprises a robot body, the robot body comprising a trunk and a plurality of leg assemblies, a rotary-wing device being arranged on the trunk, the rotary-wing device comprising a base platform, a mechanical arm being arranged on the base platform, and a propeller assembly being arranged on the mechanical arm, the mechanical arm being capable of being unfolded or folded to move the propeller assembly towards or away from the base platform.

[0040] Specifically, the first embodiment of the present disclosure provides a multi-legged robot capable of rotor flight, which comprises a robot body 500 and a rotor flight device arranged on the robot body 500, so that the robot body 500 has the flight capability and can cross large obstacles and move quickly over a long distance.

[0041] Further, as shown in the figure, the robot body comprises a trunk 600 and a plurality of leg assemblies 700, wherein the leg assemblies 700 are used to realize the walking function of the robot body 500, and the leg assemblies 700 may, for example, be four, and the rotor flight device is arranged on the trunk 600 to realize the flight function of the robot body 500. Figures 1 to 9

[0042] The trunk 600 may, for example, be a plate-shaped or other shaped structure having a front end 600a and a rear end 100b, and the front end 600a and / or the rear end 600b may, for example, be provided with different types or functions of detection devices, such as laser radar, camera, millimeter wave radar, etc. The plurality of leg assemblies 700 are symmetrically arranged on both sides of the trunk 600 to ensure that the multi-legged robot can stand or walk stably.

[0043] It should be noted that the number of the leg assemblies 700 is even and greater than or equal to four, and the number of the leg assemblies 700 can be determined according to requirements, for example, two or three leg assemblies 700 can be arranged on each side of the trunk 600, so that the multi-legged robot has four or six leg assemblies 700, and of course other numbers of leg assemblies 700 can be arranged on the trunk 600. The number of the leg assemblies 700 can affect the standing stability or walking speed of the multi-legged robot. Preferably, two leg assemblies 700 are arranged on each side of the trunk 600 to form a four-legged robot.

[0044] Further, the leg assembly 700 comprises a leg connecting piece 701, a thigh unit 702, a shank unit 703 and a foot unit 704 connected in sequence. One end of the thigh unit 702 is rotatably connected to the side surface of the trunk 600 through the leg connecting piece 701, and the other end of the thigh unit 602 is rotatably connected to the shank unit 603. The above-mentioned rotatable connection may, for example, adopt a shaft connection. The thigh unit 702 and the trunk 600 preferably have two rotational degrees of freedom based on the leg connecting piece 701, and the joint between the thigh unit 702 and the shank unit 703 has one rotational degree of freedom, so that the multi-legged robot can adapt to different environments and scenarios.​

[0045] In one specific embodiment, a mounting groove 601 is provided on the side of the torso 600 near the front end 600a, the leg connector 701 is rotatably disposed in the mounting groove 601, a mounting boss 602 is provided at the rear end of the torso 600, the mounting boss 602 extends in a direction away from the torso 600, and the leg assembly 700 is rotatably connected to the mounting boss 602.

[0046] Furthermore, the foot unit 704 is fixedly connected to the lower leg unit 703. The foot unit 704 can be a foot or a wheel. In one embodiment, the foot unit 704 is a foot, which improves the stability of the multi-legged robot and allows it to stand upright. In another embodiment, the foot unit 704 is a wheel, enabling the multi-legged robot to slide in a predetermined direction, thereby enriching its locomotion capabilities.

[0047] like Figure 1 and Figure 2 As shown in the figure, the multi-legged robot involved in this embodiment includes a robot body 500 and a rotor flight device disposed on the robot body 500. The rotor flight device includes a propeller assembly 200, which includes a propeller 201, a second motor 202, a housing 203, and a first fixing member 204. The two ends of the first fixing member 204 are connected to the housing 203. The second motor 202 is mounted on the first fixing member 204, and the output shaft of the second motor 202 is connected to the propeller 201. When the second motor 202 is started, the propeller 201 rotates to generate airflow, thereby driving the multi-legged robot to take off. This structure is simple in design, lightweight, and reduces manufacturing costs. It overcomes the problems of complex power systems, high energy consumption, and high control difficulty in the prior art. The housing 203 also serves as a propeller protection structure, and its outer structure can protect the propeller 201 from collisions when folded and stored, improving the safety of the device.

