An air-to-ground reconnaissance robot

Abstract

The utility model provides a kind of ground-air reconnaissance robot, it is related to robot field.The utility model includes: chassis mechanism, mechanical arm holder mechanism, mechanical arm mechanism, bionic butterfly connecting mechanism and bionic butterfly aircraft;Bionic butterfly connecting mechanism is located above chassis mechanism, bionic butterfly connecting mechanism is connected with bionic butterfly aircraft by magnet, bionic butterfly aircraft is used to realize aerial reconnaissance;Butterfly aircraft includes wing, third camera, fourth camera, transmission assembly, first connecting rod, eighth steering machine and gripper mechanism, transmission assembly includes bevel gear, eighth steering machine connects first connecting rod, first connecting rod connects transmission assembly, and transmission assembly connects third camera and fourth camera;Chassis mechanism includes track structure, and track structure includes main track and auxiliary track;Mechanical arm holder mechanism includes first steering machine, and mechanical arm holder mechanism is located above chassis mechanism by first steering machine;Mechanical arm mechanism is located on mechanical arm holder mechanism.The utility model can improve ground-air reconnaissance efficiency, expand reconnaissance range.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an air-to-ground reconnaissance robot. Background Technology

[0002] As my country's emergency rescue industry rapidly transforms and develops towards modernization and specialization, the country's emphasis on this field is constantly increasing. Against this backdrop, developing new rescue robots has become an urgent task. Safety accidents are often sudden and highly dangerous, directly impacting the lives of the people. Therefore, accurately surveying and fully understanding the accident site environment and situation before implementing a rescue operation is crucial for ensuring the personal safety of rescue personnel and improving rescue efficiency.

[0003] Currently, conventional reconnaissance robots suffer from limited reconnaissance range, low efficiency, and a tendency to tip over. In large-scale accident scenes, they often struggle to simultaneously cover the complex situations on land and in the air, limiting their applicability to specific rescue and reconnaissance missions and thus hindering the overall improvement of rescue effectiveness. In complex rescue scenarios involving natural or accidental large-scale disasters, traditional tracked robots still face limitations when navigating obstacles, and their aerial reconnaissance range is limited, making it difficult to comprehensively cover disaster information. Utility Model Content

[0004] In response to the aforementioned technical problems, a ground-to-air reconnaissance robot is provided.

[0005] The technical means adopted in this utility model are as follows: An air-to-ground reconnaissance robot includes a chassis mechanism, a robotic arm gimbal mechanism, a robotic arm mechanism, a bionic butterfly connection mechanism, and a bionic butterfly aircraft. The bionic butterfly connecting mechanism is located above the chassis mechanism. The bionic butterfly connecting mechanism is connected to the bionic butterfly aircraft via a magnet. The bionic butterfly aircraft is used to achieve aerial reconnaissance. The butterfly aircraft includes wings, a third camera, a fourth camera, a transmission assembly, a first link, an eighth servo, and a gripper mechanism. The transmission assembly includes a bevel gear. The eighth servo is connected to the first link, the first link is connected to the transmission assembly, and the transmission assembly is connected to the third camera and the fourth camera. The chassis mechanism includes a track structure, which includes main tracks and auxiliary tracks. The robotic arm gimbal mechanism includes a first servo motor, and the robotic arm gimbal mechanism is mounted above the chassis mechanism via the first servo motor. The robotic arm gimbal mechanism is used to connect to the robotic arm mechanism. The robotic arm mechanism is mounted on the robotic arm gimbal mechanism. The robotic arm mechanism can change its posture to prevent the robot from tipping over and to assist in crossing obstacles.

[0006] Furthermore, the biomimetic butterfly aircraft includes a main fuselage rod and a gripper connecting rod that are connected in a cross manner, a servo module, a camera module, a servo mounting bracket, a gripper mechanism, and a wing. A gripper mechanism is provided below the end of the gripper connecting rod. A battery mounting bracket and an aileron connecting bracket are provided at one end of the main fuselage rod, and a servo module and a servo mounting bracket are provided at the other end of the main fuselage rod. One end of the servo mounting bracket is connected to the main fuselage rod, and the other end is connected to the camera module. The servo mounting bracket is connected to a seventh servo. The servo module is used to drive the third and fourth cameras to swing left and right. The wing includes a main wing and an aileron connected together. The seventh servo is connected to the wing connecting frame, which is connected to the main wing. The aileron connecting frame is connected to the aileron. The seventh servo drives the wing to flap up and down by rotating in both directions, thus realizing the flight of the biomimetic butterfly aircraft.

