CN107985580A - A kind of multi-modal deformable rotor robot - Google Patents
A kind of multi-modal deformable rotor robot Download PDFInfo
- Publication number
- CN107985580A CN107985580A CN201711338782.XA CN201711338782A CN107985580A CN 107985580 A CN107985580 A CN 107985580A CN 201711338782 A CN201711338782 A CN 201711338782A CN 107985580 A CN107985580 A CN 107985580A
- Authority
- CN
- China
- Prior art keywords
- rotor
- protective cover
- longeron
- carrier frame
- robot
- 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
- 230000000712 assembly Effects 0.000 claims abstract description 35
- 238000000429 assembly Methods 0.000 claims abstract description 35
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000013016 damping Methods 0.000 claims abstract description 22
- 230000001681 protective effect Effects 0.000 claims abstract description 22
- 229910052751 metal Inorganic materials 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims abstract description 15
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of multi-modal deformable rotor robot, it is related to robotic technology field, it includes four groups of rotor assemblies, every group of rotor assemblies include the motor and blade for being in the protective cover of hollow out and being installed in protective cover, motor is fixedly installed on protective cover, blade is set on motor shaft, four groups of rotor assemblies side by side and are coaxially pivotally mounted on carrier frame by protective cover two-by-two, the two groups of rotor assemblies often arranged are driven by gear assembly to be rotated, electron speed regulator and flight control system are fixed with carrier frame, electron speed regulator is electrically connected with four motors, flight control system is electrically connected with electron speed regulator and metal steering engine, the lower rotatable of carrier frame is provided with damping driven wheel.Solve the problems, such as that existing robot function and motor pattern are single.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of multi-modal deformable rotor robot.
Background technology
With the continuous development of scientific technology, robot is more and more incorporated in our life, gradually substitution
Some are dangerous and repeat boring work.Common robot generally only possesses single function or single movement mould
Formula, makes its application have significant limitation.Particularly in face of some special occasions, the function and motor pattern of robot
Unification just cannot solve the problems, such as it is actual.Such as, it is necessary to which robot had both possessed complicated ring in earthquake post-disaster search and rescue task
Obstacle climbing ability under border, also requires the dimension and weight of robot as far as possible small, can thus expand search and rescue scope.In addition, in tunnel
, it is necessary to which a robot can move in unknown environment in road, bridge exploration, this requires change a variety of fortune of robot
Flowing mode.Particularly, during fire search and rescue, fire, the situation that rescue worker can not reach especially occurs in some high buildings
Under, how to find the accurate location of trapped person and how to guide trapped person to get rid of poverty, be required for one to meet these scenes
Robot.
But present robot is for the good effect of these special tasks all neither ones, such as, rotor nobody
Although machine is almost adapted to all topography and geomorphologies using the motor pattern of flight, the cruising ability of rotor wing unmanned aerial vehicle is too
It is short, it significantly limit its practical application.For another example, four-footed legged mobile robot, the robot have under complicated ground environment
There is excellent handling capacity, but the robot technology is not yet ripe, and be difficult to accomplish to minimize, and run into big obstacle
Thing is also helpless.
The content of the invention
For the above problem of the prior art, the present invention provides a kind of multi-modal deformable rotor robot, solve
The problem of existing robot function and single motor pattern.
In order to reach foregoing invention purpose, the technical solution adopted by the present invention is as follows：
A kind of multi-modal deformable rotor robot is provided, it includes four groups of rotor assemblies, and every group of rotor assemblies are including being in
The protective cover of hollow out and the motor and blade being installed in protective cover, motor are fixedly installed on protective cover, and blade is set in
On motor shaft, four groups of rotor assemblies side by side and are coaxially pivotally mounted on carrier frame, two often arranged by protective cover two-by-two
Group rotor assemblies are driven by gear assembly to be rotated, and gear assembly includes intermeshing driving gear, driven gear and drive
The metal steering engine that dynamic driving gear rotates, metal steering engine are fixedly installed on carrier frame, and protective cover is fixed with driven gear to be connected
Connect；Electron speed regulator and flight control system are fixed with carrier frame, electron speed regulator is electrically connected with four motors, flight control
System processed is electrically connected with electron speed regulator and metal steering engine, and the lower rotatable of carrier frame is provided with damping driven wheel.
