Land-air dual-purpose robot

Abstract

The utility model discloses an air-ground dual-purpose robot, belongs to the technical field of robots, and aims to solve the technical problems that an offshore wind power platform inspection robot in the prior art is single in working mode and cannot fully cover an offshore wind power platform area. The unmanned aerial vehicle comprises a fuselage, a ground movement assembly, a flight assembly and a deformation assembly, the ground movement assembly comprises a plurality of omnidirectional wheels, and the omnidirectional wheels are connected with the machine body through wheel bases; the flight assembly comprises a plurality of flight units, and each flight unit comprises a propeller, a first driving motor and a vehicle arm; the flight unit is movably connected with the fuselage through the arms; the deformation assemblies act on the vehicle arms and are used for controlling unfolding or folding of the flight units. The air-ground dual-purpose robot has the ground moving and flying motion capabilities, the working range is widened, and the air-ground dual-purpose robot is suitable for working requirements in various complex working environments.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a land and air dual-purpose robot. Background Art

[0002] In existing technologies, the inspection of offshore wind power platforms mainly relies on manual on-site inspection operations. Since offshore wind power platforms are usually deployed at least ten kilometers offshore and in sea areas with a water depth of no less than ten meters, maintenance personnel are required to take a boat to the vicinity of the offshore wind power platform, and then personally enter the internal cabin of the wind turbine, and even wear safety ropes to suspend from the outside of the turbine to conduct detailed inspections of key positions such as the fan blades.

[0003] However, the working environment on offshore wind turbine platforms can be extremely harsh, and inspectors face numerous challenges during their work. Working at height, in particular, can lead to inefficiencies and omissions. Furthermore, limited physical strength makes it difficult to sustain high-intensity work. Wind turbines, exposed to harsh environments such as high humidity, salt spray, and strong winds, are highly susceptible to corrosion and damage. To ensure their long-term, stable operation, inspection frequency must be significantly increased.

[0004] Today's drones have only a single flight mode and can only be used for flight inspections. Their working range cannot fully cover the offshore wind power platform area. In addition, when faced with some complex terrain and changing environmental conditions, drones find it difficult to ensure flexible crossing.

[0005] In addition, compared with the ground mobile mode, the flight mode consumes more energy, so it is difficult to ensure the stable and efficient completion of the inspection task.

[0006] Therefore, there is an urgent need for a dual-purpose land and air robot that has both ground movement and flying capabilities, so as to replace maintenance personnel in performing inspections of offshore wind power platforms and other tasks. Utility Model Content

[0007] The purpose of the utility model is to provide a land and air dual-purpose robot to solve the technical problem that the offshore wind power platform inspection robot in the prior art has a single working mode and cannot fully cover the offshore wind power platform area.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] The utility model provides a land and air dual-purpose robot, comprising a body and a ground motion component, a flight component and a deformation component respectively connected to the body;

[0010] The ground motion assembly includes a plurality of omnidirectional wheels, and the plurality of omnidirectional wheels are connected to the fuselage via a wheel base;

[0011] The flight assembly includes a plurality of flight units, each of which includes a propeller, a drive motor, and an arm; the flight unit is movably connected to the fuselage via the arm;

[0012] The deformation assembly acts on the arm and is used to control the deployment or folding of the flight unit.

[0013] Optionally or preferably, the deformation assembly includes a second drive motor, a ball screw, a plurality of connecting rods and corresponding connecting rod chain parts;

[0014] One end of the connecting rod is movably connected to the machine arm, and the other end is movably fixed in the connecting rod link;

[0015] The second drive motor is connected to the ball screw through a gear pair, and the ball screw is connected to the fuselage through a connecting piece. The two ends of the ball screw have two sections of threads with different rotation directions, and are engaged with two screw pairs respectively. The screw pairs are fixedly connected to the connecting rod link through a screw output piece and are used to control the deployment or folding of the flight unit on the same side.

[0016] Optionally or preferably, a sliding groove is provided on a side of the connecting rod close to the connecting rod link member, and a fixing column is provided in the connecting rod link member;

[0017] The connecting rods are arranged in pairs, one end of a pair of connecting rods on the same side is respectively connected to the corresponding machine arms, and the other ends overlap with each other and enable the fixing column to be slidably clamped in the sliding groove.

