CN107009831B - A kind of town road is with can flying robot - Google Patents
A kind of town road is with can flying robot Download PDFInfo
- Publication number
- CN107009831B CN107009831B CN201710256358.4A CN201710256358A CN107009831B CN 107009831 B CN107009831 B CN 107009831B CN 201710256358 A CN201710256358 A CN 201710256358A CN 107009831 B CN107009831 B CN 107009831B
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- CN
- China
- Prior art keywords
- rack
- 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.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000007787 solid Substances 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method 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 roads with can flying robot, including rack, the rack is equipped with four groups of walking mechanisms, walking mechanism described in four groups is respectively arranged at the front-rear position of rack two sides, it is characterized in that, the walking mechanism includes hollow shaft and solid shafting, the hollow shaft sleeve is set to solid shafting outer ring, it is connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring is connected on the side wall of rack by bearing, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the both ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting, which is located at shell outside, is equipped with the second support arm, first support arm and the second support arm are located at the two sides of hollow shaft axis.The present invention passes through four groups of walking mechanisms, it can be achieved that the walking and race of robot are jumped, and adapt to complicated landform, and each walking mechanism can be separately adjustable, cooperates, and has a variety of walking manners, and rack can have practicability by the adjusting of walking mechanism come adjustable height.
Description
Technical field
The present invention relates to machinery equipment technical field, a kind of town road is particularly related to can flying robot.
Background technique
The walking of the robot of the prior art can be realized in several ways, but the equal Shortcomings in flexibility
Place can not adapt to complicated landform, be easy to tumble；In addition existing robot is needed without what can be walked but also can fly not only
It improves.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of town road with can flying robot, to solve existing skill
Shu Zhong robot can not adapt to complicated landform and can walking robot can not flight the technical issues of.
In order to solve the above technical problems, the embodiment of the present invention provide a kind of town road with can flying robot, including
Rack, the rack are equipped with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged at the front-rear position of rack two sides,
The walking mechanism includes hollow shaft and solid shafting, and the hollow shaft sleeve is set to 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 rack by bearing, the outer ring of the hollow shaft
Be connected the first support arm at shell outside, and the both ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting is located at machine
Frame outside is equipped with the second support arm, and first support arm and the second support arm are located at the two sides of hollow shaft axis, institute
The outer end for stating the first support arm is connected with third support arm by shaft, and the outer end of second support portion is connected by shaft
It is connected to the 4th support arm, the other end of the third support arm and the other end of the 4th support arm pass through shaft phase
Even, place on the inside of rack is located in the hollow shaft and is equipped with first gear, the side wall of the rack is equipped with first motor, and described the
For one motor by gear engaged transmission in first gear, the end that the solid shafting is located at on the inside of rack is equipped with second gear,
The second motor is additionally provided on the side wall of the rack, second motor is by gear engaged transmission in second gear；
The quadrangle of the frame upper end is respectively provided with a rotor driver, and the rotor driver includes the third electricity in rack
Machine, the rotor being connected with third motor and the slip ring set on rotor border have gap between the slip ring and rotor, described
Third motor driven rotor rotational, the slip ring are equipped with multiple pulley blocks, and the pulley blocks include two cunnings being correspondingly arranged
Wheel, the pulley are equipped with annular groove, and the wherein internal diameter of the annular groove of a pulley and slip ring of the pulley blocks is formed to roll and be rubbed
It wipes, the annular groove of another pulley and the outer diameter of slip ring form rolling friction, and the pulley is connected on vertical pivot by bearing, described
Vertical pivot is set in rack.
The solid shafting is made of aluminium alloy.
The advantageous effects of the above technical solutions of the present invention are as follows:
In above scheme, the present invention passes through four groups of walking mechanisms, it can be achieved that the walking and race of robot are jumped, and are adapted to multiple
Miscellaneous landform, each walking mechanism can be separately adjustable, cooperate, and have a variety of walking manners, and rack can pass through walking mechanism
It adjusts and carrys out adjustable height, there is practicability；It is further provided with rotor driver, flies and uses for robot, furthermore in rotor driver
Equipped with slip ring, slip ring can protect rotor not damaged, and can play correcting when walking to robot, will not be direct
It goes to hit wall.
Detailed description of the invention
Fig. 1 is perspective view of the invention.