[0007] Furthermore, the servo module includes an eighth servo, a first bevel gear, an eighth bevel gear, and a servo protective housing. A turntable is provided above the servo protective housing. The first bevel gear and the eighth bevel gear mesh, and the eighth servo is connected to the turntable through the first bevel gear and the eighth bevel gear. The camera module includes a camera protective shell, a transmission assembly, a third camera, and a fourth camera. The third camera and the fourth camera are located outside the camera protective shell, and the transmission assembly is located inside the camera protective shell. The transmission assembly includes a second bevel gear, a third bevel gear, a first spur gear, a second spur gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, a first connecting rod fixing frame, a second connecting rod fixing frame, a connecting rod support frame, a gear fixing frame, and a third connecting rod. The lower end of the servo fixing frame is perpendicularly connected to the connecting rod support frame, and the upper end of the servo fixing frame is perpendicularly connected to the gear fixing frame. The second bevel gear passes through the gear fixing frame, and the upper part of the connecting rod support frame is perpendicularly connected to the first connecting rod fixing frame and the second connecting rod fixing frame, respectively. One end of the first connecting rod is fixedly connected to the turntable, and the other end of the first connecting rod is connected to the second bevel gear. The second bevel gear meshes with the third bevel gear. The third bevel gear is connected to the first spur gear through a first bearing. The first bearing passes through the first connecting rod fixing frame. The first spur gear meshes with the second spur gear. The second spur gear is connected to the fourth bevel gear. The second spur gear and the fourth bevel gear are coaxially connected to the fifth bevel gear through a second bearing. The second bearing passes through the first connecting rod fixing frame and the second connecting rod fixing frame in sequence. The fourth bevel gear meshes with the sixth bevel gear. The fifth bevel gear meshes with the seventh bevel gear. The sixth and seventh bevel gears are connected to the third connecting rod located below the connecting rod support frame. The third connecting rod is connected to the third and fourth cameras to enable the rotation of the third and fourth cameras.

[0008] Furthermore, the main wing includes a carbon rod and a wing plate. The carbon rod serves as the skeleton of the main wing, and the wing plate is fixedly disposed above the carbon rod. The wing connecting frame is a branch structure, and each branch of the wing connecting frame is connected to the carbon rod. The wing plate and aileron are made of aluminum-based composite material.

[0009] Furthermore, the gripper mechanism includes a motor and grippers. The motor is connected to a second link, which drives the grippers to switch between open and closed states.

[0010] Furthermore, the chassis mechanism includes a main track, a secondary track, and a bottom plate. A main drive mechanism is provided on the side of the bottom plate. The main track is circumferentially located outside the main drive mechanism. The main drive mechanism is connected to the secondary drive mechanism. The secondary track is circumferentially located outside the secondary drive mechanism. The bottom plate has a hollow structure. The biomimetic butterfly connecting mechanism is provided on the top of the bottom plate.

[0011] Furthermore, the robotic arm gimbal mechanism includes a gimbal mechanism housing, a first servo motor, a second servo motor, a third servo motor, a first platform, a second platform, and a second camera. The first servo motor is located below the gimbal mechanism housing and is located inside the chassis mechanism. The first servo motor is used to drive the robotic arm gimbal mechanism to rotate 360 ​​degrees in the plane direction of the chassis mechanism. The first platform is located on the upper right of the gimbal mechanism housing, and the second platform is located on the upper left of the gimbal mechanism housing. The first platform and the second platform are used to connect the robotic arm mechanism. The second servo motor and the third servo motor are located inside the gimbal mechanism housing. The second servo motor is connected to the first platform, and the third servo motor is connected to the second platform. The second servo motor and the third servo motor control the rotation of the robotic arm mechanism to achieve the pitch adjustment of the robotic arm mechanism. The second camera is mounted on the outer shell of the gimbal mechanism.

[0012] Furthermore, the robotic arm mechanism includes a fourth servo motor, a first connector, a fifth servo motor, a second connector, a sixth servo motor, a third connector, and a robotic arm track connected in sequence. One end of the fourth servo motor is connected to the robotic arm gimbal mechanism, and the other end is connected to the first connector. The fourth, fifth, and sixth servo motors are used to realize the attitude transformation of the robotic arm structure. The sixth servo motor is equipped with a first camera. The second connector is a U-shaped frame, and the first connector is a connector made up of two U-shaped frames. The open end of one U-shaped frame is connected to the fourth servo, and the closed end is connected to the closed end of the other U-shaped frame. The open end of the other U-shaped frame is connected to one end of the fifth servo, and the other end of the fifth servo is connected to the closed end of the second connector. The open end of the second connector is connected to the sixth servo. The third connector is a tripod. The closed end of the third connector is connected to the sixth servo motor, and the open end of the third connector is connected to the robotic arm track.

[0013] Furthermore, the biomimetic butterfly connecting mechanism includes a biomimetic butterfly connecting rod, a connecting rod, and a magnet. The biomimetic butterfly connecting rod is located above the chassis mechanism, the connecting rod is located above the biomimetic butterfly connecting rod, the magnet is located above the connecting rod, and the outer wall of the connecting rod has textures.

[0014] This utility model has the following advantages: 1. The biomimetic reconnaissance butterfly of this utility model has an independent servo motor, which, in combination with bevel gears, spur gears and connecting rods, drives and controls the camera to rotate left and right, enabling reconnaissance over a wider range.

[0015] 2. This utility model adopts a double robotic arm with tracks at the end of the robotic arm. In some complex terrain environments, it can support the machine and enable the machine to traverse uneven terrain quickly while suspended in the air. In more rugged environments, the double robotic arm plays a supporting role in preventing rollover. Both the double robotic arm and its connected gimbal are equipped with cameras to expand the reconnaissance range and further improve reconnaissance efficiency.

[0016] Based on the above reasons, this utility model can be widely promoted in fields such as robotics. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of an air-to-ground reconnaissance robot according to the present invention.

[0019] Figure 2 This is a schematic diagram of the base plate mechanism of this utility model.

[0020] Figure 3 This is a schematic diagram of the base plate mechanism of this utility model in motion.

[0021] Figure 4 This is a schematic diagram of the hollow state of the base plate in the base plate mechanism of this utility model.

[0022] Figure 5 This is a schematic diagram of the biomimetic butterfly connection mechanism of this utility model.