[0048] Furthermore, in this embodiment, the outer shell 203 is provided with an air inlet 206 and an air outlet 207, and a duct 208 is formed between the air inlet 206 and the air outlet 207, that is, a channel through which gas flows. The air inlet area of ​​the air inlet 206 is larger than the air outlet area of ​​the air outlet 207. In a specific embodiment, this can increase the airflow speed ejected downward by the propeller 201, thereby increasing the lift.

[0049] The multi-legged robot structure of the present disclosure is simple, effectively solves the problems of complex power system, low efficiency of folding and unfolding mechanism and difficulty in realizing the flight function of the robot in the prior art, provides a more efficient and reliable solution for the application of the robot in a complex environment, and enables the robot to cross a larger obstacle and move quickly at a long distance.

[0050] The second embodiment of the present disclosure provides a multi-legged robot capable of rotary flight, which comprises a robot body 500 and a rotary flight device arranged on the robot body 500, so that the robot body 500 has the flight capability and can cross a larger obstacle and move quickly at a long distance.

[0051] As shown in Figure 3 and Figure 4 The rotary flight device comprises a base platform 100, a propeller assembly 200 and a first motor 800, the robot body is connected with the base platform 100, and a plurality of propeller assemblies 200 are arranged around the base platform 100; the propeller assembly 200 is connected through a mechanical arm 400, one end of the mechanical arm 400 is rotatably connected with the base platform 100, and the other end is connected with the propeller assembly 200; the output shaft of the first motor 800 is connected with the mechanical arm 400 through a transmission member 300, and a plurality of mechanical arms 400 are connected through transmission members 300. The rotary flight device can support the folding and unfolding of a plurality of mechanical arms 400 and propeller assemblies 200, the number of the mechanical arms 400 and the propeller assemblies 200 is not fixed, and a plurality of deformable mechanisms are provided. The number of the mechanical arms 400 and the propeller assemblies 200 can be flexibly configured according to the flight power demand, the base platform 100 reserves a plurality of mounting interfaces to support the disassembly and position adjustment of the mechanical arm 400, so as to adjust the distribution and number of the propeller assemblies 200.

[0052] In the present embodiment, the rotation of the first motor 800 can drive the mechanical arm 400 to rotate through the transmission member 300, and then drive the propeller assembly 200 to move close to or away from the base platform 100, so as to realize the folding and unfolding function of the multi-legged robot. The present embodiment realizes the folding and unfolding of a plurality of mechanical arms 400 through only one first motor 800, avoids the driving mechanism redundancy caused by a plurality of motors, and also reduces the weight and cost of the overall mechanism.

[0053] Further, in the embodiment, the transmission member 300 comprises a chain 301, a first gear 302 and a second gear 303, the first gear 302 is arranged on the output shaft of the first motor 800, a plurality of the second gears 303 are arranged on the plurality of mechanical arms 400, the chain 301 is connected with the first gear 302 and the second gear 303 respectively, the power of the first motor 800 is transmitted to the second gear 303 through the chain 301 and the first gear 302, the second gear 303 rotates to drive the mechanical arm 400 to rotate, thereby making the propeller assembly 200 move close to or away from the base platform 100, realizing the folding and unfolding function of the multi-legged robot, and the mechanism has simple structure and is easy to protect in the folded storage state.

[0054] Specifically, a plurality of the first gears 302 are arranged on the output shaft of the first motor 800, and each first gear 302 is connected with the second gear 303 on the mechanical arm 400 through the chain 301.

[0055] Alternatively, specifically, the second gear 303 is a double-layer gear structure, comprising a first gear layer and a second gear layer, as shown in the drawing, the first gear 302 on the output shaft of the first motor 800 is connected with the first gear layer of the second gear 303 on one of the mechanical arms 400 through the chain 301; then the second gear layer of the second gear 303 is connected with the first gear layer of the second gear 303 on the next mechanical arm 400 through the chain 301, and the connection of the second gears 303 on all the mechanical arms 400 is completed through the chain 301 in this similar connection mode. Figure 1

[0056] Alternatively, specifically, a plurality of the second gears 303 are installed on each mechanical arm 400, the first gear 302 on the output shaft of the first motor 800 is connected with one of the second gears 303 on the mechanical arm 400 through the chain 301; then another second gear 303 of the mechanical arm 400 is connected with the second gear 303 on the next mechanical arm 400 through the chain 301, and the plurality of mechanical arms 400 are sequentially connected with each other through the chain 301 in this similar connection mode.

