CN107009831A - A kind of town road is used can flying robot - Google Patents
A kind of town road is used can flying robot Download PDFInfo
- Publication number
- CN107009831A CN107009831A CN201710256358.4A CN201710256358A CN107009831A CN 107009831 A CN107009831 A CN 107009831A CN 201710256358 A CN201710256358 A CN 201710256358A CN 107009831 A CN107009831 A CN 107009831A
- Authority
- CN
- China
- Prior art keywords
- frame
- support arm
- hollow shaft
- solid shafting
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000009184 walking Effects 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000007787 solid Substances 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
Abstract
The invention discloses a kind of town road with can flying robot, including frame, the frame is provided with four groups of walking mechanisms, walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides, it is characterized in that, the walking mechanism includes hollow shaft and solid shafting, the hollow shaft sleeve is located at solid shafting outer ring, connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring is connected on the side wall of frame by bearing, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the two ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, first support arm and the second support arm are located at the both sides of hollow shaft axis respectively.The present invention can be achieved the walking of robot and run to jump by four groups of walking mechanisms, and adapt to complicated landform, and each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, frame can be by the regulation of walking mechanism come adjustable height, with practicality.
Description
Technical field
The present invention relates to machinery equipment technical field, particularly relating to a kind of town road use can flying robot.
Background technology
The walking of the robot of prior art can be realized in several ways, but the equal Shortcomings in flexibility
Part, it is impossible to adapt to complicated landform, easily tumble；Other existing robot is needed without what can be walked but also can fly not only
Improve.
The content of the invention
The technical problems to be solved by the invention be to provide a kind of town road with can flying robot, to solve existing skill
Shu Zhong robots can not adapt to complicated landform and can the technical problem that can not fly of walking robot.
In order to solve the above technical problems, embodiments of the invention provide a kind of town road with can flying robot, including
Frame, the frame is provided with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides,
The walking mechanism includes hollow shaft and solid shafting, and the hollow shaft sleeve is located at solid shafting outer ring, the hollow shaft and solid shafting
Between connected by bearing, the hollow shaft outer ring is connected on the side wall of frame by bearing, the outer ring of hollow shaft position
Be connected the first support arm at shell outside, and the two ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting is located at machine
Frame outside is provided with the second support arm, and first support arm and the second support arm are located at the both sides of hollow shaft axis, institute respectively
The outer end for stating the first support arm is connected with the 3rd support arm by rotating shaft, and the outer end of second supporting part is connected by rotating shaft
The 4th support arm is connected to, the other end and the other end of the 4th support arm of the 3rd support arm pass through rotating shaft phase
Even, place on the inside of frame is located in the hollow shaft and is provided with first gear, the side wall of the frame is provided with the first motor, described the
One motor is by meshed transmission gear in first gear, and the end that the solid shafting is located at on the inside of frame is provided with second gear,
The second motor is additionally provided with the side wall of the frame, second motor is by meshed transmission gear in second gear；
The corner of the frame upper end is respectively provided with a rotor driver, and the rotor driver includes the 3rd electricity in frame
Machine, the rotor and the slip ring located at rotor border being connected with the 3rd motor, it is described between slip ring and rotor have gap, it is described
3rd motor drives rotor rotational, and the slip ring is provided with multiple assembly pulleys, and the assembly pulley includes two cunnings being correspondingly arranged
Wheel, the pulley is provided with annular groove, and the internal diameter formation rolling of the wherein annular groove of a pulley and the slip ring of the assembly pulley rubs
Wipe, the external diameter formation rolling friction of the annular groove and slip ring of another pulley, the pulley is connected on vertical pivot by bearing, described
Vertical pivot is in frame.
The solid shafting is made up of aluminium alloy.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the present invention can be achieved the walking of robot and run to jump, and adapt to multiple by four groups of walking mechanisms
Miscellaneous landform, each walking mechanism can be separately adjustable, cooperates, with a variety of walking manners, frame can pass through walking mechanism
Regulation carrys out adjustable height, with practicality；Rotor driver is further provided with, robot flight use is available for, furthermore in rotor driver
Provided with slip ring, slip ring is that rotor can be protected not damaged, and can play correcting when walking to robot again, will not be direct
Go to hit wall.
Brief description of the drawings
Fig. 1 is stereogram of the invention.