[0023] Figure 6 This is a schematic diagram of the structure of the robotic arm gimbal mechanism of this utility model.

[0024] Figure 7 This is a cross-sectional structural diagram of the gimbal mechanism and chassis mechanism of the robotic arm in the connected state.

[0025] Figure 8 This is a schematic diagram of the mechanical arm mechanism of this utility model.

[0026] Figure 9 This is a schematic diagram of the structure of the biomimetic butterfly flying machine of this utility model.

[0027] Figure 10 This is a schematic diagram of the skeleton structure of the biomimetic butterfly flying machine of this utility model.

[0028] Figure 11 This is a schematic diagram of the gripper mechanism in the biomimetic butterfly flying machine of this utility model.

[0029] Figure 12 This is a cross-sectional structural diagram of the camera module in the biomimetic butterfly flying machine of this utility model.

[0030] Figure 13 This is a schematic diagram of the internal structure of the servo module in the biomimetic butterfly flying machine of this utility model.

[0031] Figure 14 This is a schematic diagram of the internal structure of the camera module in the biomimetic butterfly flying machine of this utility model.

[0032] Figure 15 This is a bottom view of the biomimetic butterfly flying device of this utility model.

[0033] Figure 16 This is a schematic diagram of the wing connecting frame in the biomimetic butterfly flying machine of this utility model.

[0034] Figure 17 This is a partially enlarged schematic diagram of the biomimetic butterfly flying machine of this utility model when viewed from below.

[0035] Figure 18 This is a schematic diagram of the camera of the biomimetic butterfly flying device of this utility model when it is centered.

[0036] Figure 19 This is a schematic diagram of the camera of the biomimetic butterfly flying device of this utility model in the turning state.

[0037] Figure 20 This is a simulation diagram of a ground-to-air reconnaissance robot of this utility model when it is suspended in the air.

[0038] Figure 21 This is a simulation diagram of the anti-rollover operation of a ground-to-air reconnaissance robot according to this utility model.

[0039] Figure 22 This is a schematic diagram of the gimbal mechanism of the robotic arm of the ground-to-air reconnaissance robot of this utility model when it rotates.

[0040] Figure 23 This is a schematic diagram of the gimbal mechanism of the ground-to-air reconnaissance robot and the robot arm mechanism when adjusting their posture.

[0041] In the diagram: 1. Chassis mechanism; 2. Robotic arm gimbal mechanism; 3. Robotic arm mechanism; 4. Bionic butterfly aircraft; 5. Bionic butterfly connecting mechanism; 11. Base plate; 12. Main track; 13. Secondary track; 21. First servo motor; 22. Second servo motor; 23. Third servo motor; 24. First platform; 25. Second platform; 26. Second camera; 31. Fourth servo motor; 32. Fifth servo motor; 33. Sixth servo motor; 34. First connector; 35. Second connector; 36. First camera; 37. Robotic arm track; 38. Third connector; 41. Camera protective shell; 42. Wing; 43. Gripper mechanism; 44. Wing connecting frame; 45. Turntable; 46. Servo protective shell; 47. Gripper connecting rod; 48. Main fuselage rod; 49. Aileron connecting frame; 410. Battery mounting frame; 411. Gear holder; 4121. Second bevel gear; 4122. Third bevel gear; 4123. First spur gear; 4124. Second spur gear; 4125. Fourth bevel gear; 4126. Fifth bevel gear; 4127. Sixth bevel gear; 4128. Seventh bevel gear; 4131. First connecting rod holder; 4132. Second connecting rod holder; 414. Third camera; 415. Carbon rod; 416. Wing plate; 417. First connecting rod; 418. Fourth camera; 419. Seventh servo; 420. Connecting rod support; 421. Third connecting rod; 422. Eighth servo; 423. First bevel gear; 424. Eighth bevel gear; 425. Servo holder; 431. Motor; 432. Gripper; 51. Bionic butterfly connecting rod; 52. Magnet; 53. Connecting rod. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0045] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0046] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0047] like Figure 1 As shown, this utility model provides a ground-to-air reconnaissance robot, including a chassis mechanism 1, a robotic arm gimbal mechanism 2, a robotic arm mechanism 3, a bionic butterfly connection mechanism 5, and a bionic butterfly aircraft 4.

[0048] The bionic butterfly connecting mechanism 5 is located above the chassis mechanism 1. The bionic butterfly connecting mechanism 5 is connected to the bionic butterfly aircraft 4 through a magnet 52. The magnet 52 can change the magnetic pole through an electric current. When the magnetic poles switch, a driving force is generated to make the bionic butterfly aircraft 4 disengage and take off. The bionic butterfly aircraft 4 is used to achieve aerial reconnaissance.

[0049] The butterfly aircraft includes a wing 42, a third camera 414, a fourth camera 418, a transmission assembly, a first link 417, an eighth servo 422, and a gripper mechanism 43. The transmission assembly includes a bevel gear. A drive motor 431 drives the first link 417 to rotate. The first link 417 drives the transmission assembly, which in turn drives the third camera 414 and the fourth camera 418 to achieve left and right swaying of the third camera 414 and the fourth camera 418.

[0050] The chassis mechanism 1 includes a track structure, which includes a main track 12 and a secondary track 13. The main track 12 is used to provide power for the robot's land reconnaissance, and the secondary track 13 is adjusted by rotation to adapt to the forward movement requirements of different terrains.