[0057] ​In the embodiment, the propeller assembly 200 comprises a propeller 201, a second motor 202, a shell 203 and a first fixing member 204, two ends of the first fixing member 204 are connected with the shell 203, the second motor 202 is installed on the first fixing member 204, an output shaft of the second motor 202 is connected with the propeller 201, the propeller 201 rotates to generate airflow when the second motor 202 is started, and the multi-legged robot is further driven to take off, the structure is simple in design, small in weight, and low in manufacturing cost, and overcomes the problems of complex power system, large energy consumption and high control difficulty in the prior art; the shell 203 simultaneously serves as a propeller protection structure, and the peripheral structure can protect the propeller 201 from collision when being folded and stored, and improves equipment safety.

[0058] Further, in the embodiment, the shell 203 is provided with an air inlet 206 and an air outlet 207, a duct 208, i.e. a gas flow channel, is formed between the air inlet 206 and the air outlet 207, and an air inlet area of the air inlet 206 is greater than an air outlet area of the air outlet 207; in a specific embodiment, this can improve the airflow speed of the propeller 201 sprayed downward, and further improve the lift.

[0059] Specifically, the mechanical arm 400 is connected with the first fixing member 204, when the mechanical arm 400 rotates, the first fixing member 204 can drive the propeller 201, the second motor 202 and the shell 203 to rotate together, and the folding and unfolding operation of the propeller assembly 200 is realized.

[0060] The working process of the multi-legged robot of the disclosure is as follows:

[0061] First, the base platform 100 is connected with the robot body 500 as a whole, then the first motor 800 is started, the first motor 800 rotates, and power is transmitted to the second gear 303 through the chain 301 and the first gear 302, the second gear 303 rotates to drive the mechanical arm 400 to rotate, the mechanical arm 400 and the propeller assembly 200 rotate and expand away from the base platform 100, the second motor 202 is started, the propeller 201 rotates to generate airflow, and the robot body 500 is further driven to take off;

[0062] When the multi-legged robot reaches the destination, the second motor 202 is turned off, the propeller 201 stops rotating, the first motor 800 is started, the first motor 800 rotates and transmits power to the second gear 303 through the chain 301 and the first gear 302, the second gear 303 rotates to drive the mechanical arm 400 to rotate, and the mechanical arm 400 and the propeller assembly 200 rotate and fold towards the base platform 100, so as to realize the storage and protection of the propeller assembly 200.

[0063] The folding and unfolding mechanism design of the present disclosure effectively solves the problems of complex power system, low efficiency of folding and unfolding mechanism and difficulty in realizing the flight function of the robot in the prior art, and provides a more efficient and reliable solution for the application of the robot in a complex environment.

[0064] As shown in Figure 5 , Figure 6 and Figure 7 , the third embodiment of the present disclosure provides a multi-legged robot capable of rotary wing flight, which comprises a robot body 500 and a rotary wing flight device arranged on the robot body 500, so that the robot body 500 has the flight capability and can cross large obstacles and move quickly over a long distance.

[0065] As shown in Figure 5 , unlike the above-mentioned embodiments, the rotary wing flight device comprises a base platform 100, a propeller assembly 200 and a first motor 800, the robot body is connected with the base platform 100, and a plurality of propeller assemblies 200 are arranged around the base platform 100; the propeller assembly 200 is connected through a mechanical arm 400, one end of the mechanical arm 400 is rotatably connected with the base platform 100, and the other end is connected with the propeller assembly 200; the output shaft of the first motor 800 is connected with the mechanical arm 400 through a transmission member 300, and a plurality of mechanical arms 400 are connected through transmission members 300. The rotary wing flight device can support the folding and unfolding of a plurality of mechanical arms 400 and propeller assemblies 200, the number of the mechanical arms 400 and the propeller assemblies 200 is not fixed, and a plurality of deformable mechanisms are provided. The number of the mechanical arms 400 and the propeller assemblies 200 can be flexibly configured according to the flight power demand, the base platform 100 reserves a plurality of mounting interfaces to support the disassembly and position adjustment of the mechanical arm 400, so as to adjust the distribution and number of the propeller assemblies 200.

