robot

Abstract

The application discloses a robot, comprising: a machine body; a plurality of drive rotation mechanisms installed on the machine body; a plurality of leg assemblies corresponding to the plurality of drive rotation mechanisms, the leg assemblies comprising a first driving part and a driving leg, the first driving part being installed on the drive rotation mechanism, the drive rotation mechanism being capable of driving the first driving part to rotate around a first axis, the driving leg being in power coupling connection with the first driving part, the first driving part being capable of driving the driving leg to rotate around a second axis, the second axis being arranged at an angle with the first axis; a plurality of roller assemblies, the roller assemblies comprising rollers movably connected to the driving legs; a plurality of flight assemblies, the flight assemblies comprising propellers movably connected to the driving legs; and a plurality of sliding assemblies, the sliding assemblies comprising bottom sliding wings movably connected to the machine body. The robot can adapt to various application scenarios such as a ship deck, a narrow cabin, complex sea conditions and sea surface search and rescue, and can be quickly and smoothly switched between modes, has strong adaptability, high robustness and long service life.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a robot. Background Technology

[0002] With the rapid development of technology, robots are gradually appearing in people's field of vision. Currently, robots are widely used in fields such as human companionship and assisted handling. However, the application scenarios of robots in the marine field are not common. The robots on the market lack mobility and are difficult to adapt to application scenarios such as ship decks, narrow cabins, and complex sea conditions. At the same time, they are not well-suited for special maritime search and rescue missions, and most robots have relatively complex structures and weak robustness. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a robot that can effectively adapt to the marine field, move in various terrains, and has strong adaptability and robustness.

[0004] In a first aspect, this application provides a robot comprising: body; Multiple drive mechanisms are mounted on the fuselage; Multiple leg components correspond one-to-one with multiple drive mechanisms. Each leg component includes a first drive unit and a drive leg. The first drive unit is mounted on the drive mechanism, and the drive mechanism can drive the first drive unit to rotate around a first axis. The drive leg is poweredly coupled to the first drive unit. The first drive unit can drive the drive leg to rotate around a second axis, and the second axis is set at an angle to the first axis. Multiple roller assemblies correspond one-to-one with multiple drive mechanisms. Each roller assembly includes a roller that can be movably connected to the drive leg. Multiple flight components correspond one-to-one with multiple drive mechanisms. The flight components include propellers that can be movably connected to the drive legs. Multiple taxiing components, including a bottom taxiing wing that is movably connected to the fuselage.

[0005] The robot according to this application integrates four movement modes: leg walking, wheel rolling, aerial flight, and water gliding. It can adapt to various application scenarios such as ship decks, narrow compartments, complex sea conditions, and maritime search and rescue, completely solving the problem of insufficient mobility of existing robots in the maritime field. The wheel assembly and flight assembly are integrated into the leg assembly, while the gliding assembly is mounted on the fuselage. The overall structure is compact and highly integrated. Compared to existing robots with complex structures, this robot has a simpler structure and a lower failure rate. All components adopt a movable connection design, allowing for flexible adjustment of states according to different movement modes. Combined with the high-precision control of the drive mechanism and the first drive unit, the robot can quickly and smoothly switch modes, exhibiting strong adaptability, robustness, and a long service life.

[0006] According to one embodiment of this application, the driving leg includes: The first leg, the first end of the first leg is dynamically coupled to the first drive unit; The second leg, the first end of the second leg is rotatably connected to the second end of the first leg; The second drive unit is poweredly coupled to the second leg and is used to drive the second leg to rotate relative to the first leg.

[0007] According to one embodiment of this application, the second drive unit includes a second drive motor and a transmission assembly. The second drive motor is mounted on the first end of the first leg. A cavity is provided inside the first leg. The transmission assembly is mounted inside the cavity. One end of the transmission assembly is dynamically coupled to the second drive motor, and the other end of the transmission assembly is dynamically coupled to the second leg.

[0008] According to one embodiment of this application, the roller assembly includes a roller motor, which is mounted on a first end of a first leg, and the output end of the roller motor is dynamically coupled to the roller.

[0009] According to one embodiment of this application, the diameter of the roller is greater than the width of the first leg.

[0010] According to one embodiment of this application, the roller, roller motor, first drive unit, and second drive unit are coaxially arranged.

[0011] According to one embodiment of this application, the drive leg further includes: The third drive unit is installed at the second end of the second leg; The foot is dynamically coupled to the third drive unit so that it rotates relative to the second leg under the drive of the third drive unit.

[0012] According to one embodiment of this application, the flight component includes a flight motor mounted on the foot, and a propeller including a propeller mount and blades, with the blades mounted on the propeller mount and the propeller mount being dynamically coupled to the output end of the flight motor.

[0013] According to one embodiment of this application, the bottom of the fuselage is provided with a through groove, the glider is installed in the through groove, the fuselage is provided with a glider support, a rotating shaft is installed on the glider support, and the glider is installed on the rotating shaft.