[0051] The robotic arm gimbal mechanism 2 includes a first servo motor 21. The robotic arm gimbal mechanism 2 is mounted above the chassis mechanism 1 via the first servo motor 21 to achieve 360° rotation of the robotic arm gimbal mechanism 2. The robotic arm gimbal mechanism 2 is used to connect to the robotic arm mechanism 3 to achieve 360° rotation of the robotic arm mechanism 3.

[0052] The robotic arm mechanism 3 is mounted on the robotic arm gimbal mechanism 2. The robotic arm mechanism 3 can change its posture to prevent the robot from tipping over and to assist in crossing obstacles.

[0053] like Figure 2 As shown, the chassis mechanism 1 includes a main track 12, a secondary track 13, and a base plate 11. A main drive mechanism is located on the side of the base plate 11. The main track 12 is circumferentially located outside the main drive mechanism, which is connected to the secondary drive mechanism. The secondary track 13 is circumferentially located outside the secondary drive mechanism. The function of the chassis mechanism 1 is to detect the presence of life in the current environment, provide power for the machine to conduct land reconnaissance, and connect the biomimetic butterfly aircraft 4 and the dual robotic arms.

[0054] As a preferred embodiment of this utility model, the chassis mechanism 1 is equipped with a radar life detector for detecting whether there is life in the nearby area.

[0055] Furthermore, the track consists of two main tracks 12 and four auxiliary tracks 13. The two main tracks 12 enable it to move forward and turn, while the auxiliary tracks 13 are designed to rotate. When the machine is climbing or climbing ladders, the auxiliary track 13 modules can rotate within a 90° range to meet the travel needs of different terrain conditions.

[0056] like Figure 3 As shown, in dealing with complex terrain (such as crossing obstacles or traveling on uneven surfaces), the chassis mechanism 1 provides power for the robot's land reconnaissance and adapts to the needs of moving forward in different terrains, demonstrating the good motion adaptability and power transmission capability of the chassis mechanism 1 in complex terrain.

[0057] like Figure 4 As shown, the base plate 11 has a hollow structure, the first servo motor 21 is located inside the base plate 11, and a bionic butterfly connecting mechanism 5 is provided above the base plate 11.

[0058] like Figure 5 As shown, the biomimetic butterfly connecting mechanism 5 includes a biomimetic butterfly connecting rod 51, a connecting rod 53, and a magnet 52. The biomimetic butterfly connecting rod 51 is located above the chassis mechanism 1, the connecting rod 53 is located above the connecting rod 51, and the magnet 52 is located above the connecting rod 53. The outer wall of the connecting rod 53 has textures to prevent the aircraft from sliding up and down in some bumpy conditions.

[0059] In a preferred embodiment of this utility model, the magnet 52 serves to fix the machine during movement and bumps. When the butterfly is about to take off, the current inside the butterfly connecting rod changes, thereby changing its internal magnetic poles, causing it to repel the magnetic poles of the magnet 52 inside the gripper 432 and generate an upward thrust.

[0060] like Figure 6 As shown, the robotic arm gimbal mechanism 2 includes a gimbal mechanism housing, a first servo motor 21, a second servo motor 22, a third servo motor 23, a first platform 24, a second platform 25, and a second camera 26.

[0061] like Figure 7 As shown, a first servo motor 21 is provided below the outer shell of the gimbal mechanism. The first servo motor 21 is fixedly installed above the chassis mechanism 1. The first servo motor 21 is used to drive the robotic arm gimbal mechanism 2 to rotate 360° in the plane direction of the chassis mechanism 1.

[0062] The first platform is located at the upper right of the gimbal mechanism housing, and the second platform is located at the upper left of the gimbal mechanism housing. The first and second platforms are used to connect the robotic arm mechanism 3. The second servo motor 22 and the third servo motor 23 are located inside the gimbal mechanism housing. The second servo motor 22 is connected to the first platform, and the third servo motor 23 is connected to the second platform. The second servo motor 22 and the third servo motor 23 can enable the robotic arm to rotate 360° in the plane direction of the gimbal platform to achieve the pitch adjustment of the robotic arm mechanism 3. The second camera 26 is located on the gimbal mechanism housing.

[0063] like Figure 22As shown, during the rotation of the robotic arm gimbal mechanism 2, the first servo motor 21 acts as a horizontal rotation drive source, driving the entire gimbal mechanism and the robotic arm above it to rotate 360° around the vertical axis on the upper plane of the chassis. The second servo motor 22 drives the corresponding robotic arm components through the first platform, and the third servo motor 23 drives them through the second platform, causing them to pitch in the upper plane of the gimbal. The second and third servo motors control the rotation of the robotic arm mechanism, thereby achieving pitch adjustment. The second camera 26 is fixed to the front end of the gimbal mechanism housing. The second camera 26 and the first camera 36 can maintain real-time visual monitoring of the robotic arm's working area during the rotation of the gimbal.

[0064] like Figure 8 As shown, the robotic arm mechanism 3 includes a fourth servo motor 31, a first connector 34, a fifth servo motor 32, a second connector 35, a sixth servo motor 33, a third connector 38, and a robotic arm track 37 connected in sequence. One end of the fourth servo motor 31 is connected to the robotic arm gimbal mechanism 2, and the other end is connected to the first connector 34. The fourth servo motor 31, the fifth servo motor 32, and the sixth servo motor 33 are used to realize the attitude change of the robotic arm structure. The sixth servo motor 33 is equipped with a first camera 36.