[0066] In the embodiment, the first motor 800 rotates to drive the transmission member 300 to rotate the mechanical arm 400, and then the propeller assembly 200 moves close to or away from the base platform 100 to realize the folding and unfolding function of the multi-legged robot. The embodiment realizes the folding and unfolding of multiple mechanical arms 400 by only one first motor 800, avoids the driving mechanism redundancy caused by multiple motors, and reduces the weight and cost of the overall mechanism.

[0067] Further, in the embodiment, the transmission member 300 includes an adapter 304 and a first connecting rod 305. The output shaft of the first motor 800 is connected with the adapter 304, and the adapter 304 is connected with multiple first connecting rods 305. Each first connecting rod 305 is also connected with the mechanical arm 400. The first motor 800 can drive the adapter 304 to rotate, and then the first connecting rod 305 pushes or pulls the mechanical arm 400 to rotate, and then the propeller assembly 200 moves away from or close to the base platform 100 to realize the folding and unfolding function of the multi-legged robot. The mechanism is simple and easy to protect in the folded storage state.

[0068] In some embodiments, the adapter 304 includes multiple circumferentially arranged connecting portions 3041. The end of the connecting portion 3041 is connected with the first connecting rod 305. The connecting portion 3041 rotates under the drive of the first motor 800, and then exerts a pulling force or a pushing force on the first connecting rod 305.

[0069] In some embodiments, the adapter 304 is a ring member, and multiple first connecting rods 305 are connected to the ring member. When the ring member rotates, it can exert a pulling force or a pushing force on the first connecting rod 305.

[0070] In order to avoid excessive rotation of the adapter 304, a limiting member 306 is arranged on the base platform 100. Those skilled in the art can design the position of the limiting member 306 according to the folding and unfolding degree of the mechanical arm 400 and the propeller assembly 200.

[0071] Preferably, the limiting member 306 is a limiting block or a limiting column. When the mechanical arm 400 and the propeller assembly 200 reach the required unfolded position, the adapter 304 can interfere with the limiting block or the limiting column to avoid excessive rotation of the adapter 304.

[0072] In the embodiment, the propeller assembly 200 comprises a propeller 201, a second motor 202, a shell 203 and a first fixing member 204, two ends of the first fixing member 204 are connected with the shell 203, the second motor 202 is installed on the first fixing member 204, an output shaft of the second motor 202 is connected with the propeller 201, the propeller 201 rotates to generate airflow when the second motor 202 is started, and the multi-legged robot is further driven to take off, the structure is simple in design, small in weight, and low in manufacturing cost, and overcomes the problems of complex power system, large energy consumption and high control difficulty in the prior art; the shell 203 simultaneously serves as a propeller protection structure, and the peripheral structure can protect the propeller 201 from collision when being folded and stored, and equipment safety is improved.

[0073] Further, in the embodiment, an air inlet 206 and an air outlet 207 are arranged on the shell 203, a duct 208, i.e. a channel through which gas flows, is formed between the air inlet 206 and the air outlet 207, and an air inlet area of the air inlet 206 is greater than an air outlet area of the air outlet 207; in a specific embodiment, the airflow speed of the propeller 201 sprayed downward can be improved, and the lift can be further improved.

[0074] Specifically, the mechanical arm 400 is connected with the first fixing member 204, when the mechanical arm 400 rotates, the first fixing member 204 can drive the propeller 201, the second motor 202 and the shell 203 to rotate together, and the folding and unfolding operation of the propeller assembly 200 is realized.

[0075] The working process of the multi-legged robot of the disclosure is as follows:

[0076] First, the base platform 100 is connected with the robot body 500 as a whole, then the first motor 800 is started, the first motor 800 rotates and drives the adapter 304 to rotate, the first connecting rod 305 pushes the mechanical arm 400 to rotate, the mechanical arm 400 and the propeller assembly 200 rotate and unfold in a direction away from the base platform 100, the second motor 202 is started, the propeller 201 rotates to generate airflow, and the multi-legged robot and the robot body are further driven to take off;

[0077] When the multi-legged robot arrives at the destination, the second motor 202 is turned off, the propeller 201 stops rotating, the first motor 800 is started, the first motor 800 rotates and drives the adapter 304 to rotate, the first connecting rod 305 pulls the mechanical arm 400 to rotate, the mechanical arm 400 and the propeller assembly 200 rotate and fold in a direction close to the base platform 100, and the propeller assembly 200 is realized.