[0014] According to one embodiment of this application, the roller is a wheat roller; and / or, the machine body is provided with an extension mounting part for mounting extension components.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of the robot provided in the embodiments of this application; Figure 2 This is another structural schematic diagram of the robot provided in the embodiments of this application; Figure 3 This is another structural schematic diagram of the robot provided in the embodiments of this application; Figure 4 This is another structural schematic diagram of the robot provided in the embodiments of this application; Figure 5 This is a partial structural schematic diagram of the robot provided in an embodiment of this application; Figure 6 This is another partial structural schematic diagram of the robot provided in the embodiments of this application; Figure 7 This is another partial structural schematic diagram of the robot provided in the embodiments of this application; Figure 8 This is another partial structural schematic diagram of the robot provided in the embodiments of this application; Figure 9 This is another partial structural schematic diagram of the robot provided in the embodiments of this application; Figure 10 This is another partial structural schematic diagram of the robot provided in the embodiments of this application; Figure 11 This is another partial structural schematic diagram of the robot provided in the embodiments of this application.

[0017] Figure label: 1. Leg assembly; 2. Fuselage; 101. Drive mechanism; 102. First motor bracket; 103. First drive motor; 104. First mounting plate; 105. Second motor bracket; 106. First leg mounting bracket; 107. Second drive motor; 108. First leg; 109. Roller; 110. First leg cover; 111. Decorative cover; 112. Second leg; 113. Roller motor; 114. Third drive unit; 115. Foot; 116. Flight motor; 117. Propeller mount; 118. Swing arm; 119. Deep groove ball bearing; 120. Drive rod; 121. Flange connection plate; 122. Propeller blade; 201. Motor mounting base; 202. Fuselage; 203. Taxi wing support; 204. Taxi wing; 205. Rotating shaft. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] The following is for reference. Figures 1-11 Describes a robot according to an embodiment of this application.

[0020] Please see Figures 1-10 This application provides a robot that can be applied to the marine field, such as for auxiliary work on ships, maritime rescue, or cargo transportation.

[0021] The robot includes: a body 2, multiple drive mechanisms 101, multiple leg components 1, multiple roller components 109, multiple flight components, and multiple gliding components.

[0022] Multiple drive mechanisms 101 are mounted on the fuselage 2; multiple leg assemblies 1 correspond one-to-one with the multiple drive mechanisms 101, each leg assembly 1 including a first drive unit and a drive leg, the first drive unit being mounted on the drive mechanism 101, the drive mechanism 101 being able to drive the first drive unit to rotate around a first axis, the drive leg being dynamically coupled to the first drive unit, the first drive unit being able to drive the drive leg to rotate around a second axis, the second axis being set at an angle to the first axis; multiple roller assemblies 109 correspond one-to-one with the multiple drive mechanisms 101, each roller assembly including a roller 109 movably connected to the drive leg; multiple flight assemblies correspond one-to-one with the multiple drive mechanisms 101, each flight assembly including a propeller movably connected to the drive leg; and a taxiing assembly including a bottom taxiing wing 204 movably connected to the fuselage 2.

[0023] The fuselage 2, as the core supporting foundation of the robot, is integrally formed using high-strength lightweight alloy materials. For example, the fuselage 2 can be designed in a streamlined shape, which can reduce fluid resistance during flight and gliding on water, and provide a stable mounting base for various functional components.

[0024] In some examples, the interior of the fuselage 2 can be equipped with a sealed installation chamber. Within this chamber, control modules, power modules, sensor modules, and a waterproof heat dissipation structure are arranged in separate sections. The waterproof heat dissipation structure employs a combination of sealing rings and heat dissipation fins, effectively isolating the robot from seawater on the ship's deck and moisture in confined compartments, while rapidly dissipating heat generated by internal components during operation, ensuring stable operation of core components under complex sea conditions. The outer surface of the fuselage 2 is also treated with anti-corrosion coating to resist seawater salt corrosion and extend the robot's service life.

[0025] The number of drive mechanisms 101 can be set according to the robot's load-bearing requirements and mobility, such as two, four, six, or eight. Taking four drive mechanisms 101 as an example, the four drive mechanisms 101 are evenly distributed on both sides of the body 2, with two on each side and evenly spaced along the length of the body 2. This symmetrical layout can ensure that the robot is subjected to balanced forces in various movement modes and avoid the instability caused by uneven weight distribution on one side.

[0026] The drive mechanism 101 can employ a servo motor or an integrated structure of a servo motor and a precision gearbox. The servo motor possesses high-precision angle positioning capabilities, while the gearbox amplifies the motor's output torque, ensuring that the drive mechanism 101 can stably drive the leg assembly 1 to rotate without losing steps. Specifically, the drive mechanism 101 can be a brushless motor, fixed to a pre-set motor mounting base 201 on the outer side of the body 2 using high-strength bolts. The motor mounting base 201 can be integrally formed with the body 2, or it can be fixedly connected to the body 2 using bolts or clips. The motor mounting base 201 can have a reinforcing rib structure inside, which can effectively withstand the torque and impact force generated when the drive mechanism 101 is working, ensuring connection strength.

[0027] The leg components 1 are configured in a one-to-one correspondence with the drive mechanism 101. That is, when there are four drive mechanisms 101, there are also four leg components 1. The first drive part of each leg component 1 can be a servo motor. The servo motor is fixedly installed at the output end of the drive mechanism 101 through a flange, so that when the drive mechanism 101 is working, it can directly drive the first drive part to rotate around the first axis. The first axis can be set along the length direction of the fuselage 2 to ensure that the leg components 1 can unfold to both sides of the fuselage 2.