Fig. 2 is the stereogram of the walking mechanism of the present invention.
Fig. 3 is the schematic diagram of the touchdown point of the walking mechanism of the present invention.
Change schematic diagram one when Fig. 4 is the walking of the walking mechanism of the present invention.
Change schematic diagram two when Fig. 5 is the walking of the walking mechanism of the present invention.
Change schematic diagram three when Fig. 6 is the walking of the walking mechanism of the present invention.
Change schematic diagrams of the Fig. 7 for walking mechanism of the invention when being adjusted for bracket height.
Fig. 8 is the structure chart of the rotor driver of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
For convenience of description, before left direction is in Fig. 1, after right direction is.
As shown in Figures 1 to 6, the embodiment of the present invention provide a kind of town road with can flying robot, including level sets
The frame 1 put, the frame 1 is provided with four groups of walking mechanisms 2, and walking mechanism 2 described in four groups is respectively arranged on before the both sides of frame 1
Afterwards at position, position is respectively front left side, forward right side, left rear side, the right lateral side of frame 1, similar to automobile four-wheel installation site,
The walking mechanism 2 includes hollow shaft 21 and solid shafting 22, and the hollow shaft 21 is sheathed on the outer ring of solid shafting 22, the hollow shaft
By bearing connection (not shown) between 21 and solid shafting 22, bearing is connected as prior art, and therefore not to repeat here, passes through bearing
The achievable hollow shaft 21 of connection is coaxially disposed with solid shafting 22 and can mutually relatively rotated, and is independent of each other, the outer ring of hollow shaft 21 leads to
Cross bearing to be connected on the side wall of frame 1, the hollow shaft 21 is horizontally disposed with solid shafting 22, the outer ring position of the hollow shaft 21
In connected first support arm 23 in the outside of frame 1, the two ends of the solid shafting 22 are grown outside hollow shaft 21, the solid shafting 22
Circle is located at the outside of frame 1 and is provided with the second support arm 24, and first support arm 23 is located at hollow respectively with the second support arm 24
The both sides of the axis of axle 21, the outer end of first support arm 23 is connected with the 3rd support arm 25, described second by rotating shaft 3
The outer end of support part 24 is connected with the 4th support arm 26 by rotating shaft 3, the other end of the 3rd support arm 25 and described the
The other end of four support arms 26 is connected by rotating shaft 3, is located in the hollow shaft 21 at the inner side of frame 1 and is provided with first gear
27, the side wall of the frame 1 is provided with the first motor 4, first motor 4 by meshed transmission gear in first gear 27,
The end that the solid shafting 22 is located at the inner side of frame 1, which is provided with second gear 28, the side wall of the frame 1, is additionally provided with the second electricity
Machine 5, second motor 5 is by meshed transmission gear in second gear 28.First support arm 23, the second support arm the 24, the 3rd
Support arm 25, the 4th support arm 26 constitute the walking mechanism of a quadrangle, the 3rd support arm 25 and the 4th support arm 26
Junction is touchdown point 6 (as shown in Figure 3), therefore the end that can touch the 3rd support arm 25 and the 4th support arm 26 with ground
Portion does in the arc-shaped, more smooth when walking mechanism is touched with ground.The solid shafting 22 is made up of aluminium alloy.
A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is shown in solid line position in figure,
Four walking mechanisms 2 drive hollow shaft 21 to rotate to drive the first support arm 23 in the counterclockwise direction to turn by the first motor 4
Move to shown position, the second motor 5 is not rotated and remained stationary as so as to the second support arm 24, thus touchdown point 6 to rear side it is oblique under
Fang Yundong, therefore given frame one driving force forward and up, as shown in figure 5, then the first motor 4 rotate clockwise so as to
The first support arm 23 is driven to be rotated in the clockwise direction to shown position, the second motor 5 rotates counterclockwise to drive second
Brace 24 turns to shown position in the counterclockwise direction, and touchdown point 6 is moved to the oblique upper of front side, and touchdown point 6 is liftoff, makes frame
Soar liftoff, as shown in fig. 6, then the first motor 4 rotates counterclockwise to drive the first support arm 23 in the counterclockwise direction to turn
Move to shown position, the second motor 5 rotates clockwise to drive the second support arm 24 to be rotated in the clockwise direction to diagram position
Put, touchdown point 6 is oliquely downward moved forward, and touchdown point is contacted with ground, complete a period of motion, the step can make machine
People bounds forward.The step of other similar walkings, running, will not be repeated here.