[0018] Optionally or preferably, a plurality of limit blocks are further provided on the fuselage, and the limit blocks are used to limit the connecting rod link to prevent the connecting rod from causing the machine arm to deform at an excessive angle.

[0019] Optionally or preferably, the fuselage includes an upper fuselage plate and a lower fuselage plate; the upper fuselage plate and the lower fuselage plate are fixedly connected by a plurality of connecting columns;

[0020] The second driving motor is fixedly connected to the upper plate of the fuselage through a motor bracket;

[0021] An image acquisition module is also provided on the lower plate of the fuselage, and the image acquisition module is used to perform image recognition and information acquisition, and transmit the acquired information to the host computer.

[0022] Optionally or preferably, the connecting member includes a plurality of bearing seats, and the ball screw is connected to the bearing seats via bearings;

[0023] The plurality of bearing seats are fixedly connected to the upper plate of the fuselage and are respectively located at both ends and the middle of the ball screw.

[0024] Optionally or preferably, the flight unit further comprises a propeller fastener, a protective bracket, a motor protective housing and an auxiliary gasket;

[0025] The propeller fastener is used to fasten the propeller; the protective bracket is arranged on the lower end surface of the machine arm to protect and buffer the machine arm; the motor protective shell is arranged on the outside of the drive motor 1 to protect the drive motor 1; the auxiliary gasket is arranged at the connection between the machine arm and the connecting rod to reduce the upper and lower deviations on a pair of connecting rod structures on the same side.

[0026] Based on the above technical solution, the present invention can at least produce the following technical effects:

[0027] The utility model provides a dual-purpose land and air robot. By integrating a ground motion component and a flight component on its body, it has both ground movement and flight movement capabilities, broadening the scope of inspection work and being more suitable for inspection work in special environments such as offshore wind power platforms.

[0028] In addition, in order to ensure that the robot can operate efficiently in complex and diverse working environments, a deformation component is also provided so that it can switch motion modes by itself. At the same time, an integrated automatic deformation mechanism driven by a single motor is designed, which can automatically adjust the structure of the robot while switching motion modes, thereby reducing the robot's energy consumption and system complexity while improving the robot's flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is the overall assembly diagram of the utility model of the land and air dual-purpose robot Figure 1 ;

[0030] Figure 2 This is the overall assembly diagram of the utility model of the land and air dual-purpose robot Figure 2 ;

[0031] Figure 3 This is a schematic structural diagram of the ground motion component of the land-air dual-purpose robot of the present invention;

[0032] Figure 4 This is a schematic diagram of the unfolded state of the flight unit of the land-air dual-purpose robot of the present invention;

[0033] Figure 5 This is a schematic diagram of the stowed state of the flight unit of the land-air dual-purpose robot of the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of the deformation component of the land and air dual-purpose robot of the utility model. Figure 1 ;

[0035] Figure 7This is a schematic diagram of the structure of the deformation component of the land and air dual-purpose robot of the utility model. Figure 2 ;

[0036] Figure 8 This is a schematic diagram of the structure of the deformation component of the land and air dual-purpose robot of the utility model. Figure 3 ;

[0037] Figure 9 This is a schematic diagram of the structure of the flight component of the utility model of the land and air dual-purpose robot Figure 1 ;

[0038] Figure 10 This is a schematic diagram of the structure of the flight component of the utility model of the land and air dual-purpose robot Figure 2

[0039] Figure 11 This is a schematic diagram of the structure of the flight component of the utility model of the land and air dual-purpose robot Figure 3

[0040] Figure 12 This is a schematic diagram of the structure of the flight component of the utility model of the land and air dual-purpose robot Figure 4 .

[0041] In the figure: 10, fuselage; 11, upper fuselage plate; 12, lower fuselage plate; 13, connecting column; 14, image acquisition module; 20, ground motion component; 21, omnidirectional wheel; 22, wheel base; 30, flight component; 31, propeller; 32, propeller fastener; 33, drive motor 1; 34, protective bracket; 35, machine arm; 36, auxiliary gasket; 40, deformation component; 41, drive motor 2; 42, motor bracket; 43, gear pair; 44, ball screw; 45, screw pair; 46, screw output member; 47, limit block; 48, bearing seat; 49, connecting rod; 491, slide groove; 410, connecting rod link; 4101, fixing column. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention. Example

[0043] See also Figures 1 to 12 , a land and air dual-purpose robot, including a fuselage 10, a ground motion component 20, a flight component 30, a deformation component 40 and a control system.