[0028] In some examples, the drive leg can be made of carbon fiber or aluminum profile, ensuring structural strength while reducing overall weight. One end of the drive leg is connected to the output end of the first drive unit via a splined shaft for power coupling. This connection method ensures the stability of power transmission and avoids slippage or power loss. The first drive unit can drive the drive leg to rotate around a second axis, which can be set along the width direction of the drive leg and form a 90-degree angle with the first axis. This angle setting ensures that the rotation direction of the drive leg is perpendicular to the rotation direction of the first drive unit, thereby enabling multi-dimensional movement of the drive leg and meeting the walking needs in complex terrain.

[0029] Each roller 109 assembly corresponds one-to-one with the drive mechanism 101. In some examples, each roller 109 assembly uses polyurethane material, which has good anti-slip and wear resistance. The roller 109 is movably connected to the end of the drive leg away from the first drive unit via a wheel frame. The wheel frame and the drive leg are connected by a pivot and bearing, allowing the roller 109 to rotate flexibly. The wheel frame can rotate relative to the drive leg and is fixed by locking bolts, so that the orientation of the roller 109 can be adjusted according to usage requirements. For example, when rolling is required, the roller 109 can be adjusted to be perpendicular to the ground, and when leg walking is required, the roller 109 can be adjusted to be parallel to the ground, avoiding contact between the roller 109 and the ground, which would affect walking stability. The diameter of the roller 109 is designed according to the size of the drive leg, ensuring that when the robot switches to rolling mode, multiple rollers 109 can contact the ground simultaneously. Through the coordinated control of the drive mechanism 101 and the first drive unit, the robot achieves high-speed and stable rolling movement.

[0030] The flight components and drive mechanisms 101 are configured in a one-to-one correspondence. Each flight component's propeller is made of carbon fiber composite material, possessing high strength and low wind resistance. The propeller is movably connected to the drive leg via a motor mount. The motor mount integrates a high-speed brushless motor, which is powered by the propeller, driving it to rotate at high speed and generate lift. The motor mount and drive leg are connected by a damping hinge, allowing the propeller's installation angle relative to the drive leg to be adjusted. For example, in flight mode, the propeller can be adjusted to a horizontal position to ensure the generated lift propels the robot vertically upwards. In non-flight mode, the propeller can be folded to fit snugly against the drive leg, reducing space occupation and preventing interference with other components during walking or rolling. The propeller size and rotation speed are designed based on the robot's overall weight, ensuring sufficient lift when multiple propellers operate simultaneously to propel the robot into flight.

[0031] The number of gliding components can be set to two, three, or four. In this embodiment, two are preferred, with the two gliding components symmetrically distributed on both sides of the bottom of the fuselage 2. The bottom gliding wing 204 of each gliding component is made of hollow fiberglass, which is lightweight and has good buoyancy and impact resistance. The gliding wing 204 has a streamlined shape and its lower surface has a smooth arc structure, which can reduce water resistance when gliding on the water surface.

[0032] In some examples, the gliding wing 204 is movably connected to the bottom of the fuselage 2 via a telescopic mechanism. The telescopic mechanism uses an electric push rod, with its fixed end installed inside the fuselage 2 and its telescopic end fixedly connected to the gliding wing 204. The gliding wing 204 can be deployed or retracted by extending or retracting the electric push rod. When gliding on water, the electric push rod pushes the gliding wing 204 downward to deploy, bringing it into contact with the water surface. The buoyancy of the water supports the robot's movement on the surface. Simultaneously, the angle of the leg assembly 1 is adjusted by the drive mechanism 101, which, together with the propeller thrust, propels the robot to glide on the water. In non-water mode, the electric push rod drives the gliding wing 204 upward to retract, bringing it close to the bottom of the fuselage 2, without affecting the robot's walking, rolling, or flying functions.

[0033] It should be noted that, Figure 1 The robot is in legged walking mode; Figure 2 The robot is in scrolling mode; Figure 3 The robot is in flight mode; Figure 4 The robot is in gliding mode.

[0034] In actual operation, when the robot is on a flat surface such as a ship's deck, it can switch to rolling mode. The angle of the leg assembly 1 is adjusted by the drive mechanism 101 or the first drive unit, ensuring the roller 109 is in perpendicular contact with the ground. The first drive unit then drives the drive legs to adjust the orientation of the roller 109, enabling the robot to roll at high speed with high stability and efficiency. When encountering narrow compartments or irregular surfaces, it switches to leg-walking mode. The drive mechanism 101 drives the first drive unit to rotate around the first axis, adjusting the overall orientation of the leg assembly 1. The first drive unit then drives the drive legs to rotate around the second axis. Through the coordinated action of multiple leg assemblies 1, the robot can walk, adapting to irregular terrain. The robot can meet the needs of road access. When it needs to cross obstacles or move quickly in complex sea conditions, it can switch to flight mode, adjust the propellers to the horizontal direction, start the brushless motor to drive the propellers to rotate at high speed, and the lift generated by multiple propellers will lift the robot into the air. By controlling the speed of each propeller, the flight direction and altitude can be adjusted to remove terrain restrictions. When performing a sea search and rescue mission, the robot can switch to water gliding mode, deploy the bottom gliding wing 204 through the telescopic mechanism, and float on the water to provide buoyancy for the robot. The drive mechanism 101 adjusts the leg assembly 1 so that the propellers face backward. The thrust generated by the rotation of the propellers will drive the robot to glide on the water, which will facilitate a quick approach to the search and rescue target.