The walking mechanism for the quadrangle being made up of 4 support arms, as long as the first support arm and second by motor control
The position of support arm, the position of that touchdown point is what is be to determine, therefore can realize accurate motion.
As shown in fig. 7, walking mechanism 2 can also be by the way that the first motor 4 be rotated clockwise, the second motor 5 turns counterclockwise
It is dynamic, move up touchdown point 6, the starting point of rear 6 touchdown point as motion will be moved up, can thus realize frame 1 from
Ground level have adjusted.
As illustrated in figures 1 and 8, the corner of the upper end of frame 1 is respectively provided with a rotor driver 7, and the rotor driver 7 includes
The 3rd motor 71 in frame 1, the rotor 72 and the slip ring 73 located at the border of rotor 72 being connected with the 3rd motor 71, institute
Stating has gap between slip ring 73 and rotor 72, slip ring 73 is used to protect rotor 72 without damage, and the 3rd motor 71 drives
Rotor 72 rotates makes frame 1 go up to the air so as to produce lift, and the slip ring 73 is provided with multiple assembly pulleys, at least shown in Fig. 8
2 groups, can also be more than 3 groups to improve stability, frame 1 can also not be the hollow frame structure shown on figure,
It can be a plate profile structure, therefore more assembly pulleys can be arranged in the upper surface of frame 1, the assembly pulley includes two
The pulley 74 being correspondingly arranged, the pulley 74 is provided with annular groove 741, the annular groove and cunning of a wherein pulley for the assembly pulley
The internal diameter formation rolling friction of ring 73, the annular groove of another pulley and the external diameter formation rolling friction of slip ring 73, the pulley 74
It is connected to by bearing on vertical pivot 75, the vertical pivot 75 is in frame 1.The pulley 74 of the assembly pulley is at grade.
The setting of slip ring 73 can prevent direct collision wall so that frame plays correcting in ground motion, when contacting wall,
Slip ring can be rolled, and can also play a part of protecting rotor in addition.
The present invention town road with can flying robot multiple types of tools, such as watering device can be loaded in frame,
Road cleaning device etc., it is widely used.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of town road with can flying robot, including frame, the frame is provided with four groups of walking mechanisms, described in four groups
Walking mechanism is respectively arranged at the front and back position of frame both sides, it is characterised in that the walking mechanism includes hollow shaft and solid
Axle, the hollow shaft sleeve is located at solid shafting outer ring, is connected between the hollow shaft and solid shafting by bearing, outside the hollow shaft
Circle is connected on the side wall of frame by bearing, and the outer ring of the hollow shaft is located at shell outside first support arm that is connected, institute
The two ends for stating solid shafting grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, and described the
One support arm and the second support arm are located at the both sides of hollow shaft axis respectively, and the outer end of first support arm is connected by rotating shaft
The 3rd support arm is connected to, the outer end of second supporting part is connected with the 4th support arm, the 3rd support arm by rotating shaft
The other end be connected with the other end of the 4th support arm by rotating shaft, in the hollow shaft be located at frame on the inside of at set
There is first gear, the side wall of the frame is provided with the first motor, and first motor is by meshed transmission gear in the first tooth
Wheel, the end that the solid shafting is located at on the inside of frame is provided with second gear, the side wall of the frame and is additionally provided with the second motor,
Second motor is by meshed transmission gear in second gear；
The corner of the frame upper end is respectively provided with a rotor driver, the rotor driver include the 3rd motor in frame,
The rotor and the slip ring located at rotor border being connected with the 3rd motor, it is described that there is gap, described the between slip ring and rotor
Three motors drive rotor rotational, and the slip ring is provided with multiple assembly pulleys, and the assembly pulley includes two pulleys being correspondingly arranged,
The pulley is provided with annular groove, and the internal diameter of the wherein annular groove of a pulley and the slip ring of the assembly pulley forms rolling friction,
The external diameter formation rolling friction of the annular groove and slip ring of another pulley, the pulley is connected on vertical pivot by bearing, described perpendicular
It is located in frame.