[0044] In this embodiment, the fuselage 10 includes an upper fuselage panel 11 and a lower fuselage panel 12. The upper fuselage panel 11 and the lower fuselage panel 12 are fixedly connected by multiple connecting columns 13. Functional modules are also provided on the upper fuselage panel 41 or the lower fuselage panel 42. In this embodiment, the above-mentioned functional modules include an image acquisition module 14.

[0045] The above-mentioned ground motion component 20 includes four omnidirectional wheels 21 arranged at the four corners of the lower end surface of the fuselage lower plate 12. The four omnidirectional wheels 21 are fixedly connected to the fuselage lower plate 12 through wheel bases 22; among them, the two rear wheels serve as active wheels and are driven by a stepper motor (not shown in the figure). Through mutual coordination and cooperation with the control system, the robot can be driven to move on the ground through the four omnidirectional wheels 21 when in the ground motion state.

[0046] The flight assembly 30 includes multiple flight units arranged at the four corners of the upper end surface of the fuselage lower plate 12. The flight unit includes a propeller 31, a propeller fastener 32, a drive motor 33, a protective bracket 34, an arm 35, a motor protective shell and an auxiliary gasket 36.

[0047] In this embodiment, a drive motor 33 is provided above the end of the arm 35, and a motor protection shell is provided on the outside of the drive motor 33; a protective bracket 34 is provided below the end of the arm 35 to prevent the robot from losing balance during flight and landing, causing the fuselage 10 to tilt too much, thereby playing a buffering and protective role.

[0048] The propeller 31 is mounted on the output shaft of the drive motor 33 through the propeller fastener 32. Through the mutual coordination and cooperation of the control system, the robot can complete the flight and landing movements in the flying motion state.

[0049] In order to ensure that the robot can operate efficiently when facing complex and diverse working environments, in this embodiment, a deformation component 40 is further provided to enable the robot to switch between a ground motion mode and a flying motion mode.

[0050] Specifically, the deformation assembly 40 includes a second drive motor 41, a motor bracket 42, a gear pair 43, a ball screw 44, a screw pair 45, a screw output member 46, a limit block 47, a bearing seat 48, a connecting rod 49, and a connecting rod linkage 410. The second drive motor 41 is fixed to the upper body plate 41 via the motor bracket 42. The small gears in the gear pair 43 are designed without a keyway and are directly assembled on the motor shaft through an interference fit. The large gear is connected to the ball screw 44 via a key connection.

[0051] In this embodiment, the ball screw 44 is connected to the fuselage 10 through a connecting piece. The two ends of the ball screw 44 have two sections of threads with different rotation directions, and are engaged with two screw pairs 45 respectively; in this embodiment, the two flight units at the front end of the robot are driven by one screw pair 45, and the two flight units at the rear end are driven by another screw pair 45. The two screw pairs 45 have the same driving principle, the driving force is collinear, but the directions of action are opposite.

[0052] A screw output member 46 is provided below the screw pair 45 , and the screw pair 45 is fixedly connected to the connecting rod link 410 through the screw output member 46 . Through the connecting rod link 410 , the screw pair 45 can control the deployment and folding of the flight unit on the corresponding side.

[0053] In this embodiment, one end of the connecting rod 49 is connected to the machine arm 35 through the auxiliary gasket 36, and the other end is movably fixed in the above-mentioned connecting rod link 410; specifically, a sliding groove 491 is provided on the side of the connecting rod 49 close to the connecting rod link 410, and a fixing column 4101 is provided in the connecting rod link 410.

[0054] See also Figure 8 In this embodiment, the connecting rods 49 are arranged in pairs. In a pair of connecting rods 41 arranged on the same side, one end is connected to the corresponding machine arm 35, and the other end overlaps with the opposite side connecting rod 49 and enables the fixing column 4101 to slide and be clamped in the sliding groove 491.