[0035] The robot provided in this application integrates four movement modes: legged walking, rolling wheels 109, aerial flight, and water gliding. It can adapt to various application scenarios such as ship decks, narrow cabins, complex sea conditions, and maritime search and rescue, completely solving the problem of insufficient mobility of existing robots in the maritime field. The wheel 109 component and flight component are integrated into the leg component 1, and the gliding component is mounted on the fuselage 2. The overall structure is compact and highly integrated. Compared with existing robots with complex structures, this robot has a simpler structure and a lower failure rate. All components adopt a movable connection design, which can flexibly adjust the state according to different movement modes. Combined with the high-precision control of the drive mechanism 101 and the first drive unit, the robot can quickly and smoothly switch modes, exhibiting strong adaptability, robustness, and a long service life.

[0036] Please see Figure 6 and Figure 7 According to some embodiments of this application, the driving leg may include: a first leg 108, a second leg 112, and a second driving part. A first end of the first leg 108 is dynamically coupled to the first driving part; a first end of the second leg 112 is rotatably connected to the second end of the first leg 108; the second driving part is dynamically coupled to the second leg 112 and is used to drive the second leg 112 to rotate relative to the first leg 108.

[0037] The first leg 108 serves as the main support part of the driving leg. Its length is designed according to the overall size of the robot and its walking requirements to ensure that the robot has an appropriate stride in leg-walking mode. In some examples, the first driving unit may include a first motor bracket 102, a first driving motor 103, and a first fixing plate 104. The first motor bracket 102 is mounted on the output end of the drive mechanism 101, the first driving motor 103 is fixedly mounted on the first motor bracket 102, the first fixing plate 104 is mounted on the output end of the first driving motor 103, and the first leg 108 is mounted on the first fixing plate 104 through a first leg mounting bracket 106, so that the first driving unit can reliably drive the first leg 108 to rotate around the second axis.

[0038] The second leg 112, in conjunction with the first leg 108, forms a foldable drive leg structure. The length of the second leg 112 can be slightly shorter than that of the first leg 108 to optimize the overall force distribution and flexibility of the drive leg; alternatively, the second leg 112 can be the same length as the first leg 108. The first end of the second leg 112 is rotatably connected to the second end of the first leg 108 via a hinge. The hinge is made of stainless steel and treated with anti-corrosion coating to ensure smooth rotation and resistance to rust in the humid environment of a ship. The rotation axis 205 of the hinge is parallel to the second axis, so that the rotation direction of the second leg 112 is consistent with the rotation direction of the first leg 108 around the second axis, facilitating multi-stage bending adjustment of the drive leg.

[0039] The second drive unit can employ a micro servo motor. In some examples, this servo motor is fixedly mounted on the outer side of the second end of the first leg 108 via a motor bracket, which is integrally formed with the first leg 108, resulting in a robust structure. The output shaft of the second drive unit is poweredly coupled to the rotation shaft 205 of the hinge via a coupling. When the second drive unit is working, it can directly drive the hinge to rotate, thereby causing the second leg 112 to rotate relative to the first leg 108 around the hinge axis. The control signal of the second drive unit is synchronously connected to the control module of the fuselage 2 along with that of the first drive unit, enabling coordinated control between the two. The rotation angle of the second leg 112 can be adjusted according to road conditions. For example, when crossing higher obstacles, the second drive unit drives the second leg 112 to rotate upward, reducing the angle between the drive leg and the ground and improving obstacle-crossing ability. In narrow compartments, the second drive unit drives the second leg 112 to rotate downward, shortening the overall length of the drive leg and facilitating flexible movement in confined spaces.

[0040] When the robot is in legged walking mode, the first drive unit drives the first leg 108 to rotate around the second axis, adjusting the overall swing direction of the drive leg. Simultaneously, the second drive unit, based on feedback from the road surface, drives the second leg 112 to rotate relative to the first leg 108, changing the degree of bending of the drive leg. For example, when walking on a flat surface, the second drive unit controls the second leg 112 to remain collinear with the first leg 108, keeping the drive leg straight and improving walking stability. When encountering a protruding obstacle, the second drive unit drives the second leg 112 to rotate upwards, forming a bent structure to bypass the obstacle before driving the second leg 112 back to the ground, achieving smooth obstacle crossing. Through the coordination of the first leg 108, the second leg 112, and the second drive unit, the drive leg possesses multi-stage adjustment capabilities, further enhancing the robot's adaptability to complex terrains such as narrow cabins and protruding deck surfaces on ships.

[0041] Please see Figure 6 , Figure 7 and Figure 8 According to some embodiments of this application, the second drive unit may include a second drive motor 107 and a transmission assembly. The second drive motor 107 is mounted on the first end of the first leg 108. A cavity is provided inside the first leg 108. The transmission assembly is mounted inside the cavity. One end of the transmission assembly is poweredly coupled to the second drive motor 107, and the other end of the transmission assembly is poweredly coupled to the second leg 112.

[0042] The second drive motor 107 can be a brushless motor, whose size is adapted to the installation space of the first end of the first leg 108. It is fixedly installed on the inner side of the first end of the first leg 108 by the second motor bracket 105. For example, the second motor bracket 105 is fixedly installed on the first fixing plate 104, and the second motor is installed on the second motor bracket 105. The first leg mounting bracket 106 is a frame structure, connected to the periphery of the first fixing plate 104, so that the frame structure formed by the first leg mounting bracket 106 surrounds the second motor, resulting in a more compact overall structure and higher integration. The output shaft of the second drive motor 107 faces the cavity of the first leg 108, facilitating quick docking with the transmission components inside the cavity. Simultaneously, the motor housing is waterproof and sealed, cooperating with the sealed cavity of the first leg 108 to effectively prevent seawater and moisture from entering the motor and affecting its performance.