Further, carrier frame includes the first longeron and the second longeron side by side, and is connected to first in turn side by side
First crossbeam, first connecting rod, second cross beam, second connecting rod and the 3rd crossbeam between longeron and the second longeron, two rows of rotor groups
Part is fixedly installed on first connecting rod and second connecting rod respectively, and first connecting rod and second connecting rod are vertical relative to the first longeron and second
Beam is rotatable.
Further, flight control system stent is provided with the middle part of second cross beam, flight control system stent includes upper
Stent and lower carriage and the shock-absorbing ball of connection upper bracket and lower carriage, lower carriage are detachably connected with second cross beam.
Further, rotatably mounted on carrier frame to have four damping driven wheels, four damping driven wheels are two-by-two side by side
It is installed on the outside of the first longeron and the second longeron.
Further, damping driven wheel includes outer ring, inner ring and some damping spokes being connected between outer ring and inner ring
Bar.The damping spoke set on damping driven wheel can damage to avoid robot in the bad road traveling of road conditions.
Further, inner ring is pivotally mounted to the end of axis pin by bearing, and axis pin is fixed between two pieces of connecting plates,
Connecting plate is fixedly connected with carrier frame.
Further, damping spoke can produce the composite material of deformation using stress and be made.
Further, second cross beam and protective cover are carbon fiber board.
Further, motor is DC brushless motor.
Beneficial effects of the present invention are：Robot passes through in the case where keeping four groups of rotor assemblies parallel to ground
The rotation of motor drives blade rotation in four groups of rotor assemblies, robot can be made to overcome centrifugal force to fly in the air, and
And by electron speed regulator control four motor speeds change can make robot complete in the air spot hover, pitching,
Yaw and the action of rolling.Robot can also be allowed vertical by the rotation angle for constantly adjusting control rotor assemblies
Travelled on metope.
Metal servo driving driving gear rotates, and driving gear drives driven gear and the guarantor being fixedly connected with driven gear
Shield rotate, rotor assemblies in rotary course can give chassis overhang one component parallel to ground so that drive damping from
Driving wheel rotates, and allows robot in road traveling.By controlling the rotation angle of rotor assemblies and controlling motor at the same time
Rotating speed can realize robot move forward on road surface, backward travel and turn to action.
Since robot can travel or fly in ground, vertical wall, so robot is with very strong
Obstacle climbing ability, can be by constantly switching the pattern of powered motion come quickly through especially suitable for dangerous and complicated
Work in environment.
This multi-modal deformable rotor robot can also be in ground run due to can not only fly, it is possible to according to
Need to select its motor pattern, since the energy of flight consumption is much higher than the energy of road traveling, so compared to traditional
Only fly able rotor robot, robot have longer cruising time.
On the one hand damping driven wheel in this multi-modal deformable rotor robot is capable of providing the branch of ground run operation
Support, ensures that robot possesses ground handling ability, on the other hand can provide outer protection for robot, avoid body from touching
Encounter outer barrie thing or be subject to exterior strong collision and be damaged.Protective cover in rotor assemblies can both protect paddle
Leaf, is also possible to prevent high-speed rotating blade and personnel is damaged.
Brief description of the drawings
Fig. 1 is the stereogram of multi-modal deformable rotor robot.
Fig. 2 is the enlarged drawing of Fig. 1 middle gear components.
Fig. 3 is the enlarged drawing of flight control system stent in Fig. 1.
Wherein, 1, rotor assemblies；11st, motor；12nd, blade；13rd, protective cover；2nd, carrier frame；21st, the first longeron；22、
Second longeron；23rd, first crossbeam；24th, second cross beam；25th, the 3rd crossbeam；26th, first connecting rod；27th, second connecting rod；28th, fly
Control system stent；281st, upper bracket；282nd, lower carriage；283rd, shock-absorbing ball；3rd, gear assembly；31st, driving gear；32nd, it is driven
Gear；33rd, metal steering engine；34th, steering wheel；35th, axle sleeve；4th, damping driven wheel；41st, outer ring；42nd, inner ring；43rd, damping spoke；44、
Axis pin；45th, connecting plate.
Embodiment
The embodiment of the present invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the invention is not restricted to the scope of embodiment, for those skilled in the art,
As long as various change in the spirit and scope of the present invention that appended claim limits and determines, these changes are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the row of protection.
