Robot with wheel wing type composite structure

Abstract

The utility model discloses a robot with a wheel wing type composite structure, which belongs to the technical field of robots and is characterized in that a steering engine disc at the output end of each first steering engine is fixedly connected with one side of a shell, a steering engine disc at the output end of each second steering engine is fixedly connected with one end of a corresponding mechanical leg, and the other end of each mechanical leg is provided with a wheel; an output shaft of each brushless motor is fixedly connected with a sleeve, and rotors are evenly arranged on the outer circumference of each sleeve. The mechanical legs are controlled by the two steering engines to be switched into a wheel type movement mode or a flight mode in a complex environment, the mechanical legs can be switched into the flight mode when encountering a road section with rockfill or deep accumulated water, the mechanical legs can be switched into the wheel type movement mode when encountering a flat road section, and the mechanical legs can quickly pass through the road section; and meanwhile, the height of the robot body can be adjusted during wheel type movement so as to pass through low space, a wheel type movement mode and a flight mode can be conveniently switched, the robot can adapt to different environments, the working efficiency is improved, and energy consumption is effectively reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, and specifically relates to a robot with a wheel-wing composite structure. BACKGROUND

[0002] With the development of intelligent information technology and the coal industry, robots have replaced workers to enter mines to complete part of work, especially the coal mine underground detection robots are mostly used, such as wheeled detection robots, flying robots, etc. The wheeled robot has a high ground movement speed, but is slightly insufficient in flexibility, and is blocked when encountering obstacles difficult to cross, and the flying robot has great flexibility, but has great energy consumption, is easy to wear in flight and has a limited flight range. Therefore, it is necessary to combine the two to design, so that the robot is converted into a flight mode to pass through the obstacle when encountering the obstacle difficult to cross, and is converted into a wheeled motion on the road surface to reduce energy consumption. Therefore, a wheel-wing composite structure robot is needed, which adopts different motion modes according to the environment and improves work efficiency. SUMMARY

[0003] The utility model solves the technical problem of overcoming the above-mentioned prior art defects, and provides a robot with a wheel-wing composite structure, which can switch between wheeled and flying modes and reduce height to adapt to low spaces.

[0004] The technical scheme adopted to solve the above technical problem is that the robot body includes a connecting plate, an upper machine plate, a support frame, and a lower machine plate, four connecting plates are arranged on the lower machine plate, the upper machine plate is arranged above the lower machine plate at the top of the four connecting plates, two first steering gears are arranged on the two sides of each of the two connecting plates, two housings are rotatably arranged on the two sides of each of the other two connecting plates, a second steering gear is arranged in each housing, a steering gear disc at the output end of each first steering gear is fixedly connected to one side of the corresponding housing, a steering gear disc at the output end of each second steering gear is fixedly connected to one end of the corresponding mechanical leg, a first connecting cylinder is arranged at the other end of each mechanical leg, a reduction motor is arranged in each first connecting cylinder, an output shaft of each reduction motor is fixedly connected to a second connecting cylinder through a connecting shaft, each second connecting cylinder is fixedly connected to a wheel through a support, a brushless motor is arranged in each second connecting cylinder, an output shaft of each brushless motor is fixedly connected to a sleeve, and a rotor is arranged on the outer circumference of each sleeve.

[0005] Further, the lower machine plate is provided with a support frame at the bottom.

[0006] Further, the two connecting plates are fixedly connected to the first steering gears through bolts on the two sides.

[0007] Further, each housing is fixedly connected to the second steering gear through a bolt.

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

[0009] The robot of the wheel-wing composite structure has the advantages that: (1) when facing a complex environment, the two steering engines control the mechanical legs to switch to a wheel movement mode or a flight mode, the flight mode can be switched when encountering a rock pile or a road section with deep accumulated water, the wheel movement mode can be switched when encountering a flat road section, the robot can quickly pass through the road section, the height of the body can be adjusted when the robot moves in the wheel movement mode to pass through a low space, the device is convenient to switch between the wheel movement mode and the flight mode, the robot can adapt to different environments, the working efficiency is improved, the energy consumption is effectively reduced, and the problem that a robot with a single movement mode cannot adapt to different environments is solved.