[0043] The cavity within the first leg 108 extends along its length. The cross-section of the cavity is circular or square, with the specific shape adapted to the structure of the transmission assembly. The inner wall of the cavity is smoothed to reduce frictional resistance during operation. Sealing caps are located at both ends of the cavity, and these caps are sealed to the first leg 108 using sealing rings. This ensures the cavity's airtightness, preventing debris from entering and interfering with the transmission assembly's operation, while also providing a stable installation and working space for the transmission assembly.

[0044] The transmission components can take various forms, such as gear transmission, chain transmission, screw transmission, or linkage transmission.

[0045] In some examples, the transmission assembly can be a gear drive, including a driving gear, a driven gear, and a drive shaft. The driving gear is fixedly mounted on the output shaft of the second drive motor 107. The drive shaft is mounted in the cavity of the first leg 108 via a bearing housing. The driven gear is fixedly mounted on one end of the drive shaft near the second leg 112 and meshes with the driving gear. The other end of the drive shaft is dynamically coupled to the hinge rotation shaft 205 of the second leg 112 via a coupling. All gears in the gear transmission assembly are made of high-strength alloy steel, and the tooth surfaces are hardened to improve their wear resistance and service life. The meshing clearance between the gears is precisely adjusted to ensure the accuracy and stability of power transmission and to avoid transmission lag or jamming.

[0046] In other examples, the transmission assembly includes a swing arm 118, a deep groove ball bearing 119, a transmission rod 120, and a flange connecting plate 121. The flange connecting plate 121 is mounted on the outside of the second drive motor 107, and the deep groove ball bearing 119 is mounted on the flange connecting plate 121. The output shaft of the second drive motor 107 is supported by the deep groove ball bearing 119 and fixedly connected to one end of the swing arm 118 to drive the swing arm 118 to rotate in the cavity. The other end of the swing arm 118 is rotatably connected to one end of the transmission rod 120, and the other end of the transmission rod 120 is rotatably connected to the end of the second leg 112. The rotation of the swing arm 118 drives the transmission rod 120 to move to transmit force to the second leg 112, thereby causing the second leg 112 to rotate relative to the first leg 108. The linkage connection has higher stability and can adapt to the corrosive working environment at sea.

[0047] Compared to directly mounting the drive motor on the second end of the first leg 108, the robot according to the embodiments of this application can effectively shorten the line length between the second drive motor 107 and the control module, reduce signal interference, make the structure of the drive leg more compact, and have greater flexibility in narrow spaces such as cabins. Moreover, the transmission components are hidden in the cavity and are well protected, making them less susceptible to external environmental influences, further improving the working reliability of the second drive unit.

[0048] Please see Figure 9 According to some embodiments of this application, the roller 109 assembly may include a roller motor 113, which is mounted on the first end of the first leg 108, and the output end of the roller motor 113 is poweredly coupled to the roller 109.

[0049] The roller motor 113 can be a brushless motor, whose output torque matches the load requirements of the roller 109, ensuring that the roller 109 has sufficient driving force to move the robot while achieving precise speed control. The roller motor 113 is fixedly mounted on the outer side of the first end of the first leg 108. In some examples, the first leg 108 includes a first leg cover 110, and a decorative cover 111 can be provided on the outer side of the first leg cover 110, on which the roller motor 113 can be mounted.

[0050] In some examples, the roller motor 113 may be equipped with a waterproof cover made of corrosion-resistant plastic, which is sealed to the motor bracket by a sealing ring. This effectively prevents seawater and fog from the ship's deck from entering the roller motor 113, ensuring its stable operation in a humid environment.

[0051] The output end of the roller motor 113 can be dynamically coupled to the axle of the roller 109 via a coupling. The coupling is a flexible coupling, which has a certain buffering and vibration reduction effect, reducing the impact of vibration generated by the roller 109 rolling on uneven surfaces on the output shaft of the roller motor 113 and extending the service life of the motor. The axle of the roller 109 is mounted on the wheel frame via bearings. The wheel frame is movably connected to the end of the first leg 108 away from the first drive unit. This connection method facilitates adjustment of the orientation of the roller 109 according to usage requirements.

[0052] When the robot switches to rolling mode, the angle of the leg assembly 1 is first adjusted by the drive mechanism 101 and the first drive unit, so that the roller 109 is in perpendicular contact with the ground. Then, the body 2 control module sends a control signal to the roller motor 113. The roller motor 113 starts and drives the axle of the roller 109 to rotate through the coupling. The axle drives the roller 109 to rotate. The synchronous rotation of multiple rollers 109 can drive the robot to roll. By installing the roller motor 113 and the roller 109 at the first end of the first leg 108, the roller 109 is brought closer to the body 2, and the first drive motor 103, the second drive motor 107 and the roller motor 113 are integrated. The three motors are essentially directly installed between the roller 109 and the body 2, which improves the overall stability and reliability of operation, whether in rolling mode or other movement modes.

[0053] Please see Figure 6 According to some embodiments of this application, the diameter of the roller 109 is greater than the width of the first leg 108.