[0065] As a preferred embodiment of this utility model, the first camera 36 can adjust the position and posture of the robotic arm through remote control during normal movement, thereby enabling reconnaissance in more directions.

[0066] The second connector 35 is a U-shaped frame, and the first connector 34 is a connecting frame for connecting two U-shaped frames. The open end of one U-shaped frame is connected to the fourth servo motor 31, and the closed end is connected to the closed end of the other U-shaped frame. The open end of the other U-shaped frame is connected to one end of the fifth servo motor 32, and the other end of the fifth servo motor 32 is connected to the closed end of the second connector 35. The open end of the second connector 35 is connected to the sixth servo motor 33.

[0067] The third connector 38 is a tripod. The closed end of the third connector 38 is connected to the sixth servo motor 33, and the open end of the third connector 38 is connected to the robotic arm track 37.

[0068] Specifically, such as Figure 20 and Figure 21 As shown, the robotic arm uses servo motors to change its posture in different working environments. The robotic arm can prevent the machine from tipping over on bumpy roads, providing support, and can also provide power for the machine to move forward. In abnormal road conditions, the servo motors can drive the robotic arm to change its posture to support the machine and allow it to suspend itself in the air to cross obstacles.

[0069] like Figure 23 As shown in the figure, this diagram illustrates the states of the robotic arm gimbal mechanism 2 and the robotic arm mechanism 3 when adjusting their poses.

[0070] like Figure 9 and Figure 10 As shown, the biomimetic butterfly aircraft 4 includes a cross-connected main fuselage rod 48 and gripper connecting rod 47, a servo module, a camera module, a servo mounting bracket 425, a gripper mechanism 43, and a wing 42. The gripper mechanism 43 is located below the end of the gripper connecting rod 47. One end of the main fuselage rod 48 has a battery mounting bracket 410 and an aileron connecting bracket 49, while the other end has a servo module and a servo mounting bracket 425. One end of the servo mounting bracket 425 is connected to the main fuselage rod 48, and the other end is connected to the camera module. The servo mounting bracket 425 is also connected to a seventh servo 419. The servo module is used to drive the third camera 414 and the fourth camera 418 to swing left and right. The wing 42 includes a main wing and an aileron connected together. The seventh servo 419 is connected to the wing connecting frame. The wing connecting frame 44 is connected to the main wing, and the aileron connecting frame 49 is connected to the aileron. The seventh servo 419 drives the wing 42 to flap up and down by rotating in both directions, so as to realize the flight of the bionic butterfly aircraft 4.

[0071] Furthermore, such as Figure 13 As shown, the servo module includes an eighth servo 422, a first bevel gear 423, an eighth bevel gear 424, and a servo protective housing 46. A turntable 45 is provided above the housing of the motor 431. The first bevel gear 423 and the eighth bevel gear 424 mesh, and the eighth servo 422 is connected to the turntable 45 through the first bevel gear 423 and the eighth bevel gear 424.

[0072] like Figure 12 , Figure 14 and Figure 17As shown, the camera module includes a camera protective housing 41, a transmission assembly, a third camera 414, and a fourth camera 418. The third camera 414 and the fourth camera 418 are located outside the camera protective housing 41, and the transmission assembly is located inside the camera protective housing 41. The transmission assembly includes a second bevel gear 4121, a third bevel gear 4122, a first spur gear 4123, a second spur gear 4124, a fourth bevel gear 4125, a fifth bevel gear 4126, a sixth bevel gear 4127, a seventh bevel gear 4128, a first connecting rod mounting bracket 4131, a second connecting rod mounting bracket 4132, a connecting rod support bracket 420, a gear mounting bracket 411, and a third connecting rod 421. The lower end of the servo mounting bracket 425 is perpendicularly connected to the connecting rod support bracket 420, and the upper end of the servo mounting bracket 425 is perpendicularly connected to the gear mounting bracket 411. The second bevel gear 4121 passes through the gear mounting bracket 411, and the upper part of the connecting rod support bracket 420 is perpendicularly connected to the first connecting rod mounting bracket 4131 and the second connecting rod mounting bracket 4132, respectively. One end of the first connecting rod 417 is fixedly connected to the turntable 45, and the other end of the first connecting rod 417 is connected to the second bevel gear 4121. The second bevel gear 4121 meshes with the third bevel gear 4122. The third bevel gear 4122 is connected to the first spur gear 4123 through the first bearing. The first bearing passes through the first connecting rod fixing bracket 4131. The first spur gear 4123 meshes with the second spur gear 4124. The second spur gear 4124 is connected to the fourth bevel gear 4125. The second spur gear 4124 and the fourth bevel gear 4125 are connected to the fifth bevel gear 4125 through the second bearing. The bevel gear 4126 is coaxially connected, and the second bearing passes through the first connecting rod fixing frame 4131 and the second connecting rod fixing frame 4132 in sequence. The fourth bevel gear 4125 meshes with the sixth bevel gear 4127, and the fifth bevel gear 4126 meshes with the seventh bevel gear 4128. The sixth bevel gear 4127 and the seventh bevel gear 4128 are connected to the third connecting rod 421 located below the connecting rod support frame 420. The third connecting rod 421 is connected to the third camera 414 and the fourth camera 418 to enable the third camera 414 and the fourth camera 418 to rotate.

[0073] Specifically, the bevel gear drives the third connecting rod 421 to rotate, which in turn drives the first movable component to rotate, which in turn drives the second movable component, which in turn drives the third movable component, thus enabling the camera to rotate.