As shown in FIG. 1 to 3, which includes carrier frame 2, and carrier frame 2 is included simultaneously
The first longeron 21 and the second longeron 22 of row, and first be connected in turn side by side between the first longeron 21 and the second longeron 22
Crossbeam 23, first connecting rod 26, second cross beam 24,27 and the 3rd crossbeam 25 of second connecting rod, two rows of rotor assemblies 1 are fixedly mounted respectively
In on first connecting rod 26 and second connecting rod 27, the first longeron of both ends insertion 21 and second of first connecting rod 26 and second connecting rod 27 is vertical
In through hole on beam 22, first crossbeam 23, the both ends of 24 and the 3rd crossbeam 25 of second cross beam are fixedly connected with the first longeron 21
On the second longeron 22.24 both ends of second cross beam are respectively fixed to the center position of the first longeron 21 and the second longeron 22, the
Center position of one connecting rod 26 between first crossbeam 23 and second cross beam 24, second connecting rod 27 are located at 24 He of second cross beam
Center position between 3rd crossbeam 25.
Second cross beam 24, which is that the carbon fiber board of two block length strips is overlapping, to be formed, and is carved with some perforative square holes, circle thereon
Hole or bar hole, to mitigate weight or for needing to extend the function of robot when installs other equipment.Second
24 centre position of crossbeam is distributed with four mounting holes and is used to install flight control system stent 28.Flight control system stent 28 wraps
Include upper bracket 281 and lower carriage 282 and connect the shock-absorbing ball 283 of upper bracket 281 and lower carriage 282, lower carriage 282 and second
Crossbeam 24 is detachably connected by that four mounting holes.Flight control system is fixed on upper bracket 281, is fixed on lower carriage 282
Electron speed regulator.
Four groups of rotor assemblies 1 are fixedly connected on the first connecting rod 26 and second connecting rod 27 of carrier frame 2 side by side two-by-two.Together
The protective cover of two rotor assemblies 1 of row is linked as the entirety of " 8 " font, it is engraved as two " 8 " fonts by Carbon fibe plate
Hollowed-out board, and pass through parallel connection above and below aluminium column.Two circle centre positions in " 8 " the font protective cover have been respectively fixedly connected with
Motor 11, motor 11 are DC brushless motor, preferably model X2212,980KV, and blade 12 is set with the axis of motor 11,
Blade 12 includes two panels blade.Three pipe clamps are fixedly connected with the bottom outside interval of " 8 " font protective cover, pass through this three
Two rotor assemblies 1 of same row are fixedly connected on first connecting rod 26 or second connecting rod 27 by pipe clamp.
The two groups of rotor assemblies 1 often arranged are driven by set of gears component 3 to be rotated, and two gear assemblies 3 are distributed in
The both sides of carrier frame 2, to balance the center of gravity of whole robot.Gear assembly 3 include intermeshing driving gear 31 and from
Moving gear 32, the outside diameter of driving gear 31 are more than driven gear 32, and driving gear 31 is fixed by four screws on steering wheel 34
On the shaft of metal steering engine 33, metal steering engine 33, which is fixedly connected on the first longeron 21, (drives another row's rotor assemblies 1 to rotate
Gear assembly 3 in metal steering engine 33 be fixedly connected on the second longeron 22), nibble outside driven gear 32 and driving gear 31
Close, driven gear 32 is fixedly connected on axle sleeve 35, and 35 fixing sleeve of axle sleeve is loaded on second connecting rod 27 or first connecting rod 26, axle sleeve
One end on 35 also with " 8 " font protective cover is fixedly connected.
Damping driven wheel 4 includes outer ring 41, inner ring 42.There are 8 protrusions in outer ring 41 for one in its inner surface circle spacing
Annulus, the outer surface of annulus is provided with the sags and crests of increasing friction force, card slot is provided with the middle part of interior surface bulge；It is interior
For the shape of circle 42 to be star-like, there is a circular hole at center, and outer surface is evenly distributed in convex with raised corresponding 8 of 41 inner surface of outer ring
Rise, a card slot is also equipped with each protrusion.Made of stress can produce the poly- propylhomoserin-epoxy resin of composite material of deformation
8 damping spokes 43 for having certain radian are inserted on inside and outside circle in the card slot set respectively.
Load bearing in the circular hole at 42 center of inner ring, then bearing holder (housing, cover) is mounted in the end of axis pin 44, axis pin 44 is fixed on
Between two pieces of connecting plates 45, the other end of connecting plate 45 is fixed on carrier frame 2.Specifically, be rotatably connected four dampings
The connecting plate 45 of driven wheel 4 is individually fixed in the both ends of the first longeron 21 and the second longeron 22.In order to mitigate weight, connecting plate 45
Upper interval is provided with multiple circular holes and elliptical aperture.
