Composite robot device with deformable wheel wings

Abstract

The utility model discloses a deformable wheel wing composite robot device, which belongs to the technical field of robots and is characterized in that an output shaft on one side of each first steering engine is fixedly connected with an upper U-shaped plate, an output shaft on one side of each third steering engine is fixedly connected with a lower U-shaped plate, and an output shaft of each speed reducer is fixedly connected with a connecting shaft; each connecting shaft is fixedly connected with a wheel, and a brushless motor for driving a rotor wing to rotate is arranged in a support of each wheel. The unmanned aerial vehicle can switch a flight mode when encountering obstacles which cannot be crossed by ground movement, switch a ground wheel type mode when encountering a flat road, lower the height of the unmanned aerial vehicle to continuously run when encountering a low space, and adjust the angle of the wheels to change the direction when encountering a narrow space, and the orientation of the unmanned aerial vehicle can be quickly changed through in-situ rotation; after being overturned, the device is adjusted through a steering engine to stand up again to continue working, switching between the ground working mode and the air working mode can be conducted in different environments, and the device can be suitable for the complex environment.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, more particularly to a kind of deformable wheel wing composite robot device. BACKGROUND

[0002] Traditional ground mobile robot mainly includes wheeled robot and foot type robot, these robots are widely applied in resource exploration, disaster rescue and other fields. However, in the face of complex environment, the limitation of single motion mode is increasingly highlighted. Wheeled robot moves fast on flat ground, with high efficiency and strong stability, but it is limited when encountering obstacles that cannot be crossed. Flight robot is usually not limited by terrain, can cross various rugged terrains and avoid obstacles, but it has high energy consumption, limited flight time and range, so a kind of deformable wheel wing composite robot device with wheel mode and flight mode switching is needed. SUMMARY

[0003] The utility model solves the technical problem in that the above-mentioned prior art has the shortcomings, provides a kind of deformable wheel wing composite robot device with two modes of wheel and flight switching, reduce height to adapt to low space, adjust wheel angle to adapt to narrow space.

[0004] The technical scheme adopted to solve the above technical problems is: the rack includes upper machine plate and lower machine plate, the upper machine plate is located above the lower machine plate, four corners of the upper machine plate are rotatably installed with second fixed plate respectively, each second fixed plate is located between the lower machine plate and the upper machine plate, each second fixed plate is fixedly installed with first fixed plate respectively, the lower machine plate is provided with second steering gear at four corners respectively, the output shaft of each second steering gear is fixedly connected with second fixed plate respectively, each first fixed plate is provided with first steering gear respectively, the upper end of each leg connecting rod is fixedly installed with upper U-shaped plate respectively, the lower end of each leg connecting rod is fixedly installed with lower U-shaped plate respectively, the output shaft of one side of each first steering gear is fixedly connected with upper U-shaped plate respectively, each wheel is fixedly connected with connecting shaft, the inner part of the support of each wheel is provided with brushless motor for driving rotor to rotate respectively, the output shaft of each speed reducer is fixedly connected with connecting shaft, each speed reducer is provided with support frame respectively, each support frame is provided with third steering gear respectively, the output shaft of one side of each third steering gear is fixedly connected with lower U-shaped plate respectively.

[0005] Further, the bottom output shaft of each second steering gear is fixedly connected with lower machine plate through second steering gear disc respectively.

[0006] Further, the output shaft of one side of each first steering gear is fixedly connected with upper U-shaped plate through first steering gear disc respectively.

[0007] Further, the output shaft of one side of each third steering gear is fixedly connected with lower U-shaped plate through third steering gear disc respectively.

[0008] Further, each of the rotors is located inside the wheel.

[0009] The utility model discloses the beneficial effect is as follows: (1) the utility model switches the flight mode to cross the obstacle when meeting the ground movement that cannot cross, switches the ground wheel type mode movement when meeting the flat road, reduces the height of this device and continues to run when meeting the low space, adjusts the wheel angle and changes the direction when meeting in the narrow space, can change the device orientation through the in-place rotation, can stand up again through the rudder adjustment after the device overturns and continues to work, can carry out the switching of two modes of ground and air work in the face of different environment, can be applicable to the complex environment, solve the single movement mode of existing robot, the weak environmental adaptability and other problems, improve the adaptability to complex environment when in the disaster rescue.

[0010] (2) the utility model makes four rotors distribute in the four corners of the frame in the flight mode, adjusts the spatial distribution position of rotor, improves the stability of device in the flight process. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is the structure schematic diagram of the deformable wheel wing composite robot device under the ground wheel type motion state.

[0012] Figure 2 It is Figure 1 Another angle structure schematic diagram.

[0013] Figure 3 It is the structure schematic diagram of first rudder, second rudder, wheel and third rudder.