[0078] The folding and unfolding mechanism design of the present disclosure effectively solves the problems of complex power system, low efficiency of folding and unfolding mechanism and difficulty in realizing the flight function of the robot in the prior art, and provides a more efficient and reliable solution for the application of the robot in a complex environment.

[0079] As shown in Figure 8 and Figure 9 The fourth embodiment of the present disclosure provides a multi-legged robot capable of rotary flight, which comprises a robot body 500 and a rotary flight device arranged on the robot body 500, so that the robot body 500 has the flight capability and can cross a larger obstacle and move quickly over a long distance.

[0080] As shown in Figure 9 Different from the above embodiments, the rotary flight device comprises a base platform 100, a propeller assembly 200, a transmission member 300, a mechanical arm 400 and a first motor 800, the robot body is connected with the base platform 100, a plurality of propeller assemblies 200 are arranged around the base platform 100, the transmission member 300 is arranged above the base platform 100, a guide rail 309 is further arranged around the base platform 100 and the transmission member, the mechanical arm 400 is slidably connected with the guide rail 309, one end of the mechanical arm 400 is rotatably connected with the transmission member 300, and the other end is connected with the propeller assembly 200, under the driving of the transmission member 300, the mechanical arm 400 can slide along the guide rail 309; the output shaft of the first motor 800 is connected with the transmission member 300. The rotary flight device can support the folding and unfolding of a plurality of mechanical arms 400 and propeller assemblies 200, the number of the mechanical arms 400 and the propeller assemblies 200 is not fixed, and a plurality of deformable mechanisms are provided. The number of the mechanical arms 400 and the propeller assemblies 200 can be flexibly configured according to the flight power demand, a plurality of mounting interfaces are reserved on the base platform 100 to support the disassembly and position adjustment of the mechanical arms 400, so as to adjust the distribution and number of the propeller assemblies 200.

[0081] In the present embodiment, the rotation of the first motor 800 can drive the mechanical arm 400 to rotate through the transmission member 300, and then drive the propeller assembly 200 to move close to or away from the base platform 100, so as to realize the folding and unfolding function of the multi-legged robot. The present embodiment realizes the folding and unfolding of a plurality of mechanical arms 400 through only one first motor 800, avoids the driving mechanism redundancy caused by a plurality of motors, and also reduces the weight and cost of the overall mechanism.

[0082] Further, in the embodiment, the transmission member 300 comprises a rotating disc 307 and a second connecting rod 308, the rotating disc 307 is connected to the output shaft of the first motor 800, one end of each second connecting rod 308 is rotatably connected to the rotating disc 307, and the other end is rotatably connected to the mechanical arm 400, the first motor 800 drives the rotating disc 307 to rotate, which can generate a torque on the second connecting rod 308, and then the second connecting rod 308 pushes or pulls the mechanical arm 400 to slide back and forth along the guide rail 309, and then the propeller assembly 200 moves away from or approaches the base platform 100, realizing the folding function of the multi-legged robot, and the mechanism is simple and easy to protect in the folded storage state.

[0083] Further, in the embodiment, the second connecting rod 308 is connected to the rotating disc 307 to form a first connection, and the rotating disc 307 is connected to the output shaft of the first motor 800 to form a second connection, the first connection is arranged offset from the second connection, preferably, the first connection is arranged at the edge of the rotating disc 307, and the second connection is arranged at the geometric center of the rotating disc 307, which can maximize the torque on the second connecting rod 308 and more easily drive the mechanical arm 400 to slide along the guide rail 309.

[0084] Further, in the embodiment, a plurality of rotating shafts are arranged on the rotating disc 307, the rotating shafts are arranged offset from the second connection on the rotating disc 307, and each second connecting rod 308 is connected to the rotating disc 307 through a rotating shaft. It should be noted that the second connection on the rotating disc 307 refers to the center of the output force of the first motor 800 on the rotating disc 307, and the eccentric arrangement can make the second connecting rod 308 and the second connection have a force arm, when the first motor 800 drives the rotating disc 307 to rotate, it can generate a torque on the second connecting rod 308, and then the second connecting rod 308 pushes or pulls the mechanical arm 400 to slide back and forth along the guide rail 309;

[0085] Alternatively, in the embodiment, a plurality of mounting holes are arranged on the rotating disc 307, a rotating shaft part matched with the mounting holes is arranged on the second connecting rod 308, the rotating shaft part is rotatably connected with the mounting holes, and the mounting holes are arranged away from the second connection on the rotating disc 307. It should be noted that the second connection here refers to the center of the rotating disc 307 subjected to the output force of the first motor 800. The eccentric arrangement can make the second connecting rod 308 and the second connection exist a force arm, when the first motor 800 drives the rotating disc 307 to rotate, a torque can be generated on the second connecting rod 308, so as to drive the second connecting rod 308 to push or pull the mechanical arm 400 to slide along the guide rail 309.