The flight control system that increases income for the preferred model SANYE LIGHT of flight control system being fixed on upper bracket 281
System, it uses the STM32F407VGT6 microprocessor chips of RAM families, dominant frequency 168MHz.The electricity being fixed on lower carriage 282
The model plane brushless electronic governor of the preferred model 30A of sub- governor, electron speed regulator connect with the motor 11 in rotor assemblies 1
Connect, the rotating speed of motor 11 is controlled with electron speed regulator.Flight control system is electric with electron speed regulator and metal steering engine 33 respectively
Connection, flight control system control electron speed regulator and metal steering engine 33 by output pwm signal.
When multi-modal deformable rotor robot needs to perform flare maneuver, and it can be complete in flight course
Into spot hover, elevating movement, yawing rotation and tumbling motion.When performing aerial mission, rotor assemblies 1 are kept parallel to ground
Face, flight control system by pwm signal control electron speed regulator, electron speed regulator control four groups of rotor assemblies in direct current without
Brush motor 11, so as to drive blade 12 to rotate at a high speed, blade 12, which rotates, can produce a upward pulling force, when four blades produce
Make a concerted effort be more than robot self gravitation after, robot leaves ground, upwards movement.Below to four groups of rotations in flight course
Specific control situation in wing component 1 describes in detail：
As shown in Figure 1, the work layout structure of multi-modal four rotors of deformable rotor robot is " X " type, i.e., four
Rotor partners positive and negative paddle, and rotor A, C rotate counterclockwise, are anti-paddle, and rotor B, D are rotated clockwise, and are positive paddle.When vertical fortune
When dynamic, rotor A, B, C, D rotating speed increase or reduce at the same time, it is possible to realize that multi-modal deformable rotor robot is aerial
Vertical movement.When needing to do elevating movement, rotor A, B rotating speed increase, rotor C, D rotating speed reduce, multi-modal deformable gyroplane
Device people can realize to fly backward；Similarly, rotor A, B rotating speeds reduce, the increase of rotor C, D rotating speed, multi-modal deformable rotor
Robot can realize flight forward.
When needing to do tumbling motion, rotor A, D rotating speed increase, rotor B, C rotating speed reduce, multi-modal deformable rotor
Robot can realize to fly to the left；Similarly, rotor A, D rotating speeds reduce, the increase of rotor B, C rotating speed, multi-modal deformable rotation
Wing robot, which can realize, to fly to the right.When doing yawing rotation, rotor A, C rotating speed increase, rotor B, D rotating speed reduce,
Multi-modal deformable rotor robot can realize spiraling to the right；Similarly, rotor A, C rotating speeds reduce, rotor B, D rotating speed
Increase, multi-modal deformable rotor robot can realize spiraling to the left.
When multi-modal deformable rotor robot is needed in road traveling, it can complete to move forward, backward
Traveling and the action turned to.Flight control system controls metal steering engine 33 to drive driving gear 31 to rotate by pwm signal, main
Moving gear 31 drives to be rotated with same row's rotor assemblies 1 that driven gear 32 is connected as a single entity.The two rows of rotors of flight control system control
Component 1 is at the same time from during 0 ° is rotated by 90 ° forward, and rotor assemblies 1 can provide a upward component and forward point at this time
Power, upward component reduce pressure of this rotor robot to ground, and forward component produces a forward pulling force, overcomes ground
Face resistance so that this rotor robot travels forward.If wherein two DC brushless motors above row's rotor assemblies 1
Rotating speed it is different, then this rotor robot will produce turn to action.Similarly, the two rows of rotor assemblies of flight control system control
1 then can control this rotor robot to move backward during 0 ° of 90 ° of back rotation at the same time.
When needing multi-modal deformable rotor robot being moved on vertical metope, its with ground run
Control principle is similar, during the two rows of rotor assemblies 1 of flight control system control rotate 180 °, provides a pressure downwards,
The pressure of generation causes this rotor robot to be close on wall, then, controls two rows of rotor assemblies 1 to rotate 90 ° further along
During, while downward pressure is produced, there is provided a upward component, will cause this rotor robot overcome gravity to
Upper movement；Similarly, control two rows of rotor assemblies 1 to rotate backward during 90 °, this rotor robot will be controlled to transport backward
It is dynamic.