[0074] like Figure 14As shown, specifically, the motor 431 rotates left and right (at a certain angle), and the first bevel gear 423 is fixed on the shaft of the motor 431 by fastening screws, which drives the eighth bevel gear 424 (also fixed by fastening screws) to rotate, thereby driving the turntable 45 to rotate. The turntable 45 drives the first connecting rod 417 to rotate, which transmits the driving force to the shaft of the second bevel gear 4121 to rotate (the turntable 45 and the second bevel gear 4121 rotate synchronously at a certain angle). The shaft of the second bevel gear 4121 is connected to the frame hole through a bearing, and then meshes with the third bevel gear 4122. The shaft of the fifth bevel gear 4126 is connected to the gear carrier hole through a bearing, which drives the first spur gear 4123 to mesh with the second spur gear 4124 whose shaft is connected to the gear carrier hole through a bearing. This further drives the third bevel gear 4122 and the fourth bevel gear 4125 to mesh with the sixth bevel gear 4127 and the seventh bevel gear 4128 of the gear carrier through a bearing, thereby driving the third connecting rod 421 below the camera to move.

[0075] like Figure 18 and Figure 19 The diagram shows the effect of camera rotation. With the eighth servo motor 422 driving the first link 417 via the turntable 45, and the first link 417 driving the bevel gear, the third camera 414 and the fourth camera 418 can smoothly swing left and right. The swinging process is stable, and the angle adjustment range meets design expectations, enabling reconnaissance and filming of areas in different directions. This provides a wider and more flexible field of view for aerial reconnaissance, effectively improving the comprehensiveness and accuracy of information collection on the target area.

[0076] Specifically, the eighth servo motor 422 drives the first bevel gear 423 to rotate clockwise (at a certain angle), which in turn drives the second bevel gear 4121 to rotate counterclockwise, thereby driving the first turntable to rotate counterclockwise. This, in turn, drives the second turntable to rotate counterclockwise via a connecting rod (the two turntables rotate synchronously via the connecting rod). The third bevel gear 4122 rotates synchronously counterclockwise, the fourth bevel gear 4125 rotates clockwise, and the first spur gear, which is coaxial with it, rotates counterclockwise, driving the fifth bevel gear 4126 and the second spur gear 4124 to rotate clockwise, while the sixth bevel gear 4127 rotates counterclockwise. Finally, the seventh bevel gear 4128 rotates counterclockwise, and the eighth bevel gear 424 rotates clockwise. The seventh and eighth bevel gears rotate in opposite directions when viewed from below. This further drives the second and third connecting rods 421 to rotate in the opposite direction, causing the camera to rotate in the opposite direction simultaneously.

[0077] like Figure 11 As shown, the gripper mechanism 43 includes a motor 431 and a gripper 432. The motor 431 is connected to a second link, which drives the gripper 432 to switch between open and closed states.

[0078] In a preferred embodiment of this utility model, the second connecting rod consists of three connecting rods, and the gripper 432 includes a fixed gripper 432 and a movable gripper 432 connected to each other. When the motor 431 rotates left and right, it can drive the three connecting rods to move together, thereby driving the movable gripper 432 to move, while the fixed gripper 432 remains stationary, thus realizing the opening and closing function of the gripper 432.

[0079] like Figure 15 As shown, the main wing includes a carbon rod 415 and a wingplate 416. The carbon rod 415 serves as the skeleton of the main wing, and the wingplate 416 is fixedly mounted above the carbon rod 415. The wing connecting frame 44 is a branched structure, with each branch of the wing connecting frame 44 connecting to the carbon rod 415. The wingplate 416 and the aileron are made of carbon-aluminum based composite material.

[0080] like Figure 16 As shown, the wing connecting frame 44 extends outwards with multiple branch structures distributed at certain angles. The main body features a hollow design, which reduces its own weight while ensuring structural strength. The branches around the perimeter are used to connect with the main wing, providing a stable support and connection foundation for the entire aircraft's main wing.

[0081] Figure 20 and Figure 21 These are schematic diagrams of the robot's suspended support simulation and anti-tipping simulation, which effectively verify the key role of the robotic arm mechanism 3 in anti-tipping protection and during suspended support.

[0082] In a preferred embodiment of this utility model, the first to sixth servo motors 33 are selected as X20S single-axis servo motors, and the seventh servo motor 419 is selected as Blue Arrow X0250. The first camera 36 is selected as 26 FSM-IMX334, and the second camera 26 is selected as 36 FSM-IMX334.

[0083] This utility model embodiment also includes a working method for a ground-to-air reconnaissance robot, which is implemented based on the above-mentioned ground-to-air reconnaissance robot, and the specific steps are as follows: Step 1: The main drive mechanism of the drive chassis 1 is turned to drive the main track 12 to rotate so as to realize the robot's land movement. When encountering complex terrain, the main drive mechanism is linked with the auxiliary drive mechanism to adjust the rotation angle of the auxiliary track 13 to enhance the stability of the robot's land movement. The radar life detector collects life signal data of the ground area. The second camera 26 and the first camera 36 on the robotic arm gimbal mechanism 2 collect land environment images to realize dual land reconnaissance.