Fig. 2 is the perspective view of walking mechanism of the invention.
Fig. 3 is the schematic diagram of the touchdown point of walking mechanism of the invention.
Variation schematic diagram one when Fig. 4 is the walking of walking mechanism of the invention.
Variation schematic diagram two when Fig. 5 is the walking of walking mechanism of the invention.
Variation schematic diagram three when Fig. 6 is the walking of walking mechanism of the invention.
Fig. 7 is the variation schematic diagram of walking mechanism of the invention when adjusting for bracket height.
Fig. 8 is the structure chart of rotor driver of the invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached 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 rack 1 set, the rack 1 is equipped with four groups of walking mechanisms 2, before walking mechanism 2 described in four groups is respectively arranged on 1 two sides of rack
Afterwards at position, position is respectively front left side, forward right side, left rear side, the right lateral side of rack 1, is 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 22 outer ring of solid shafting, the hollow shaft
By bearing connection (not shown) between 21 and solid shafting 22, bearing is connected as the prior art, and therefore not to repeat here, passes through bearing
Connecting achievable hollow shaft 21 and the coaxial arrangement of solid shafting 22 can mutually relatively rotate, and be independent of each other, 21 outer ring of hollow shaft is logical
It crosses bearing to be connected on the side wall of rack 1, the hollow shaft 21 and solid shafting 22 are horizontally disposed, the outer ring position of the hollow shaft 21
Be connected the first support arm 23 in 1 outside of rack, the both ends of the solid shafting 22 grow hollow shaft 21, the solid shafting 22 it is outer
Circle is located at 1 outside of rack and is equipped with the second support arm 24, and first support arm 23 is located at hollow with the second support arm 24
The two sides of 21 axis of axis, the outer end of first support arm 23 are connected with third support arm 25 by shaft 3, and described second
The outer end of support part 24 is connected with the 4th support arm 26 by shaft 3, the other end of the third support arm 25 and described the
The other end of four support arms 26 is connected by shaft 3, is located on the inside of rack 1 in the hollow shaft 21 and is equipped with first gear
27, the side wall of the rack 1 is equipped with first motor 4, the first motor 4 by gear engaged transmission in first gear 27,
The solid shafting 22 is located at the end on the inside of rack 1 and is equipped with second gear 28, and the second electricity is additionally provided on the side wall of the rack 1
Machine 5, second motor 5 is by gear engaged transmission in second gear 28.First support arm 23, the second support arm 24, third
Support arm 25, the 4th support arm 26 constitute the walking mechanism of a quadrangle, third support arm 25 and the 4th support arm 26
Junction is touchdown point 6 (as shown in Figure 3), therefore can be by the end of third support arm 25 and the 4th support arm 26 and ground touching
Portion does in the arc-shaped, keeps walking mechanism and ground more smooth when touching.The solid shafting 22 is made of aluminium alloy.
A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is in figure shown in solid line position,
Four walking mechanisms 2 drive the rotation of hollow shaft 21 to drive the first support arm 23 to turn in the counterclockwise direction by first motor 4
Move to shown position, the second motor 5 is not rotated and is remained stationary to the second support arm 24, therefore touchdown point 6 to rear side obliquely downward
Fang Yundong, therefore given the driving force of rack one forward and up, as shown in figure 5, then first motor 4 rotate clockwise 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 rack
Empty it is liftoff, as shown in fig. 6, then first motor 4 rotate counterclockwise to drive the first support arm 23 turn in the counterclockwise direction
It moves to shown position, the second motor 5 rotates clockwise that the second support arm 24 is driven to be rotated in the clockwise direction to diagram position
It sets, touchdown point 6 oliquely downward moves forward, and touchdown point and ground face contact complete a period of motion, the step can make machine
People bounds forward.The step of other similar walking, running, details are not described herein.
By the walking mechanism for the quadrangle that 4 support arms form, as long as passing through motor control the first support arm and second
The position of support arm, the position of that touchdown point are determining, therefore can realize accurate movement.
As shown in fig. 7, walking mechanism 2 can also be by rotating clockwise first motor 4, the second motor 5 turns counterclockwise
It is dynamic, move up touchdown point 6, rear 6 touchdown point will be moved up as the starting point moved, thus may be implemented rack 1 from
Ground height adjustment.