[0014] Figure 4 It is Figure 3 Another angle structure schematic diagram.

[0015] Figure 5 It is Figure 3 The structure schematic diagram of removing wheel.

[0016] Figure 6 It is the structure schematic diagram of first rudder and second rudder.

[0017] Figure 7 It is the structure schematic diagram of third rudder.

[0018] Figure 8 It is the structure schematic diagram of upper U-shaped plate, leg connecting rod and lower U-shaped plate.

[0019] Figure 9 It is the structure schematic diagram of the deformable wheel wing composite robot device when passing through low space, and the height of the upper surface of the frame is higher than the upper surface of the wheel under the ground wheel type motion state.

[0020] Figure 10 This is a schematic diagram of the deformable wheel-wing composite robot device in a ground-based wheel motion state when the height of the frame's upper surface is lower than the upper surface of the wheel as it passes through a low-ceilinged space.

[0021] Figure 11 This is a schematic diagram of the deformable wheel-wing composite robot device in its stationary rotation state.

[0022] Figure 12 yes Figure 11 A structural diagram from another angle.

[0023] Figure 13 This is a schematic diagram of the overall flipping structure of the deformable wheel-wing composite robot device.

[0024] Figure 14 This is a structural schematic diagram of the deformable wheel-wing composite robot device in flight mode.

[0025] Figure 15 yes Figure 14 A structural diagram from another angle.

[0026] Reference numerals: 1. Frame; 101. Upper plate; 102. Lower plate; 2. Upper U-shaped plate; 3. Leg connecting rod; 4. Lower U-shaped plate; 5. Wheel; 6. Brushless motor; 7. Rotor; 8. First servo; 9. First mounting plate; 10. Second mounting plate; 11. Second servo; 12. Third servo; 13. Support frame; 14. Reducer; 15. Connecting shaft; 16. First servo disc; 17. Third servo disc. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] like Figures 1 to 8 As shown, the deformable wheel-wing composite robot device of this embodiment is composed of a frame 1, an upper U-shaped plate 2, a leg connecting rod 3, a lower U-shaped plate 4, wheels 5, a brushless motor 6, a rotor 7, a first servo motor 8, a first fixing plate 9, a second fixing plate 10, a second servo motor 11, a third servo motor 12, a support frame 13, a reducer 14, a connecting shaft 15, a first servo motor disk 16, a second servo motor disk, and a third servo motor disk 17 connected together.

[0029] The rack 1 comprises an upper machine plate 101 and a lower machine plate 102, the upper machine plate 101 is located above the lower machine plate 102, four corners of the bottom of the upper machine plate 101 are respectively rotatably installed with a second fixed plate 10, each second fixed plate 10 is located between the lower machine plate 102 and the upper machine plate 101, and each second fixed plate 10 is respectively fixedly installed with a first fixed plate 9 through a bolt, four corners of the lower machine plate 102 are respectively provided with a second steering engine 11, output shafts of each second steering engine 11 are respectively fixedly connected with the second fixed plate 10, and the second steering engine disc is used for controlling the plane rotation direction of the leg connecting rod 3.

[0030] Each first fixed plate 9 is provided with a first steering engine 8, an upper U-shaped plate 2 is fixedly installed at the upper end of each leg connecting rod 3, and a lower U-shaped plate 4 is fixedly installed at the lower end of each leg connecting rod 3, one side output shaft of each first steering engine 8 is fixedly connected with the upper U-shaped plate 2 through a first steering engine disc 16, and the first steering engine disc 16 is used for controlling the vertical rotation direction of the leg connecting rod 3.

[0031] Each wheel 5 is fixedly connected with a connecting shaft 15, the wheel 5 is used for ground wheel type movement, the inner part of the support of each wheel 5 is provided with a brushless motor 6 for driving a rotor 7 to rotate, each rotor 7 is located inside the wheel 5 and is used for protecting the rotor 7, the output shaft of each speed reducer 14 is fixedly connected with the connecting shaft 15, each speed reducer 14 is provided with a support frame 13, each support frame 13 is provided with a third steering engine 12, one side output shaft of each third steering engine 12 is fixedly connected with the lower U-shaped plate 4 through a third steering engine disc 17, and the third steering engine 12 is used for controlling the vertical rotation of the overall device.

[0032] The working principle of the embodiment is as follows: (1) when the ground is easy to pass, the device adopts the ground wheel type movement mode, the output shafts of the four speed reducers 14 drive the connecting shafts 15 to rotate, each connecting shaft 15 drives the wheel 5 to rotate, and the four wheels 5 are used for movement on the ground, as shown in Figure 1 .