[0054] The diameter of the roller 109 is set to be larger than the width of the first leg 108. The specific size is determined based on the actual width of the first leg 108. For example, if the width of the first leg 108 is 60mm, the diameter of the roller 109 can be selected as 75mm, 80mm, or 90mm, etc., ensuring that the diameter of the roller 109 is more than 15mm larger than the width of the first leg 108, forming a reasonable size difference. The core function of this size design is to make the roller 109 the only part of the drive leg in contact with the ground when the robot is in rolling mode, avoiding direct friction or collision between the first leg 108 and the ground, thereby protecting the first leg 108 from wear or damage by ground protrusions and sharp impurities, and extending the service life of the drive leg.

[0055] In ship deck scenarios, small obstacles such as bolt head protrusions and cable joints are common. The larger diameter roller 109, with its size advantage, can more easily roll over or traverse these obstacles, reducing the risk of the roller 109 getting stuck or locked, and improving the robot's smoothness of movement in complex deck environments. Simultaneously, the larger diameter of the roller 109 compared to the width of the first leg 108 increases the supporting base area when the robot rolls, making its rolling movement more stable in swaying sea conditions, reducing the probability of capsizing due to uneven ground or hull sway, and further ensuring the reliability of the robot in ship applications.

[0056] Please see Figure 9 According to some embodiments of this application, the roller 109, the roller motor 113, the first drive unit and the second drive unit are coaxially arranged.

[0057] The roller 109, roller motor 113, first drive unit, and second drive unit are coaxially arranged, meaning the output shafts of roller 109, roller motor 113, first drive motor 103, and second drive motor 107 are coaxially arranged. When the robot is running, the power output and transmission of each drive component are along the same axis, which avoids radial additional torque caused by axis offset, reduces stress concentration in the first leg 108 and various connecting parts, reduces component wear, and extends the service life of the overall structure. In rolling mode, the power of roller motor 113 driving roller 109 to rotate is transmitted along the axis, and roller 109 is subjected to uniform force, making it less prone to uneven wear. In leg walking mode, when the first drive unit drives the first leg 108 to swing and the second drive unit drives the second leg 112 to rotate, the motion trajectory of each component unfolds around the coaxial axis, resulting in stronger motion coordination. At the same time, the coaxial layout makes the component distribution at both ends of the first leg 108 more symmetrical, and the center of gravity of the drive leg is distributed along the axis, avoiding swaying of the robot when walking or rolling due to center of gravity offset. In addition, this layout simplifies the structural arrangement around the first leg 108, reduces space occupation, and especially in narrow cabins of ships, it can reduce the risk of interference between the drive leg and cabin walls or other equipment, further enhancing the robot's adaptability in complex scenarios.

[0058] Please see Figure 9 and Figure 10 According to some embodiments of this application, the driving leg may further include a third driving part 114 and a foot 115. The third driving part 114 is mounted on the second end of the second leg 112; the foot 115 is dynamically coupled to the third driving part 114 to rotate relative to the second leg 112 under the drive of the third driving part 114.

[0059] The third drive unit 114 can be a miniature servo motor, the size of which is adapted to the installation space at the second end of the second leg 112. It is fixedly mounted on the end face of the second leg 112 away from the first leg 108 via a motor flange. The motor flange and the second leg 112 are sealed with a sealing ring to prevent seawater and moisture from entering the interior of the third drive unit 114, ensuring its stable operation in the humid environment of the ship. The output shaft axis of the third drive unit 114 is coaxial with the length direction of the second leg 112, that is, the output shaft axis coincides with the central axis of the second leg 112. This axis arrangement allows the power transmission to be along the length direction of the second leg 112 when the third drive unit 114 drives the foot 115 to rotate, avoiding the generation of additional torque.

[0060] The foot 115 is made of high-strength, wear-resistant rubber and has an arc-shaped plate structure. The side in contact with the ground has anti-slip textures to increase friction between the foot 115 and surfaces such as ship decks and cabin floors, preventing the robot from slipping during movement. One end of the foot 115 has a connecting hole, which connects to the output end of the third drive unit 114 via a splined shaft. This splined connection ensures stable power transmission between the foot 115 and the third drive unit 114, preventing relative slippage. The dimensions of the foot 115 are designed based on the diameter of the second leg 112 and the robot's load-bearing requirements, ensuring sufficient support area when the foot 115 contacts the ground, thus improving the robot's stability during movement.

[0061] When the robot is in legged walking mode, the third drive unit 114 is activated according to the signal from the control module of the body 2. Its output shaft rotates around its own axis (coaxial with the length direction of the second leg 112), thereby driving the foot 115 to rotate synchronously relative to the second leg 112, thus changing the contact angle between the foot 115 and the ground. For example, when there is an inclination angle on the ship's deck, the third drive unit 114 drives the foot 115 to rotate, keeping the foot 115 in contact with the deck surface, increasing the contact area and friction. When encountering uneven ground in a narrow compartment, the angle of the foot 115 is adjusted to adapt to the undulations of the ground, preventing the robot from tipping over. Through the cooperation of the third drive unit 114 and the foot 115, the ground adaptability of the driven legs is further improved, making the robot more stable and reliable in the complex and varied terrain environment of the ship, effectively making up for the defect of the non-adjustable angle of the foot 115 when walking on irregular surfaces in existing robots.

[0062] Please see Figure 9 and Figure 10 According to some embodiments of this application, the flight assembly includes a flight motor 116, which is mounted on the foot 115. The propeller includes a propeller support and blades 122, which are mounted on the propeller support. The propeller support is poweredly coupled to the output end of the flight motor 116.