As illustrated in figures 1 and 8, the quadrangle of 1 upper end of rack is respectively provided with a rotor driver 7, and the rotor driver 7 includes
Third motor 71 in rack 1, the rotor 72 being connected with third motor 71 and the slip ring 73 set on 72 border of rotor, institute
Stating has gap between slip ring 73 and rotor 72, for protecting rotor 72 not damaged, the third motor 71 drives slip ring 73
The rotation of rotor 72 makes rack 1 go up to the air to generate lift, and the slip ring 73 is equipped with multiple pulley blocks, at least shown in Fig. 8
2 groups, be also possible to 3 groups or more to improve stability, rack 1 can also not be the hollow frame structure shown on figure,
It can be a plate profile structure, therefore can arrange that more pulley blocks, the pulley blocks include two in the upper surface of rack 1
The pulley 74 being correspondingly arranged, the pulley 74 are equipped with annular groove 741, the annular groove and cunning of a wherein pulley for the pulley blocks
The internal diameter of ring 73 forms rolling friction, and the annular groove of another pulley and the outer diameter of slip ring 73 form rolling friction, the pulley 74
It is connected on vertical pivot 75 by bearing, the vertical pivot 75 is set in rack 1.The pulley 74 of the pulley blocks is in the same plane.
The setting of slip ring 73 can make rack play correcting in ground motion, prevent direct collision wall, when contacting wall,
Slip ring can roll, and in addition can also play the role of protecting rotor.
Town road of the invention with can flying robot can load multiple types of tools, such as watering device on the rack,
Road cleaning device etc., it is widely used.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several 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 rack, the rack is equipped with four groups of walking mechanisms, described in four groups
Walking mechanism is respectively arranged at the front-rear position of rack two sides, which is characterized in that the walking mechanism includes hollow shaft and solid
Axis, the hollow shaft sleeve are set to solid shafting outer ring, are connected between the hollow shaft and solid shafting by bearing, outside the hollow shaft
Circle is connected on the side wall of rack by bearing, and the outer ring of the hollow shaft is located at shell outside first support arm that is connected, institute
The both ends for stating solid shafting grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, is equipped with the second support arm, and described the
One support arm and the second support arm are located at the two sides of hollow shaft axis, and the outer end of first support arm is connected by shaft
It is connected to third support arm, the outer end of second support arm is connected with the 4th support arm, the third support arm by shaft
The other end be connected with the other end of the 4th support arm by shaft, in the hollow shaft be located at rack on the inside of at set
There is first gear, the side wall of the rack is equipped with first motor, and the first motor is by gear engaged transmission in the first tooth
Wheel, the end that the solid shafting is located at on the inside of rack are equipped with second gear, are additionally provided with the second motor on the side wall of the rack,
Second motor is by gear engaged transmission in second gear；
The quadrangle of the frame upper end is respectively provided with a rotor driver, the rotor driver include third motor in rack,
The rotor being connected with third motor and the slip ring set on rotor border, have a gap between the slip ring and rotor, and described the
Three motor driven rotor rotationals, the slip ring are equipped with multiple pulley blocks, and the pulley blocks include two pulleys being correspondingly arranged,
The pulley is equipped with annular groove, and the wherein internal diameter of the annular groove of a pulley and slip ring of the pulley blocks forms rolling friction,
The annular groove of another pulley and the outer diameter of slip ring form rolling friction, and the pulley is connected on vertical pivot by bearing, described perpendicular
It is located in rack.
2. town road according to claim 1 is with can flying robot, which is characterized in that the solid shafting is by aluminium alloy
It is made.
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 CN107009831A (en) | 2017-08-04 |
| CN107009831B true CN107009831B (en) | 2019-07-16 |
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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 |
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| Country | Link |
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| CN (1) | CN107009831B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020011709A (en) * | 2000-08-04 | 2002-02-09 | 김동훈 | multiple-legged walking apparatus |
| CN104648664B (en) * | 2014-12-18 | 2017-02-22 | 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 |
| CN105034729B (en) * | 2015-07-21 | 2017-05-24 | 中国科学院自动化研究所 | Deformable multi-mode ground and air flying robot |
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| CN107009831A (en) | 2017-08-04 |
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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 | ||
| 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 |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| 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 |
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| TR01 | Transfer of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| 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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| PC01 | Cancellation 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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| 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 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 |