Claims (9)
- A kind of 1. multi-modal deformable rotor robot, it is characterised in that including four groups of rotor assemblies (1), rotor described in every group Component (1) includes the motor (11) and blade (12) for being in the protective cover (13) of hollow out and being installed in the protective cover (13), The motor (11) is fixedly installed on protective cover (13), and the blade (12) is set on motor shaft, rotor group described in four groups Part (1) is pivotally mounted to side by side and coaxially on carrier frame (2) by protective cover (13) two-by-two, the two groups of rotor assemblies often arranged (1) driven and rotated by gear assembly (3), the gear assembly (3) includes intermeshing driving gear (31), driven gear (32) and the metal steering engine (33) that rotates of the driving driving gear (31), the metal steering engine (33) is fixedly installed in described On carrier frame (2), the protective cover (13) is fixedly connected with the driven gear (32)；It is fixed on the carrier frame (2) There are electron speed regulator and flight control system, the electron speed regulator is electrically connected with four motors (11), the flight control system System is electrically connected with the electron speed regulator and metal steering engine (33), and the lower rotatable of the carrier frame (2) is provided with damping Driven wheel (4).
- 2. multi-modal deformable rotor robot according to claim 1, it is characterised in that carrier frame (2) bag The first longeron (21) and the second longeron (22) side by side is included, and is connected to first longeron (21) and second in turn side by side and indulges First crossbeam (23), first connecting rod (26), second cross beam (24), second connecting rod (27) and the 3rd crossbeam between beam (22) (25), two rows of rotor assemblies (1) are fixedly installed on first connecting rod (26) and second connecting rod (27) respectively, and described first connects Bar (26) and second connecting rod (27) are rotatable relative to the first longeron (21) and the second longeron (22).
- 3. multi-modal deformable rotor robot according to claim 2, it is characterised in that the second cross beam (24) Middle part is provided with flight control system stent (28), and the flight control system stent (28) includes upper bracket (281) and lower branch Frame (282) and the shock-absorbing ball (283) of connection upper bracket (281) and lower carriage (282), the lower carriage (282) and described the Two crossbeams (24) are detachably connected.
- 4. multi-modal deformable rotor robot according to claim 3, it is characterised in that on the carrier frame (2) Rotatably mounted to have four damping driven wheels (4), four damping driven wheels (4) are mounted side by side in first longeron (21) two-by-two With the outside of the second longeron (22).
- 5. multi-modal deformable rotor robot according to claim 4, it is characterised in that the damping driven wheel (4) Including outer ring (41), inner ring (42) and some damping spokes (43) being connected between the outer ring (41) and inner ring (42).
- 6. multi-modal deformable rotor robot according to claim 5, it is characterised in that the inner ring (42) passes through axis The end for being pivotally mounted to axis pin (44) is held, the axis pin (44) is fixed between two pieces of connecting plates (45), the connecting plate (45) it is fixedly connected with the carrier frame (2).
- 7. multi-modal deformable rotor robot according to claim 6, it is characterised in that the damping spoke (43) is adopted The composite material that deformation can be produced with stress is made.
- 8. multi-modal deformable rotor robot according to claim 2, it is characterised in that the second cross beam (24) and Protective cover (13) is carbon fiber board.