[0086] Preferably, the rotating disc 307 is a disc, the output shaft of the first motor 800 is connected with the center of the disc, and one end of the second connecting rod 308 is connected with the disc away from the center of the disc.

[0087] In the embodiment, the propeller assembly 200 includes a propeller 201, a second motor 202, a shell 203, and a second fixing member 205. The two ends of the second fixing member 205 are connected with the shell 203, the propeller 201 is rotatably connected with the second fixing member 205, and the output shaft of the second motor 202 is connected with the propeller 201 to drive the propeller 201 to rotate. When the second motor 202 is started, the propeller 201 rotates to generate airflow, thereby driving the robot body 500 to take off. The structure is simple in design, small in weight, and low in manufacturing cost, and overcomes the problems of complex power system, large energy consumption, and high control difficulty in the prior art. The shell 203 simultaneously serves as a propeller protection structure, and the peripheral structure of the shell 203 can protect the propeller 201 from collision when being folded and stored, thereby improving the safety of the equipment.

[0088] Further, in the embodiment, the shell 203 is provided with an air inlet 206 and an air outlet 207, and a duct 208, i.e., a gas flow channel, is formed between the air inlet 206 and the air outlet 207. The air inlet area of the air inlet 206 is greater than the air outlet area of the air outlet 207. In a specific embodiment, this can improve the speed of the airflow ejected downward by the propeller 201, thereby improving the lift.

[0089] Specifically, the second motor 202 is installed on the mechanical arm 400, and when the mechanical arm 400 slides, the second motor 202, the propeller 201, and the shell 203 can be driven to slide together through the second fixing member 205, thereby realizing the folding and unfolding operation of the propeller assembly 200.

[0090] In some embodiments, a plurality of the second connecting rods 308 are arranged on both sides of the rotating disc 307, so as to avoid excessive occupation of the space on one side of the rotating disc 307.

[0091] The working process of the multi-legged robot of the present disclosure is as follows:

[0092] First, the base platform 100 is connected to the robot body, then the first motor 800 is started, the first motor 800 rotates and drives the rotating disc 307 to rotate, and the second connecting rod 308 pushes the mechanical arm 400 to slide away from the rotating disc 307, so that the propeller assembly 200 is unfolded away from the base platform 100, the second motor 202 is started, the propeller 201 rotates to generate airflow, and then the multi-legged robot and the robot body take off;

[0093] When the multi-legged robot and the robot body land at the destination, the second motor 202 is turned off, the propeller 201 stops rotating, the first motor 800 is started, the first motor 800 rotates and drives the rotating disc 307 to rotate, and the second connecting rod 308 pulls the mechanical arm 400 to slide towards the rotating disc 307, so that the propeller assembly 200 is folded towards the base platform 100, realizing the storage protection of the propeller assembly 200.

[0094] The multi-legged robot provided by the present disclosure has flight capability; the mechanism is simple, and the folding and unfolding of multiple mechanical arms 400 can be realized by a single first motor 800, avoiding the redundancy of the driving mechanism caused by multiple motors; the structure is diverse, and can support the folding and unfolding of multiple mechanical arms 400 and propeller assemblies 200 at the same time, the number of mechanical arms 400 is not fixed, and the mechanism has multiple deformable structures.

[0095] The present disclosure adopts connecting rod, chain, rotating disc transmission and other mechanisms, and uses a first motor 800 to drive multiple mechanical arms 400 to realize telescopic folding, which is compact in structure and low in cost. The propeller 201 installed at the end of the mechanical arm 400 can drive the underlying base platform 100 to take off when rotating, and the base platform 100 can fix the robot body 500, so that the robot body 500 has flight capability. The present disclosure effectively solves the problems of complex power system, low efficiency of folding and unfolding mechanism and difficulty in realizing the flight function of the robot in the prior art, and provides a more efficient and reliable solution for the application of the robot in complex environments.