[0063] The flight motor 116 is a high-speed brushless motor, designed with power based on the robot's lift requirements. It generates sufficient driving force to rotate the propeller while maintaining lightweight characteristics to control the load on the feet 115. The flight motor 116 is fixedly mounted on one side of the feet 115 via a motor bracket. The bracket and feet 115 are integrally molded, resulting in high structural strength capable of withstanding the vibrations and torque generated during operation. A shock-absorbing pad made of elastic rubber is placed between the motor bracket and the flight motor 116 to effectively absorb vibrations from the flight motor 116, preventing vibrations from being transmitted to the feet 115 and affecting the overall stability of the robot. Furthermore, the outer shell of the flight motor 116 is waterproof and sealed to resist corrosion from seawater and fog.

[0064] The propeller mount is made of carbon fiber composite material and has a cylindrical structure. One end of the mount has a connection hole that matches the output end of the flight motor 116. It is connected to the output end of the flight motor 116 via a key connection, ensuring reliable power transmission between the propeller mount and the output end of the flight motor 116 and preventing slippage. The blades 122 are made of high-strength, lightweight carbon fiber and can be two or three in number. In this embodiment, two blades 122 are preferred. The two blades 122 are symmetrically mounted on the outer wall of the propeller mount. The blades 122 are fixed to the propeller mount with high-strength bolts, and anti-loosening washers are provided at the bolt connections to prevent the blades 122 from loosening during high-speed propeller rotation. The blades 122 have a streamlined aerodynamic design, which reduces air resistance and improves the lift efficiency generated by the propeller rotation.

[0065] When the robot switches to flight mode, the control module of the fuselage 2 sends a start signal to the flight motor 116. The flight motor 116 starts and drives the propeller mount to rotate at high speed. The propeller mount drives the propeller blades 122 to rotate synchronously. During the rotation of the propeller blades 122, they interact with the air and generate upward lift. The propellers of multiple flight components work synchronously, and the lift generated overcomes the robot's own weight, propelling the robot into the air. By controlling the speed of each flight motor 116, the lift of the corresponding propeller can be adjusted, thereby controlling the robot's flight direction and altitude. Mounting the flight motors 116 on the feet 115, compared to the traditional method of mounting the flight components in the middle of the drive legs, allows for a more dispersed distribution of the propellers, improving stability during flight. At the same time, the feet 115 provide a stable mounting base for the flight motors 116, ensuring that the flight components are not prone to shaking during high-speed rotation, further enhancing the reliability of the robot in flight mode.

[0066] Please see Figure 11According to some embodiments of this application, the bottom of the fuselage 2 is provided with a through groove, the glider 204 is installed in the through groove, the fuselage 2 is provided with a glider support 203, a rotating shaft 205 is installed on the glider support 203, and the glider 204 is installed on the rotating shaft 205.

[0067] The through slots at the bottom of the body 2 are arranged along the length of the body 2, and their number matches the number of gliding wings 204. If there are two gliding wings 204, then there are two corresponding through slots, symmetrically distributed on both sides of the bottom of the body 2. The width and depth of the through slots are designed according to the size of the gliding wings 204 to ensure that the gliding wings 204 can be completely accommodated in the through slots when retracted, keeping the bottom of the body 2 flat and not affecting the normal operation of the robot in walking and rolling modes. The edges of the through slots are rounded to reduce water resistance when gliding on the water surface, and to prevent collision and wear between the gliding wings 204 and the edges of the through slots when deployed or retracted.

[0068] The taxiway wing support 203 is made of high-strength alloy material and is fixedly installed above the corresponding through slot inside the fuselage 2. The support is connected to the inner wall of the fuselage 2 by welding or high-strength bolts, resulting in a stable structure that can withstand the impact forces generated during the deployment and taxiing of the taxiway wing 204. A rotating shaft 205 is installed horizontally on the taxiway wing support 203. The rotating shaft 205 is made of stainless steel and has been treated for corrosion resistance. Its two ends are rotatably connected to the taxiway wing support 203 via bearings, allowing the rotating shaft 205 to rotate flexibly and resist rust. The axis of the rotating shaft 205 is parallel to the width direction of the fuselage 2, ensuring that the taxiway wing 204 can rotate up and down around the rotating shaft 205 to complete the deployment or retraction actions.

[0069] A bushing is provided at one end of the glider 204 near the rotating shaft 205. The bushing is integrally formed with the glider 204 and is fitted onto the rotating shaft 205 and fixed by a set screw, so that the glider 204 and the rotating shaft 205 rotate synchronously. When the glider 204 needs to be deployed, the rotating shaft 205 is driven to rotate by a drive mechanism (such as a servo motor or electric push rod). The rotating shaft 205 drives the glider 204 to flip downward around its axis until the glider 204 is at a preset angle with the bottom of the fuselage 2. At this time, the glider 204 extends out of the through slot and can contact the water surface to glide. When the glider 204 needs to be retracted, the drive mechanism drives the rotating shaft 205 to rotate in the opposite direction, and the glider 204 flips upward into the through slot, keeping it flush with the bottom of the fuselage 2.

[0070] Please see Figures 1-4 , Figure 6 and Figure 9 According to some embodiments of this application, the roller 109 can be a wheat roller.

