Air-ground amphibious multi-legged flying robot
The amphibious multi-legged flying robot, which utilizes a multi-link structure and a time-sharing power supply mode, solves the problems of high energy consumption and limited load capacity of walking robots, achieving stable walking and flying capabilities, improving load capacity and endurance, and adapting to complex environments.
Patent Information
- Application Number
- CN202520540647.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-26
- Publication Date
- 2026-01-23
- Estimated Expiration
- 2035-03-26
AI Technical Summary
Existing walking robots rely on joint motors for drive, which consumes a lot of energy. The energy density of lithium batteries is limited, making it difficult to meet the demand for large loads. This leads to an exponential increase in battery capacity requirements, making it difficult to balance high load capacity and long battery life.
It adopts a multi-link structure design, including a large-link servo, a small-link servo, and a curved arm. It achieves multi-degree-of-freedom movement through a linkage seat and support feet. It combines a rotary servo and a flight servo, and uses a time-sharing power supply mode to optimize energy distribution, reduce energy consumption, and improve load-bearing capacity.
It has achieved the ability to walk and fly stably in complex environments, improved load capacity and endurance, reduced energy consumption, adapted to rugged terrain and crossed obstacles, and improved the robot's flexibility and wide-area coverage.
Smart Images
Figure CN223822020U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially relates to a amphibious multi -leg flying robot. BACKGROUND
[0002] Walking robot is the robot that moves on the ground through mechanical structure such as leg, wheel or track, flying robot realizes aerial motion through aerodynamics principle, possesses the ability of fast movement and crossing barrier, amphibious robot combines walking and flight ability, can switch mode in complex environment, has flexibility and wide area coverage ability, satisfies the task of multiple scene switching such as city search and rescue, pipeline detection, polar exploration.
[0003] Walking robot relies on joint motor drive, needs to continuously output torque to resist gravity, energy consumption is high, and additional energy is needed to maintain balance for multi-degree-of-freedom joint, further occupies load space, and the energy density of existing lithium battery is limited, high load needs larger power motor, leading to exponential growth of battery capacity demand, difficult to meet larger load, therefore, we propose an amphibious multi -leg flying robot to solve the existing problems. UTILITARY MODEL CONTENT
[0004] The utility model aims at the problems in the background art, and provides an amphibious multi -leg flying robot.
[0005] To achieve the above object, the utility model provides the following technical scheme: an amphibious multi -leg flying robot, including upper plate, support foot, rotary rudder, small connecting rod rudder, large connecting rod rudder and curved arm, the bottom plate is arranged at the lower end of the upper plate, six rotary rudders are arranged at the upper end of the bottom plate, the rudder fixing plate is arranged between the upper plate and the bottom plate, the curved arm is rotatably installed in the inside of the rudder fixing plate, the small arm connecting rod is installed in the inside of the lower end of the curved arm, the large arm connecting rod is rotatably installed in the inside of the upper end of the curved arm, the linkage seat is rotatably installed between the small arm connecting rod and the large arm connecting rod, the support foot is arranged at the lower end of the linkage seat, the small connecting rod rudder with the output end connected with the upper end of the curved arm is arranged at one end of the rudder fixing plate, the large connecting rod rudder with the output end connected with the inner wall of the large arm connecting rod is arranged at the end of the rudder fixing plate away from the small connecting rod rudder, and the rotary rudder output end is connected with the upper end of the rudder fixing plate.
[0006] Preferably, the bottom plate is provided with a battery plate at the lower end, and a storage cavity is arranged between the bottom plate and the upper plate. The battery plate is used for mounting the power battery, and the storage cavity is used for placing articles.
[0007] Preferably, the upper plate is provided with a pod at the front end. The pod is used for mounting various sensors and cameras of the robot and other equipment.
[0008] Preferably, the upper end of the battery plate is provided with six sets of lower rotating seats, and the lower end of the base plate is provided with six sets of upper rotating seats corresponding to the lower rotating seats. The servo mounting plate is rotatably installed inside the upper and lower rotating seats. The upper and lower rotating seats provide rotational support for the servo mounting plate.
[0009] Preferably, the support feet include three sets of odd-numbered feet and three sets of even-numbered feet. The odd-numbered feet include the two left corners and the center of the right side below the base plate, and the even-numbered feet include the center of the left side and the two right corners below the base plate.
[0010] Preferably, the outer wall of the servo mounting plate is provided with a first outer shell that fits onto the outside of the small linkage servo, and the outer wall of the servo mounting plate is provided with a second outer shell that fits onto the outside of the large linkage servo. The first outer shell shields the outside of the small linkage servo, thus protecting it, and the second outer shell shields the outside of the large linkage servo, thus protecting it.
[0011] Preferably, each of the four corners of the upper end of the upper plate is provided with an arm, and a flight servo is provided on one side of the upper end of each arm. The output end of the flight servo is provided with a propeller. During use, the arms support the flight servo, and the flight servo drives the propeller to rotate to achieve flight.