[0096] The present disclosure effectively solves the problems of complex power system, low efficiency of folding and unfolding mechanism and difficulty in realizing the flight function of the robot in the prior art, and provides a more efficient and reliable solution for the application of the robot in complex environments.

[0097] In the above-described embodiments of the present disclosure, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0098] For the convenience of description, spatial relative terms such as "above", "upper", "top", "top surface", "upper surface", etc. can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "on" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned at 90 degrees or in other orientations in other different ways, and the spatial relative description used herein is interpreted accordingly.

[0099] In addition to the above, it should also be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in the specification refer to specific features, structures or characteristics described in conjunction with the embodiment, which are included in at least one embodiment described in the general description of the application. The same expression appearing in several places in the specification does not necessarily refer to the same embodiment. Further, when a specific feature, structure or characteristic is described in conjunction with any embodiment, it is claimed that the implementation of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present disclosure.

[0100] In the above-described embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0101] The above only describes the preferred embodiments of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art can make various modifications and changes to the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A multi-legged robot that flies by means of a rotor, characterized in that, The robot body comprises a trunk and a plurality of leg assemblies, a rotary wing flight device is arranged on the trunk, the rotary wing flight device comprises a base platform, a mechanical arm is arranged on the base platform, and a propeller assembly is arranged on the mechanical arm, the mechanical arm can be unfolded or folded to move the propeller assembly towards or away from the base platform.

2. The multi-legged robot of claim 1, wherein, The rotary wing flight device further comprises a first motor, one end of the mechanical arm is connected with the propeller assembly, and the other end is rotatably connected with the base platform, the first motor is arranged on the base platform, an output shaft of the first motor is connected with the mechanical arm through a transmission member, and rotation of the first motor can drive the mechanical arm to rotate through the transmission member to move the propeller assembly towards or away from the base platform.

3. The multi-legged robot of claim 2, wherein, The transmission member comprises a first gear, a second gear and a chain, the first gear is installed on the output shaft of the first motor, the second gear is installed on the mechanical arm, and the first gear and the second gear are connected through the chain.

4. The multi-legged robot of claim 2, wherein, The transmission member comprises an adapter and a first connecting rod, one end of the first connecting rod is rotatably connected with the adapter, and the other end is rotatably connected with the mechanical arm.

5. The multi-legged robot of claim 4, wherein, A limiting member matched with the first connecting rod is arranged on the base platform.

6. The multi-legged robot of claim 4, wherein, A plurality of the mechanical arms are arranged along the circumference of the base platform, the adapter comprises a plurality of connecting portions, each connecting portion is connected with the mechanical arm one by one.

7. The multi-legged robot of claim 2, wherein, The propeller assembly comprises a propeller, a second motor and a housing, the second motor is connected with the housing through a first fixing member, an output shaft of the second motor is connected with the propeller, the housing is provided with an air inlet and an air outlet, a duct is formed between the air inlet and the air outlet, and the air inlet area is larger than the air outlet area.

8. The multi-legged robot of claim 1, wherein, The rotary wing flight device comprises a first motor, a rotating disc and a second connecting rod, an outer side of the base platform is provided with a guide rail, the mechanical arm is slidably connected with the guide rail, and the propeller assembly is arranged on the mechanical arm, one end of the second connecting rod is rotatably connected with the mechanical arm, and the other end is rotatably connected with the rotating disc, the rotating disc is connected with an output shaft of the first motor, and rotation of the first motor can generate a torque on the second connecting rod to drive the second connecting rod to move the mechanical arm along the guide rail to move the propeller assembly towards or away from the base platform.

9. The multi-legged robot of claim 8, wherein, The first connection between the second connecting rod and the rotating disc is arranged at the edge of the rotating disc, and the second connection between the rotating disc and the output shaft of the first motor is arranged at the geometric center of the rotating disc.

10. The multi-legged robot of claim 8, wherein, The propeller assembly comprises a propeller, a second motor and a shell, the shell is connected with a second fixing element, the propeller is rotatably connected with the second fixing element, an output shaft of the second motor is connected with the propeller, and the second motor is installed on the mechanical arm; an air inlet and an air outlet are arranged on the shell, a duct is formed between the air inlet and the air outlet, and an air inlet area of the air inlet is larger than an air outlet area of the air outlet.

11. The multiped robot according to any of claims 2-10, characterized in that, The number of the first motors is one.

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