[0084] Step 2: When there is a risk of tipping over or the robot needs to cross, the first connector is rotated by the fourth servo motor, the second connector is turned by the fifth servo motor, and the robotic arm track angle is adjusted by the sixth servo motor. The robotic arm gimbal mechanism 2 drives the robotic arm mechanism 3. The first camera 36 is operated remotely by the human. The first connector 34 is rotated by the fourth servo motor 31, the second connector 35 is turned by the fifth servo motor 32, and the robotic arm track 37 is adjusted by the sixth servo motor 33 to adjust the robotic arm posture so that the robotic arm track 37 contacts the ground or obstacle surface.

[0085] Step 3: When the bionic butterfly aircraft 4 is conducting reconnaissance in the air, an electric current is passed through the magnet 52 to change the magnetic poles of the magnet 52. The repulsive driving force generated by the switching of magnetic poles pushes the bionic butterfly aircraft 4 to disengage from the connection and activates the servo module. The seventh servo 419 drives the main wing to flap up and down through the wing connecting frame, and the aileron adjusts its angle synchronously to realize the take-off of the bionic butterfly aircraft 4.

[0086] Step 4: After takeoff, the eighth servo motor 422 drives the turntable 45 to rotate. The turntable 45 drives the first linkage 417 to rotate the bevel gear. The bevel gear drives the third camera 414 and the fourth camera 418 to swing left and right, and collect multi-angle images of the air area to achieve aerial reconnaissance.

[0087] Step 5: Upon return, the bionic butterfly aircraft 4 returns to the bionic butterfly connecting mechanism 5 above the chassis mechanism 1, adjusts the magnetic poles of magnet 52 to restore the adsorption state, and makes the gripper mechanism 43 of the aircraft adsorb with magnet 52, realizing the recovery of the aircraft and charging it for the next flight.

[0088] Specifically, the main control unit (a land-based reconnaissance machine) enters the reconnaissance site and, based on feedback and different environments, controls its forward movement, steering, and robotic arm posture, among other operations. The bionic butterfly aircraft 4 is driven independently by another controller. During takeoff and landing on the main control unit, its communication signals communicate with the main controller to determine if the current robotic arm posture affects takeoff. Takeoff is only permitted if the robotic arm posture and environment do not affect takeoff. When the butterfly is preparing to fly, a change in current within the connecting rod alters its internal magnetic poles, causing it to repel the magnetic poles of the magnet 52 inside the gripper 432, generating an upward thrust. Simultaneously, the servo motor 431 above the gripper 432 rotates, driving the connecting rod to release the gripper 432, allowing the butterfly's wings to flap up and down, completing takeoff. The bionic butterfly aircraft 4 can be accurately recovered via magnetic attraction and recharge for its next flight. The operator controls its flight and the rotation angle of the eighth servo motor 422, which in turn controls the camera's left and right position.

[0089] The dual robotic arms have a symmetrical structure, and each arm is equipped with a first camera 36. This structure allows the robot to perform reconnaissance functions through the cameras on the dual robotic arms during normal movement.

[0090] When the main machine encounters an abnormal forward environment, the operator can control its secondary track 13 to rotate to achieve some climbing and turning, or control the robotic arm to perform auxiliary operation with the bottom part suspended in the air. During the machine's movement, if it encounters a complex environment with large road undulations, the robotic arm will also quickly judge the situation on site, manually control the robotic arm to the optimal posture, assist the main machine to move forward and prevent it from tipping over, and provide support for it.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A ground-to-air reconnaissance robot, characterized in that, It includes a chassis mechanism, a robotic arm gimbal mechanism, a robotic arm mechanism, a bionic butterfly connection mechanism, and a bionic butterfly aircraft; The bionic butterfly connecting mechanism is located above the chassis mechanism. The bionic butterfly connecting mechanism is connected to the bionic butterfly aircraft via a magnet. The bionic butterfly aircraft is used to achieve aerial reconnaissance. The butterfly aircraft includes wings, a third camera, a fourth camera, a transmission assembly, a first link, an eighth servo, and a gripper mechanism. The transmission assembly includes a bevel gear. The eighth servo is connected to the first link, the first link is connected to the transmission assembly, and the transmission assembly is connected to the third camera and the fourth camera. The chassis mechanism includes a track structure, which includes main tracks and auxiliary tracks. The robotic arm gimbal mechanism includes a first servo motor, and the robotic arm gimbal mechanism is mounted above the chassis mechanism via the first servo motor. The robotic arm gimbal mechanism is used to connect to the robotic arm mechanism. The robotic arm mechanism is mounted on the robotic arm gimbal mechanism. The robotic arm mechanism can change its posture to prevent the robot from tipping over and to assist in crossing obstacles.

2. The ground-to-air reconnaissance robot according to claim 1, characterized in that, The biomimetic butterfly aircraft includes a main fuselage rod and a gripper connecting rod that are connected in a cross manner, a servo module, a camera module, a servo mounting bracket, a gripper mechanism, and a wing. A gripper mechanism is provided below the end of the gripper connecting rod. A battery mounting bracket and an aileron connecting bracket are provided at one end of the main fuselage rod, and a servo module and a servo mounting bracket are provided at the other end of the main fuselage rod. One end of the servo mounting bracket is connected to the main fuselage rod, and the other end is connected to the camera module. The servo mounting bracket is connected to a seventh servo. The servo module is used to drive the third and fourth cameras to swing left and right. The wing includes a main wing and an aileron connected together. The seventh servo is connected to the wing connecting frame, which is connected to the main wing. The aileron connecting frame is connected to the aileron. The seventh servo drives the wing to flap up and down by rotating in both directions, thus realizing the flight of the biomimetic butterfly aircraft.