[0012] Preferably, a wear-resistant sleeve is fitted onto the outer wall of the lower end of the support leg. The wear-resistant sleeve contacts the ground, preventing the support leg from being directly worn by the ground, and the wear-resistant sleeve plays a protective role.
[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0014] 1. This utility model uses a large connecting rod servo motor to drive the large arm connecting rod to rotate around the crank arm as the axis and drive the linkage seat to move. The small connecting rod servo motor drives the crank arm to rotate and drives the upper end of the small arm connecting rod to rotate around the linkage seat as the axis. At the same time, the rotational force squeezes and drives the linkage seat to rotate around the rotating connection end of the large arm connecting rod as the axis. The rotating servo motor drives the servo motor fixing plate to rotate. The odd-numbered feet and even-numbered feet perform the functions of walking and support respectively. The odd-numbered feet and even-numbered feet work together to lift, land and walk. The multi-link structure realizes the load-bearing of heavy objects. Attached Figure Description
[0015] Figure 1 This is a top-view three-dimensional structural diagram of the present invention;
[0016] Figure 2 This is a top view of the structure of this utility model;
[0017] Figure 3 This is a front-view three-dimensional structural diagram of the present invention;
[0018] Figure 4 This is a side view of the first angle of the three-dimensional structure of this utility model;
[0019] Figure 5 This is a bottom-view three-dimensional structural diagram of the present invention;
[0020] Figure 6 This is a side view of the first angle of the three-dimensional structure of this utility model;
[0021] Figure 7 For the present utility model Figure 6 Enlarged 3D structural schematic diagram of the central linkage seat;
[0022] Figure 8 This is an exploded three-dimensional structural diagram of the servo motor mounting plate of this utility model.
[0023] Reference numerals: 1. Upper plate; 2. Arm; 3. Flight servo; 4. Support foot; 401. Odd-numbered foot; 402. Even-numbered foot; 5. Wear-resistant sleeve; 6. Rotary servo; 7. Propeller; 8. Base plate; 9. Battery panel; 10. Pod; 11. Articulated arm; 12. Servo mounting plate; 13. Small linkage servo; 14. Outer shell one; 15. Upper rotating seat; 16. Lower rotating seat; 17. Large linkage servo; 18. Forearm linkage; 19. Large arm linkage; 20. Linkage seat; 21. Outer shell two. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0025] like Figures 1-5 As shown, this utility model proposes an amphibious multi-legged flying robot, comprising an upper plate 1, supporting legs 4, rotary servo motors 6, small linkage servo motors 13, large linkage servo motors 17, and a curved arm 11. A base plate 8 is provided at the lower end of the upper plate 1, and six sets of rotary servo motors 6 are provided at the upper end of the base plate 8. A servo motor fixing plate 12 is provided between the upper plate 1 and the base plate 8. The curved arm 11 is rotatably mounted inside the servo motor fixing plate 12. A forearm link 18 is installed inside the lower end of the curved arm 11, and a small arm link 18 is installed inside the upper end of the curved arm 11. A boom link 19 is rotatably mounted, and a linkage seat 20 is rotatably mounted between the arm link 18 and the boom link 19. Each linkage seat 20 has a support foot 4 at its lower end. One end of the servo mounting plate 12 is provided with a small linkage servo 13 whose output end is connected to the inside of the upper end of the crank arm 11. The other end of the servo mounting plate 12 opposite to the small linkage servo 13 is provided with a large linkage servo 17 whose output end is connected to the inner wall of the boom link 19. The output end of the rotary servo 6 is connected to the upper end of the servo mounting plate 12.
[0026] A battery plate 9 is provided at the lower end of the base plate 8, and a storage cavity is provided between the base plate 8 and the upper plate 1.
[0027] A pod 10 is provided at the front end of the upper plate 1;
[0028] The upper end of the battery plate 9 is provided with six sets of lower rotating seats 16, and the lower end of the base plate 8 is provided with six sets of upper rotating seats 15 corresponding to the lower rotating seats 16. The servo mounting plate 12 is rotatably installed inside the upper rotating seats 15 and the lower rotating seats 16.
[0029] The support leg 4 includes three sets of odd-numbered legs 401 and three sets of even-numbered legs 402. The odd-numbered legs 401 are located at the two left corners and the center of the right side below the base plate 8, and the even-numbered legs 402 are located at the center of the left side and the two right corners below the base plate 8.
[0030] The outer wall of the servo mounting plate 12 is provided with a housing 14 that is sleeved on the outside of the small linkage servo 13, and the outer wall of the servo mounting plate 12 is provided with a housing 21 that is sleeved on the outside of the large linkage servo 17.
[0031] Arms 2 are installed at the four corners of the upper end of the upper plate 1. A flight servo 3 is installed on one side of the upper end of the arm 2. A propeller 7 is installed at the output end of the flight servo 3.