[0055] Since the four connecting rods 49 are respectively matched with the connecting rod link 410 through the sliding groove 491, the connecting rod 49 is in a symmetrical state relative to the robot regardless of whether the robot is in a stationary state or a moving state.

[0056] In order to prevent the arm 35 from deforming too much during the deformation process, in this embodiment, a plurality of limit blocks 47 are further provided on the lower plate 12 of the fuselage. The limit blocks 47 limit the connecting rod link 410, thereby limiting the arm 35.

[0057] In addition, since the two connecting rods 49 arranged on the same side are arranged to overlap up and down, in this embodiment, an auxiliary gasket 36 structure is also provided at the connection end between the arm 35 and the connecting rod 49 to prevent the upper and lower deviations of the two left and right connecting rods 49 on the same side in the robot structure, thereby causing horizontal deviations between the arm 35 and the left and right sides of the propeller 31, thereby affecting the flight control performance.

[0058] In this embodiment, the above-mentioned connecting parts include at least three bearing seats 48 and corresponding bearings; specifically, the above-mentioned three bearing seats 48 are fixedly connected to the upper plate 11 of the fuselage, and are respectively arranged at the middle and both ends of the ball screw 44; the ball screw 44 is connected to the bearing seats 48 through bearings, and the bearing seats 48 at both ends are used to support and fix the ball screw 44, and the bearing seat 48 arranged in the middle is used to prevent the ball screw 44 from breaking due to excessive bending moment.

[0059] In addition, the bearing seat 48 can also limit the folding and deformation of the robot arm 35.

[0060] See also Figure 4 and Figure 5 The utility model provides a land-air dual-purpose robot, which realizes deformation and motion state switching through the deformation component 40. The specific principle is as follows:

[0061] The control system controls the operation of drive motor 2 41. The driving torque is transmitted by gear pair 43 to ball screw 44, which in turn converts it into torque rotation of ball screw pair 45. After passing through ball screw pair 45, this rotation is converted into linear reciprocating motion. This motion is then transmitted via screw output member 46 to connecting rod 49 connected to connecting rod coupling 410. Connecting rod 49 drives the corresponding arm 35, achieving synchronous rotation of the arm 35 around the hinge. When the screw pair 45 or connecting rod coupling 410 reaches the limit position, drive motor 2 41 stops, completing the opening and closing of the robot arm 35 and the automatic deformation action.

[0062] In this embodiment, the control system is designed based on a single-chip microcomputer and includes various modules: a power supply module, a wireless receiver module, a motor driver module, and a vision module. These modules control image acquisition module 14 for image capture; control the robot's wheels to move to a predetermined position; control the robot's motion mode switching and quadrotor expansion and contraction; locate the robot and control its precise flight along a predetermined route; and control the quadrotor's speed to adjust its flight state. The vision module drives image acquisition module 14 for image recognition and information collection, while the wireless receiver module allows the operator to send corresponding action commands to the robot via remote control.

[0063] The utility model provides a land and air dual-purpose robot, the specific working process of which is as follows:

[0064] First, the robot flies to the designated location along a predetermined route and uses the image acquisition module 14 to collect images and information. When it is necessary to move on the ground to perform inspection tasks or face complex terrain, the control personnel send a deformation command to the robot through the wireless receiving module. The robot first sends a command to stop flying through the main control chip, reduces the output speed of the four propellers 31 and lands, and then controls the drive motor 1 33 to stop working. At the same time, the control drive motor 2 41 is controlled to perform deformation drive, and the driving force is transmitted to the ball screw 44 through the gear pair 43, and then the torsional driving force is converted into linear reciprocating motion through the movement of the ball screw 44 and the screw pair 45. The screw output member 46 connected to the screw pair 45 drives the connecting rod link 410 to perform linear motion. At this time, the connecting rod 49 connected to the four rotorcraft arms 35 rotates due to the linear motion of the connecting rod link 410, thereby driving the four rotorcraft arms 35 to rotate synchronously around the hinge, realizing the folding and retracting action of the four propellers 31. When the screw pair 45 reaches the bearing seats 48 at both ends of the ball screw 44, the deformation action stops.