3. The ground-to-air reconnaissance robot according to claim 2, characterized in that, The servo module includes an eighth servo, a first bevel gear, an eighth bevel gear, and a servo protective housing. A turntable is provided above the servo protective housing. The first bevel gear and the eighth bevel gear mesh. The eighth servo is connected to the turntable through the first bevel gear and the eighth bevel gear. The camera module includes a camera protective shell, a transmission assembly, a third camera, and a fourth camera. The third camera and the fourth camera are located outside the camera protective shell, and the transmission assembly is located inside the camera protective shell. The transmission assembly includes a second bevel gear, a third bevel gear, a first spur gear, a second spur gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, a seventh bevel gear, a first connecting rod fixing frame, a second connecting rod fixing frame, a connecting rod support frame, a gear fixing frame, and a third connecting rod. The lower end of the servo fixing frame is perpendicularly connected to the connecting rod support frame, and the upper end of the servo fixing frame is perpendicularly connected to the gear fixing frame. The second bevel gear passes through the gear fixing frame, and the upper part of the connecting rod support frame is perpendicularly connected to the first connecting rod fixing frame and the second connecting rod fixing frame, respectively. One end of the first connecting rod is fixedly connected to the turntable, and the other end of the first connecting rod is connected to the second bevel gear. The second bevel gear meshes with the third bevel gear. The third bevel gear is connected to the first spur gear through a first bearing. The first bearing passes through the first connecting rod fixing frame. The first spur gear meshes with the second spur gear. The second spur gear is connected to the fourth bevel gear. The second spur gear and the fourth bevel gear are coaxially connected to the fifth bevel gear through a second bearing. The second bearing passes through the first connecting rod fixing frame and the second connecting rod fixing frame in sequence. The fourth bevel gear meshes with the sixth bevel gear. The fifth bevel gear meshes with the seventh bevel gear. The sixth and seventh bevel gears are connected to the third connecting rod located below the connecting rod support frame. The third connecting rod is connected to the third and fourth cameras to enable the rotation of the third and fourth cameras.

4. The ground-to-air reconnaissance robot according to claim 2, characterized in that, The main wing includes a carbon rod and a wing plate. The carbon rod serves as the skeleton of the main wing, and the wing plate is fixed above the carbon rod. The wing connecting frame is a branch structure, and each branch of the wing connecting frame is connected to the carbon rod. The wing plate and aileron are made of aluminum-based composite material.

5. The ground-to-air reconnaissance robot according to claim 2, characterized in that, The gripper mechanism includes a motor and grippers. The motor is connected to a second link, which drives the grippers to switch between open and closed states.

6. The ground-to-air reconnaissance robot according to claim 1, characterized in that, The chassis mechanism includes a main track, a secondary track, and a bottom plate. A main drive mechanism is provided on the side of the bottom plate. The main track is circumferentially located outside the main drive mechanism. The main drive mechanism is connected to the secondary drive mechanism. The secondary track is circumferentially located outside the secondary drive mechanism. The bottom plate has a hollow structure. The biomimetic butterfly connecting mechanism is provided on the top of the bottom plate.

7. The ground-to-air reconnaissance robot according to claim 1, characterized in that, The robotic arm gimbal mechanism includes a gimbal mechanism shell, a first servo motor, a second servo motor, a third servo motor, a first platform, a second platform, and a second camera. The first servo motor is located below the gimbal mechanism shell and is located inside the chassis mechanism. The first servo motor is used to drive the robotic arm gimbal mechanism to rotate 360 ​​degrees in the plane direction of the chassis mechanism. The first platform is located on the upper right of the gimbal mechanism housing, and the second platform is located on the upper left of the gimbal mechanism housing. The first platform and the second platform are used to connect the robotic arm mechanism. The second servo motor and the third servo motor are located inside the gimbal mechanism housing. The second servo motor is connected to the first platform, and the third servo motor is connected to the second platform. The second servo motor and the third servo motor control the rotation of the robotic arm mechanism to achieve the pitch adjustment of the robotic arm mechanism. The second camera is mounted on the outer shell of the gimbal mechanism.

8. The ground-to-air reconnaissance robot according to claim 1, characterized in that, The robotic arm mechanism includes a fourth servo motor, a first connector, a fifth servo motor, a second connector, a sixth servo motor, a third connector, and a robotic arm track connected in sequence. One end of the fourth servo motor is connected to the robotic arm gimbal mechanism, and the other end is connected to the first connector. The fourth, fifth, and sixth servo motors are used to realize the attitude change of the robotic arm structure. The sixth servo motor is equipped with a first camera. The second connector is a U-shaped frame, and the first connector is a connector made up of two U-shaped frames. The open end of one U-shaped frame is connected to the fourth servo, and the closed end is connected to the closed end of the other U-shaped frame. The open end of the other U-shaped frame is connected to one end of the fifth servo, and the other end of the fifth servo is connected to the closed end of the second connector. The open end of the second connector is connected to the sixth servo. The third connector is a tripod. The closed end of the third connector is connected to the sixth servo motor, and the open end of the third connector is connected to the robotic arm track.

9. The ground-to-air reconnaissance robot according to claim 1, characterized in that, The biomimetic butterfly connecting mechanism includes a biomimetic butterfly connecting rod, a connecting rod, and a magnet. The biomimetic butterfly connecting rod is located above the chassis mechanism, the connecting rod is located above the connecting rod, the magnet is located above the connecting rod, and the outer wall of the connecting rod has textures.

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