- 9. multi-modal deformable rotor robot according to claim 1, it is characterised in that the motor (11) is direct current Brushless electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338782.XA CN107985580B (en) | 2017-12-14 | 2017-12-14 | Multi-mode deformable rotor robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338782.XA CN107985580B (en) | 2017-12-14 | 2017-12-14 | Multi-mode deformable rotor robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107985580A true CN107985580A (en) | 2018-05-04 |
| CN107985580B CN107985580B (en) | 2023-12-05 |
Family
ID=62038293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711338782.XA Active CN107985580B (en) | 2017-12-14 | 2017-12-14 | Multi-mode deformable rotor robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107985580B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
| CN109981042A (en) * | 2019-04-30 | 2019-07-05 | 天津大学 | A kind of clean intelligent robot of solar panel based on more rotors |
| CN110614891A (en) * | 2019-10-08 | 2019-12-27 | 潘佳义 | Method for cross-dimension movement of flying robot |
| CN111516770A (en) * | 2020-04-28 | 2020-08-11 | 扬州大学 | Snake state/quadruped state/rotor wing flight state robot based on mimicry state |
| CN113071576A (en) * | 2021-04-23 | 2021-07-06 | 北京理工大学 | Reverse thrust adsorption high-speed mobile robot |
| CN114103571A (en) * | 2021-12-17 | 2022-03-01 | 江苏大亿智能科技有限公司 | Health detection and maintenance robot for bridge pier tower |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB676398A (en) * | 1949-09-14 | 1952-07-23 | Kaman Aircraft Corp | Helicopter |
| GB777659A (en) * | 1954-08-23 | 1957-06-26 | Willys Motors Inc | Automotive vehicle |
| EP1541465A1 (en) * | 2003-12-09 | 2005-06-15 | Christof Hegger | Ultralight aircraft capable of travelling in the air and on the ground |
| KR20100138017A (en) * | 2009-06-24 | 2010-12-31 | 한국항공우주연구원 | 2-degree of freedom rotor pitch control system for tilt-rotor aircraft |
| CN103128730A (en) * | 2013-02-27 | 2013-06-05 | 广东工业大学 | Multi-form real-time information transmission rescue robot |
| CN103231633A (en) * | 2012-11-21 | 2013-08-07 | 陈正茂 | Turtle-type land-sea-air spacecraft |
| WO2013181722A2 (en) * | 2012-06-07 | 2013-12-12 | Krastev Ivan | Road-and-air transport vehicle |
| CN103552686A (en) * | 2013-10-21 | 2014-02-05 | 北京航空航天大学 | Combined type ducted aerial reconnaissance robot |
| US20140169963A1 (en) * | 2012-12-14 | 2014-06-19 | Raymond George Carreker | Direct orientation vector rotor |
| CN103979102A (en) * | 2014-05-25 | 2014-08-13 | 何长青 | Dual-mode aircraft with three ducted fans |
| CN204605434U (en) * | 2014-12-12 | 2015-09-02 | 西安丁子电子信息科技有限公司 | A kind of aeroamphibious three are dwelt device |
| CN105000174A (en) * | 2014-12-05 | 2015-10-28 | 上海交通大学 | Tiltrotor mixed multi-state aircraft with operational control surfaces |
| CN105252980A (en) * | 2015-10-20 | 2016-01-20 | 南京市锅炉压力容器检验研究院 | Air-ground amphibious emergent rescue investigation robot and purposes of same |
| CN205574273U (en) * | 2016-05-06 | 2016-09-14 | 吉林大学 | Four rotor crafts at adjustable rotor inclination |
| CN106080070A (en) * | 2016-08-03 | 2016-11-09 | 安徽啄木鸟无人机科技有限公司 | One can self-service change type land and air double-used aircraft |
| CN106827993A (en) * | 2017-03-28 | 2017-06-13 | 刘宾 | A kind of four culvert vertical take-off and landing hovercars |
| CN107010210A (en) * | 2017-05-06 | 2017-08-04 | 深圳市雷凌广通技术研发有限公司 | A kind of Intelligent unattended machine for electric power overhaul |
| US20170247107A1 (en) * | 2016-02-29 | 2017-08-31 | GeoScout, Inc. | Rotary-wing vehicle and system |
| CN206590113U (en) * | 2017-03-17 | 2017-10-27 | 西南交通大学 | Single shaft rotor wing unmanned aerial vehicle |
| CN206734619U (en) * | 2017-05-10 | 2017-12-12 | 普宙飞行器科技（深圳）有限公司 | It is a kind of that there is the unmanned plane for folding protective cover |
| CN207550502U (en) * | 2017-12-14 | 2018-06-29 | 西南交通大学 | A kind of multi-modal deformable rotor robot |
-
2017
- 2017-12-14 CN CN201711338782.XA patent/CN107985580B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB676398A (en) * | 1949-09-14 | 1952-07-23 | Kaman Aircraft Corp | Helicopter |