[0010] (2) the rotors of the utility model are installed in the wheels, a composite wheel is formed, and the rotors are effectively protected.

[0011] (3) the output shafts of the reduction motors in each first connecting barrel are respectively driven to rotate the second connecting barrels through connecting shafts, the wheels are respectively driven to rotate through the brackets, so that the device can run on the ground, the output shafts of the brushless motors in each second connecting barrel are respectively driven to rotate the sleeves, each sleeve drives the rotors to rotate, the four rotors are respectively distributed at the four corners of the body through the second steering engine, and the device is more stable during flight. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a structure schematic view of the robot of the wheel-wing composite structure in a wheel movement mode.

[0013] Figure 2 is a structure schematic view of the robot of the wheel-wing composite structure in a wheel movement mode when passing through a low space.

[0014] Figure 3 is Figure 2 a structure schematic view from another angle.

[0015] Figure 4 is a structure schematic view of the robot of the wheel-wing composite structure in a first flight mode.

[0016] Figure 5 is Figure 4 a structure schematic view from another angle.

[0017] Figure 6 is a structure schematic view of the body.

[0018] Figure 7 is Figure 6 a structure schematic view of the body with a top plate removed.

[0019] Figure 8is a structural schematic view of the first steering engine, the shell and the second steering engine.

[0020] Figure 9 is a structural schematic view of the mechanical leg, the wheel and the rotor.

[0021] Figure 10 is Figure 11 is a structural schematic view of the shell with the wheel removed.

[0022] Figure 11 is a structural schematic view of the wheel, the support and the second connecting cylinder.

[0023] Reference signs: 1, first steering engine; 2, body; 201, connecting plate; 202, upper machine plate; 203, support frame; 204, lower machine plate; 3, mechanical leg; 4, wheel; 5, rotor; 6, shell; 7, second steering engine; 8, support; 9, first connecting cylinder; 10, speed reduction motor; 11, brushless motor; 12, connecting shaft; 13, second connecting cylinder; 14, sleeve. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and do not limit the utility model.

[0025] As Figures 1 to 11 shown, the wheel-rotor composite structure robot of the embodiment is coupled by the first steering engine 1, the body 2, the mechanical leg 3, the wheel 4, the rotor 5, the shell 6, the second steering engine 7, the support 8, the first connecting cylinder 9, the speed reduction motor 10, the brushless motor 11, the connecting shaft 12, the second connecting cylinder 13 and the sleeve 14.

[0026] The body 2 comprises a connecting plate 201, an upper machine plate 202, a support frame 203, a lower machine plate 204, four connecting plates 201 are arranged on the lower machine plate 204, the bottom of the lower machine plate 204 is provided with the support frame 203, the top of the four connecting plates 201 is provided with the upper machine plate 202 above the lower machine plate 204, two sides of two connecting plates 201 are respectively fixedly connected with the first steering engine 1 through bolts, and two connecting plates 201 are respectively rotatably installed with the shell 6. The shell 6 is fixedly connected with the second steering engine 7 through a bolt, the steering disc at the output end of each first steering engine 1 is fixedly connected with one side of the corresponding shell 6, the steering disc at the output end of each second steering engine 7 is fixedly connected with one end of the corresponding mechanical leg 3, the other end of each mechanical leg 3 is provided with the first connecting barrel 9, the inner part of each first connecting barrel 9 is provided with the speed reducer motor 10, the output shaft of each speed reducer motor 10 is fixedly connected with the second connecting barrel 13 through the connecting shaft 12, each second connecting barrel 13 is fixedly connected with the wheel 4 through the support 8, the inner part of each second connecting barrel 13 is provided with the brushless motor 11, the output shaft of each brushless motor 11 is fixedly connected with the sleeve 14, and the outer circumferences of each sleeve 14 are uniformly provided with the rotor 5. Each rotor 5 is located inside the wheel 4.