[0071] The roller 109 uses a Mecanum wheel, which includes a rim and multiple rollers evenly distributed along the circumference of the rim. The axis of the rollers is set at a 45-degree angle to the axis of the rim. The rollers are made of polyurethane, which has good elasticity and wear resistance. The Mecanum wheel is movably connected to the end of the drive leg away from the first drive unit via a wheel frame. The connection structure between the wheel frame and the drive leg is the same as that of the aforementioned roller 109 assembly. The wheel axle of the Mecanum wheel is poweredly coupled to the output end of the roller motor 113 via a coupling. This structural design of the Mecanum wheel allows the robot to not only move forward and backward in linear motion in rolling mode, but also to achieve various movement modes such as lateral movement, diagonal movement, and rotation in place by controlling the speed and direction of different Mecanum wheels. This greatly improves the robot's maneuverability and flexibility in scenarios such as narrow cabins and deck surfaces on ships. The advantages of the Mecanum wheel are particularly prominent when precise position adjustments are required to perform tasks.

[0072] When the roller 109 uses a swivel wheel, the rotation speed and direction of each roller motor 113 are coordinated and controlled by the control module of the machine body 2. By utilizing the angular characteristics of the swivel wheel roller, driving forces in different directions are synthesized to achieve omnidirectional movement of the robot, thus solving the limitation that the traditional roller 109 can only move in one direction.

[0073] Please see Figures 1-4 According to some embodiments of this application, the fuselage 2 may be provided with an expansion mounting section for mounting expansion components.

[0074] The fuselage 2 is equipped with multiple extension mounting sections, evenly distributed on the top and sides of the fuselage 2. Each extension mounting section uses a standard mounting flange structure with multiple evenly distributed mounting holes. The specifications of these holes are compatible with common extension component interfaces, facilitating quick installation and removal of extension components. Extension components can be selected according to actual application requirements. For example, in maritime search and rescue missions, life detectors, high-definition cameras, and audible and visual alarms can be installed via the extension mounting sections; in ship inspection missions, detection components such as temperature sensors, humidity sensors, and gas detection sensors can be installed. The extension mounting sections are connected to the fuselage 2 using high-strength bolts, and the connection points are equipped with sealing gaskets to ensure that the connection strength and sealing performance of the extension mounting sections are not affected in humid, salt-spray-prone marine environments.

[0075] When an extension installation unit is installed, the robot can flexibly equip various extension components according to different task requirements without modifying the main structure of the robot body, greatly improving the robot's functional expandability and applicability. These two technical features can be used individually or simultaneously. When used simultaneously, the robot possesses both flexible mobility and diverse task functions, further enhancing its adaptability and practicality in the marine field and meeting operational needs in different scenarios.

[0076] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0077] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0078] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0079] In the description of this application, "multiple" means two or more.

[0080] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0081] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0083] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that, include: body; Multiple drive mechanisms are installed on the fuselage; Multiple leg components correspond one-to-one with multiple drive mechanisms. Each leg component includes a first drive part and a drive leg. The first drive part is mounted on the drive mechanism. The drive mechanism can drive the first drive part to rotate around a first axis. The drive leg is dynamically coupled to the first drive part. The first drive part can drive the drive leg to rotate around a second axis. The second axis is set at an angle to the first axis. Multiple roller assemblies correspond one-to-one with multiple drive mechanisms, and each roller assembly includes a roller movably connected to the drive leg; Multiple flight components correspond one-to-one with multiple drive mechanisms, and each flight component includes a propeller movably connected to the drive leg; Multiple taxiing components, each including a bottom taxiing wing movably connected to the fuselage.

2. The robot according to claim 1, characterized in that, The drive leg includes: The first leg, the first end of the first leg is dynamically coupled to the first drive unit; The second leg, the first end of the second leg is rotatably connected to the second end of the first leg; The second drive unit is dynamically coupled to the second leg and is used to drive the second leg to rotate relative to the first leg.

3. The robot according to claim 2, characterized in that, The second drive unit includes a second drive motor and a transmission assembly. The second drive motor is mounted on the first end of the first leg. A cavity is provided inside the first leg. The transmission assembly is installed inside the cavity. One end of the transmission assembly is dynamically coupled to the second drive motor, and the other end of the transmission assembly is dynamically coupled to the second leg.

4. The robot according to claim 2, characterized in that, The roller assembly includes a roller motor, which is mounted on the first end of the first leg, and the output end of the roller motor is dynamically coupled to the roller.

5. The robot according to claim 4, characterized in that, The diameter of the roller is greater than the width of the first leg.

6. The robot according to claim 4, characterized in that, The roller, the roller motor, the first drive unit, and the second drive unit are coaxially arranged.

7. The robot according to claim 2, characterized in that, The drive leg also includes: The third drive unit is installed at the second end of the second leg; The foot is dynamically coupled to the third drive unit to rotate relative to the second leg under the drive of the third drive unit.

8. The robot according to claim 7, characterized in that, The flight assembly includes a flight motor mounted on the foot, and the propeller includes a propeller mount and blades, with the blades mounted on the propeller mount and the propeller mount being power-coupled to the output end of the flight motor.

9. The robot according to claim 2, characterized in that, The bottom of the fuselage is provided with a through groove, the glider is installed in the through groove, the fuselage is provided with a glider support, a rotating shaft is installed on the glider support, and the glider is installed on the rotating shaft.

10. The robot according to any one of claims 1-9, characterized in that, The roller is a wheat roller; and / or, the machine body is provided with an extension mounting part, which is used to install extension components.

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