[0065] After completing the transformation, the robot begins driving the stepper motor to rotate the two rear omnidirectional wheels 21, which in turn drives the two front omnidirectional wheels 21, beginning ground locomotion. The image acquisition module 14 then collects images and information about the surrounding environment. When ground locomotion ends, the operator remotely sends a command to stop the robot's stepper motors and begin executing the automatic transformation command. After the transformation is complete, the drive motor 1 33 is activated, allowing the robot to proceed along the planned route.

[0066] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A land and air dual-purpose robot, characterized in that: It comprises a fuselage (10) and a ground motion component (20), a flight component (30) and a deformation component (40) respectively connected to the fuselage (10); The ground motion assembly (20) includes a plurality of omnidirectional wheels (21), and the plurality of omnidirectional wheels (21) are connected to the fuselage (10) via a wheel base (22); The flight assembly (30) includes a plurality of flight units, each of which includes a propeller (31), a drive motor (33), and an arm (35); the flight unit is movably connected to the fuselage (10) via the arm (35); The deformation assembly (40) acts on the machine arm (35) and is used to control the deployment or folding of the flight unit.

2. The land-air dual-purpose robot according to claim 1, characterized in that: The deformation assembly (40) includes a second drive motor (41), a ball screw (44), a plurality of connecting rods (49), and corresponding connecting rod chain parts (410); One end of the connecting rod (49) is movably connected to the machine arm (35), and the other end is movably fixed in the connecting rod link (410); The second driving motor (41) is connected to the ball screw (44) through a gear pair (43), and the ball screw (44) is connected to the fuselage (10) through a connecting piece. The two ends of the ball screw (44) respectively have two sections of threads with different rotation directions, and are respectively engaged with two screw pairs (45). The screw pairs (45) are fixedly connected to the connecting rod link (410) through a screw output member (46) and are used to control the deployment or folding of the flight unit on the same side.

3. The land-air dual-purpose robot according to claim 2, characterized in that: A sliding groove (491) is provided on one side of the connecting rod (49) close to the connecting rod link member (410), and a fixing column (4101) is provided in the connecting rod link member (410); The connecting rods (49) are arranged in pairs, with one end of a pair of connecting rods (49) on the same side being connected to the corresponding machine arms (35) respectively, and the other ends overlapping each other and allowing the fixing column (4101) to slide and be clamped in the sliding groove (491).

4. The land-air dual-purpose robot according to claim 3, characterized in that: The fuselage (10) is further provided with a plurality of limit blocks (47), and the limit blocks (47) are used to limit the position of the connecting rod link (410) to prevent the connecting rod (49) from driving the machine arm (35) to deform at an excessively large angle.

5. The land-air dual-purpose robot according to claim 2, characterized in that: The fuselage (10) comprises an upper fuselage plate (11) and a lower fuselage plate (12); the upper fuselage plate (11) and the lower fuselage plate (12) are fixedly connected via a plurality of connecting columns (13); The second driving motor (41) is fixedly connected to the upper plate (11) of the fuselage via a motor bracket (42); An image acquisition module (14) is also provided on the fuselage lower plate (12), and the image acquisition module (14) is used to perform image recognition and information acquisition, and transmit the acquired information to a host computer.

6. The land-air dual-purpose robot according to claim 5, characterized in that: The connecting member includes a plurality of bearing seats (48), and the ball screw (44) and the bearing seats (48) are connected via bearings; The plurality of bearing seats (48) are fixedly connected to the upper plate (11) of the fuselage, and are respectively arranged at both ends and the middle of the ball screw (44).

7. The land-air dual-purpose robot according to claim 2, characterized in that: The flight unit also includes a propeller fastener (32), a protective bracket (34), a motor protective shell and an auxiliary gasket (36); The propeller fastener (32) is used to fasten the propeller (31); the protective bracket (34) is arranged on the lower end surface of the machine arm (35) to protect and buffer the machine arm (35); the motor protective shell is arranged on the outside of the drive motor (33) to protect the drive motor (33); the auxiliary gasket (36) is arranged at the connection between the machine arm (35) and the connecting rod (49) to reduce the upper and lower deviations existing in the structure of a pair of connecting rods (49) on the same side.

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