2. solid shafting according to claim 1, it is characterised in that the solid shafting is made up of aluminium alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256358.4A CN107009831B (en) | 2017-04-19 | 2017-04-19 | A kind of town road is with can flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710256358.4A CN107009831B (en) | 2017-04-19 | 2017-04-19 | A kind of town road is with can flying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107009831A true CN107009831A (en) | 2017-08-04 |
| CN107009831B CN107009831B (en) | 2019-07-16 |
Family
ID=59448235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710256358.4A Active CN107009831B (en) | 2017-04-19 | 2017-04-19 | A kind of town road is with can flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107009831B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107412988A (en) * | 2017-08-14 | 2017-12-01 | 王传银 | Robot architecture is used in a kind of architectural engineering fire-fighting |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN104648664A (en) * | 2014-12-18 | 2015-05-27 | 合肥工业大学 | Retractable folding quad rotor |
| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| CN105034729A (en) * | 2015-07-21 | 2015-11-11 | 中国科学院自动化研究所 | Deformable multi-mode ground and air flying robot |
-
2017
- 2017-04-19 CN CN201710256358.4A patent/CN107009831B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002011956A1 (en) * | 2000-08-04 | 2002-02-14 | Robottec Co., Ltd. | Multiple-legged walking apparatus |
| CN104648664A (en) * | 2014-12-18 | 2015-05-27 | 合肥工业大学 | Retractable folding quad rotor |
| CN104670355A (en) * | 2015-03-20 | 2015-06-03 | 西南大学 | Double-eccentric circle obstacle crossing assembly with variable eccentric distance and wheel-leg robot |
| CN105034729A (en) * | 2015-07-21 | 2015-11-11 | 中国科学院自动化研究所 | Deformable multi-mode ground and air flying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107412988A (en) * | 2017-08-14 | 2017-12-01 | 王传银 | Robot architecture is used in a kind of architectural engineering fire-fighting |
| CN107412988B (en) * | 2017-08-14 | 2021-02-26 | 安徽华航水利工程有限公司 | Robot structure for building engineering fire control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107009831B (en) | 2019-07-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190619 Address after: 325000 Lucheng District, Wenzhou City, Zhejiang Province, No. 2, Tengfei Road, Phase I, China Shoes Capital Applicant after: Wang Hongyan Address before: 315700 Oil Truck Lane 127, Danxi Street, Xiangshan County, Ningbo City, Zhejiang Province Applicant before: Wang Shasha |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201204 Address after: No. d133, No. 866, Baiyun South Road, Deqing County, Deqing County, Huzhou City, Zhejiang Province Patentee after: Huzhou langpei Intelligent Technology Co.,Ltd. Address before: 325000 Lucheng District, Wenzhou City, Zhejiang Province, China shoes No. 1 Tengfei Road No. 2 Patentee before: Wang Hongyan |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A flying robot for municipal roads Effective date of registration: 20221230 Granted publication date: 20190716 Pledgee: Zhejiang Deqing Rural Commercial Bank Co.,Ltd. science and technology sub branch Pledgor: Huzhou langpei Intelligent Technology Co.,Ltd. Registration number: Y2022330003724 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230314 Granted publication date: 20190716 Pledgee: Zhejiang Deqing Rural Commercial Bank Co.,Ltd. science and technology sub branch Pledgor: Huzhou langpei Intelligent Technology Co.,Ltd. Registration number: Y2022330003724 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170804 Assignee: Huzhou Lizhuo mechanical equipment technology development Co.,Ltd. Assignor: Huzhou langpei Intelligent Technology Co.,Ltd. Contract record no.: X2023980052789 Denomination of invention: A Flying Robot for Municipal Roads Granted publication date: 20190716 License type: Common License Record date: 20231215 Application publication date: 20170804 Assignee: Huzhou Heming Machinery Technology Co.,Ltd. Assignor: Huzhou langpei Intelligent Technology Co.,Ltd. Contract record no.: X2023980052788 Denomination of invention: A Flying Robot for Municipal Roads Granted publication date: 20190716 License type: Common License Record date: 20231215 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170804 Assignee: Huzhou Ruixun Electromechanical Equipment Co.,Ltd. Assignor: Huzhou langpei Intelligent Technology Co.,Ltd. Contract record no.: X2023980052840 Denomination of invention: A Flying Robot for Municipal Roads Granted publication date: 20190716 License type: Common License Record date: 20231219 |
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| EE01 | Entry into force of recordation of patent licensing contract |