[0033] When the device passes through a low space, the height of the upper surface of the rack 1 is higher than the upper surface of the wheel 5 in the ground wheel type movement state, as shown in Figure 9 , the leg connecting rod 3 continues to move downward to the horizontal direction of the leg connecting rod 3 being parallel to the horizontal direction of the ground, the height of the upper surface of the lower rack 1 is lower than the upper surface of the wheel 5, as shown in Figure 10 , which is suitable for lower space. The output shaft of the first steering engine 8 drives the upper U-shaped plate 2 to perform vertical rotary motion through the first steering engine disc 16, the output shaft of the third steering engine 12 drives the lower U-shaped plate 4 to perform vertical rotary motion through the third steering engine disc 17, the horizontal plane of the rack 1 is always parallel to the horizontal plane of the ground, the four wheels 5 are respectively perpendicular to the ground, and the device can move in the low space.

[0034] When this device passes through a narrow space, it needs to rotate in place, such as... Figures 11 to 12 As shown, the output shaft of the second servo motor 11 drives the first fixed plate 9 and the second fixed plate 10, the first servo motor 8, the third servo motor 12 and the wheel 5 to rotate through the second servo motor disc. When facing a narrow space where the frame 1 cannot be adjusted to change direction, the angle of the wheel 5 is adjusted, and the orientation of the device is quickly changed by rotating in place.

[0035] When this device needs to be flipped, such as Figure 13 As shown, the first servo motor 8 drives the upper U-shaped plate 2 to rotate 180° via the first servo motor disk 16, and the output shaft of the third servo motor 12 drives the parts on the lower U-shaped plate 4 to rotate 180° via the third servo motor disk 17. After the device flips over, it continues to perform ground wheel motion mode.

[0036] (2) Figures 14 to 15 As shown, when the ground wheel motion cannot pass, the system switches to flight mode: the output shaft of the first servo motor 8 drives the upper U-shaped plate 2 to rotate vertically through the first servo motor disk 16, and the output shaft of the third servo motor 12 drives the lower U-shaped plate 4 to rotate vertically through the third servo motor disk 17, so that the horizontal planes of the upper U-shaped plate 2, the leg connecting rod 3, the lower U-shaped plate 4, the wheel 5, and the rotor 7 are parallel to the ground. At the same time, the output shaft of the second servo motor 11 drives the first fixed plate 9 and the second fixed plate 10, the first servo motor 8, the third servo motor 12, and the wheel 5 to rotate through the second servo motor disk, so that the four rotors 7 are distributed at the four corners of the frame 1, making the device more stable during flight.

[0037] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. A morphing wheel-wing hybrid robotic device, characterized by: The rack (1) comprises an upper machine plate (101) and a lower machine plate (102), the upper machine plate (101) is located above the lower machine plate (102), four corners of the bottom of the upper machine plate (101) are respectively rotatably installed with a second fixed plate (10), each second fixed plate (10) is located between the lower machine plate (102) and the upper machine plate (101), each first fixed plate (9) is fixedly installed on each second fixed plate (10), four corners of the lower machine plate (102) are respectively provided with a second steering wheel (11), the output shaft of each second steering wheel (11) is fixedly connected with the second fixed plate (10), each first steering wheel (8) is arranged on each first fixed plate (9), the upper end of each leg connecting rod (3) is fixedly installed with an upper U-shaped plate (2), the lower end of each leg connecting rod (3) is fixedly installed with a lower U-shaped plate (4), the output shaft of one side of each first steering wheel (8) is fixedly connected with the upper U-shaped plate (2), each wheel (5) is fixedly connected with a connecting shaft (15), the inner part of the support of each wheel (5) is respectively provided with a brushless motor (6) for driving the rotation of the rotor (7), the output shaft of each speed reducer (14) is fixedly connected with the connecting shaft (15), each speed reducer (14) is respectively provided with a support frame (13), each support frame (13) is respectively provided with a third steering wheel (12), the output shaft of one side of each third steering wheel (12) is fixedly connected with the lower U-shaped plate (4).

2. The morphing wheel-wing hybrid robot device of claim 1, wherein: The bottom output shaft of each second steering wheel (11) is fixedly connected with the lower machine plate (102) through a second steering wheel disc.

3. The morphing wheel-wing hybrid robot device of claim 1, wherein: The output shaft of one side of each first steering wheel (8) is fixedly connected with the upper U-shaped plate (2) through a first steering wheel disc (16).

4. The morphing wheel-wing hybrid robot device of claim 1, wherein: The output shaft of one side of each third steering wheel (12) is fixedly connected with the lower U-shaped plate (4) through a third steering wheel disc (17).

5. The morphing wheel-wing hybrid robot device of claim 1, wherein: Each rotor (7) is located inside the wheel (5).

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