[0027] The working principle of the embodiment is as follows, (1) when the ground is easy to pass, the device adopts the ground wheel type motion mode, as shown in Figure 1 The steering discs at the output ends of the four first steering engines 1 drive the shells 6 to rotate on the connecting plates 201, the four shells 6 drive the second steering engines 7 to rotate, the steering discs at the output ends of the four second steering engines 7 drive the mechanical legs 3 to rotate, the four mechanical legs 3 are rotated to be perpendicular to the ground, the four mechanical legs 3 drive the four wheels 4 to move to be in contact with the ground, the output shafts of the speed reducer motors 10 in the first connecting barrels 9 drive the second connecting barrels 13 to rotate through the connecting shafts 12, and the wheels 4 are driven to rotate through the supports 8, so that the device can run on the ground.

[0028] When the device passes through a low space, as shown in Figures 2 to 3 The steering discs at the output ends of the four second steering engines 7 drive the mechanical legs 3 to rotate, the four mechanical legs 3 are rotated to be in an inclined state, so as to reduce the height of the body 2, and the device can smoothly pass through the low space.

[0029] (2) as shown in Figures 4 to 5When the ground wheel movement cannot pass, the flight mode is switched: the output end of the four first steering gears 1 drives the shell 6 to rotate on the connecting plate 201, the four shells 6 drive the second steering gears 7 to rotate, the output end of the four second steering gears 7 drives the mechanical legs 3 to rotate, the four mechanical legs 3 rotate to be parallel to the ground, the four mechanical legs 3 drive the four wheels 4 and the rotors 5 to move to the horizontal state, the output shaft of the brushless motor 11 in each second connecting cylinder 13 drives the sleeve 14 to rotate, and each sleeve 14 drives the rotor 5 to rotate, so that the four rotors 5 are distributed at the four corners of the machine body 2, and the device is more stable during flight.

[0030] The above merely describes preferred embodiments of the present application, and is not intended to limit the protection scope of the present application.

Claims

1. A wheel-wing hybrid robot, characterized by: The body (2) comprises a connecting plate (201), an upper machine plate (202), a support frame (203), and a lower machine plate (204), four connecting plates (201) are arranged on the lower machine plate (204), the upper machine plate (202) is arranged on the top of the four connecting plates (201) and above the lower machine plate (204), two connecting plates (201) are respectively provided with a first steering wheel (1) on the two sides, the other two connecting plates (201) are respectively rotatably installed with a shell (6) on the two sides, each shell (6) is provided with a second steering wheel (7), the steering wheel disc at the output end of each first steering wheel (1) is fixedly connected with one side of the corresponding shell (6), the steering wheel disc at the output end of each second steering wheel (7) is fixedly connected with one end of the corresponding mechanical leg (3), each mechanical leg (3) is provided with a first connecting barrel (9) at the other end, each first connecting barrel (9) is provided with a speed reduction motor (10) inside, the output shaft of each speed reduction motor (10) is fixedly connected with a second connecting barrel (13) through a connecting shaft (12), each second connecting barrel (13) is fixedly connected with a wheel (4) through a support (8), each second connecting barrel (13) is provided with a brushless motor (11) inside, the output shaft of each brushless motor (11) is fixedly connected with a sleeve (14), and each sleeve (14) is uniformly provided with a rotor (5) on the outer circumference.

2. The wheel wing composite structure robot according to claim 1, characterized by: The lower machine plate (204) is provided with a support frame (203) at the bottom.

3. The wheel wing composite structure robot according to claim 1, wherein: The two connecting plates (201) are fixedly connected with the first steering wheel (1) on the two sides through bolts.

4. The wheel wing composite structure robot according to claim 1, wherein: Each shell (6) is fixedly connected with the second steering wheel (7) through bolts.

5. The wheel wing composite structure robot according to claim 1, wherein: Each rotor (5) is located inside the wheel (4).

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