[0032] The lower end of the support leg 4 is fitted with a wear-resistant sleeve 5;
[0033] Based on the implementation steps of Example 1: The three sets of odd-numbered feet 401 at the left two corners and right center and the three sets of even-numbered feet 402 at the left center and right two corners are lifted and landed in a time-sharing manner. Through the coordinated control of the large linkage servo motor 17 and the small linkage servo motor 13, the triangular gait of insects is simulated to achieve stable walking. The servo motor fixing plate 12 is driven to rotate by the six sets of rotating servo motors 6, which link the curved arm 11, the large and small arm linkages 18, the small arm linkage 18 and the linkage seat 20 to form a multi-degree-of-freedom kinematic chain. The arms 2 at the four corners of the upper plate 1 are deployed. The flight servo motor 3 drives the propeller 7 to generate lift. The rotor differential speed control is used to achieve aerial turning and hovering. Combined with the real-time feedback of environmental data from the sensors and cameras of the pod 10, it can adapt to complex airspace missions. The six sets of rotating servo motors 6 are evenly distributed on the base plate 8. The driving force is distributed to each support foot 4 through the servo motor fixing plate 12 to avoid single-point load overload.
[0034] The linkage seat 20, together with the large and small arm linkages 18 and the forearm linkage 18, forms a "lever amplification" effect, converting the servo motor output torque into greater support force and improving the single-leg load-bearing capacity. The battery panel 9 and the storage cavity are designed in layers, with the battery concentrated in the lower part to lower the center of gravity. The storage cavity is used to carry mission equipment. Flight and walking modes are powered in a time-sharing manner, and the circuit switches to prioritize the energy distribution of the current movement mode. In walking mode, the multi-leg structure adapts to rugged terrain; in flight mode, it quickly crosses obstacles. The multi-link mechanism amplifies the servo motor torque and improves the load-bearing capacity. Walking mode is used for short-distance heavy loads with low energy consumption, while flight mode is used for long-distance light loads or obstacle crossings, extending the overall range. Through multi-link mechanical gain and distributed drive, the load output per unit motor power is significantly improved, solving the problems of high energy consumption and low load capacity.
[0035] The above specific embodiments are merely several preferred embodiments of this utility model. Based on the technical solution of this utility model and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.
[0036] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
Claims
1. An amphibious multi-legged flying robot, comprising an upper plate (1), supporting legs (4), a rotary servo motor (6), a small linkage servo motor (13), a large linkage servo motor (17), and a curved arm (11), characterized in that: The upper plate (1) has a base plate (8) at its lower end. The base plate (8) has six sets of rotating servo motors (6) at its upper end. A servo motor fixing plate (12) is provided between the upper plate (1) and the base plate (8). A crank arm (11) is rotatably mounted inside the servo motor fixing plate (12). A forearm connecting rod (18) is installed inside the lower end of the crank arm (11). A boom connecting rod (19) is rotatably mounted inside the upper end of the crank arm (11). The forearm connecting rod (18) and the boom connecting rod (19) are connected... A linkage seat (20) is rotatably mounted between the two sides. Each linkage seat (20) is provided with a support foot (4) at its lower end. One end of the servo mounting plate (12) is provided with a small connecting rod servo (13) whose output end is connected to the inside of the upper end of the crank arm (11). The other end of the servo mounting plate (12) opposite to the small connecting rod servo (13) is provided with a large connecting rod servo (17) whose output end is connected to the inner wall of the large arm connecting rod (19). The output end of the rotary servo (6) is connected to the upper end of the servo mounting plate (12).
2. The amphibious multi-legged flying robot according to claim 1, characterized in that: A battery plate (9) is provided at the lower end of the base plate (8), and a storage cavity is provided between the base plate (8) and the upper plate (1).
3. The amphibious multi-legged flying robot according to claim 1, characterized in that: The upper plate (1) is provided with a pod (10) at its front end.
4. The amphibious multi-legged flying robot according to claim 2, characterized in that: The upper end of the battery plate (9) is provided with six sets of lower rotating seats (16), and the lower end of the base plate (8) is provided with six sets of upper rotating seats (15) corresponding to the lower rotating seats (16). The servo fixing plate (12) is rotatably installed inside the upper rotating seats (15) and the lower rotating seats (16).
5. The amphibious multi-legged flying robot according to claim 1, characterized in that: The support foot (4) includes three sets of odd-numbered feet (401) and three sets of even-numbered feet (402). The odd-numbered feet (401) include the two left corners and the center of the right side below the base plate (8). The even-numbered feet (402) include the center of the left side and the two right corners below the base plate (8).
6. The amphibious multi-legged flying robot according to claim 1, characterized in that: The outer wall of the servo mounting plate (12) is provided with a first outer shell (14) that is sleeved on the outside of the small connecting rod servo (13), and the outer wall of the servo mounting plate (12) is provided with a second outer shell (21) that is sleeved on the outside of the large connecting rod servo (17).
7. The amphibious multi-legged flying robot according to claim 1, characterized in that: Each of the four corners of the upper plate (1) is provided with an arm (2), and a flight servo (3) is provided on one side of the upper end of the arm (2). A propeller (7) is provided at the output end of the flight servo (3).
8. The amphibious multi-legged flying robot according to claim 1, characterized in that: The lower end of the support foot (4) is fitted with a wear-resistant sleeve (5).