| GB777659A (en) * | 1954-08-23 | 1957-06-26 | Willys Motors Inc | Automotive vehicle |
| EP1541465A1 (en) * | 2003-12-09 | 2005-06-15 | Christof Hegger | Ultralight aircraft capable of travelling in the air and on the ground |
| KR20100138017A (en) * | 2009-06-24 | 2010-12-31 | 한국항공우주연구원 | 2-degree of freedom rotor pitch control system for tilt-rotor aircraft |
| WO2013181722A2 (en) * | 2012-06-07 | 2013-12-12 | Krastev Ivan | Road-and-air transport vehicle |
| CN103231633A (en) * | 2012-11-21 | 2013-08-07 | 陈正茂 | Turtle-type land-sea-air spacecraft |
| US20140169963A1 (en) * | 2012-12-14 | 2014-06-19 | Raymond George Carreker | Direct orientation vector rotor |
| CN103128730A (en) * | 2013-02-27 | 2013-06-05 | 广东工业大学 | Multi-form real-time information transmission rescue robot |
| CN103552686A (en) * | 2013-10-21 | 2014-02-05 | 北京航空航天大学 | Combined type ducted aerial reconnaissance robot |
| CN103979102A (en) * | 2014-05-25 | 2014-08-13 | 何长青 | Dual-mode aircraft with three ducted fans |
| CN105000174A (en) * | 2014-12-05 | 2015-10-28 | 上海交通大学 | Tiltrotor mixed multi-state aircraft with operational control surfaces |
| CN204605434U (en) * | 2014-12-12 | 2015-09-02 | 西安丁子电子信息科技有限公司 | A kind of aeroamphibious three are dwelt device |
| CN105252980A (en) * | 2015-10-20 | 2016-01-20 | 南京市锅炉压力容器检验研究院 | Air-ground amphibious emergent rescue investigation robot and purposes of same |
| US20170247107A1 (en) * | 2016-02-29 | 2017-08-31 | GeoScout, Inc. | Rotary-wing vehicle and system |
| CN205574273U (en) * | 2016-05-06 | 2016-09-14 | 吉林大学 | Four rotor crafts at adjustable rotor inclination |
| CN106080070A (en) * | 2016-08-03 | 2016-11-09 | 安徽啄木鸟无人机科技有限公司 | One can self-service change type land and air double-used aircraft |
| CN206590113U (en) * | 2017-03-17 | 2017-10-27 | 西南交通大学 | Single shaft rotor wing unmanned aerial vehicle |
| CN106827993A (en) * | 2017-03-28 | 2017-06-13 | 刘宾 | A kind of four culvert vertical take-off and landing hovercars |
| CN107010210A (en) * | 2017-05-06 | 2017-08-04 | 深圳市雷凌广通技术研发有限公司 | A kind of Intelligent unattended machine for electric power overhaul |
| CN206734619U (en) * | 2017-05-10 | 2017-12-12 | 普宙飞行器科技（深圳）有限公司 | It is a kind of that there is the unmanned plane for folding protective cover |
| CN207550502U (en) * | 2017-12-14 | 2018-06-29 | 西南交通大学 | A kind of multi-modal deformable rotor robot |
Non-Patent Citations (2)
| Title |
|---|
| 李斌斌: "合成射流及在主动流动控制中的应用", 基础科学辑 * |
| 黄河峡: "直升机/粒子分离器一体化流场特性:第二部分桨盘载荷的影响", 航空动力学报 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108394242A (en) * | 2018-05-15 | 2018-08-14 | 西南交通大学 | A kind of air-ground amphibious modularization robot |
| CN109981042A (en) * | 2019-04-30 | 2019-07-05 | 天津大学 | A kind of clean intelligent robot of solar panel based on more rotors |
| CN110614891A (en) * | 2019-10-08 | 2019-12-27 | 潘佳义 | Method for cross-dimension movement of flying robot |
| CN111516770A (en) * | 2020-04-28 | 2020-08-11 | 扬州大学 | Snake state/quadruped state/rotor wing flight state robot based on mimicry state |
| CN113071576A (en) * | 2021-04-23 | 2021-07-06 | 北京理工大学 | Reverse thrust adsorption high-speed mobile robot |
| CN114103571A (en) * | 2021-12-17 | 2022-03-01 | 江苏大亿智能科技有限公司 | Health detection and maintenance robot for bridge pier tower |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107985580B (en) | 2023-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107985580A (en) | A kind of multi-modal deformable rotor robot | |
| CN108202775B (en) | Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot | |
| JP4759738B2 (en) | Rotor blade mechanism, moving body using the rotor blade mechanism, and generator | |
| CN106080827A (en) | A kind of two axle land sky intelligence climb wall car | |
| CN103712035A (en) | Cage type pipeline aircraft | |
| CN112441152B (en) | Rotatable pole-climbing robot of fluid propeller formula | |
| WO2022144029A1 (en) | Mobile device, control method, control apparatus, storage medium, mobile platform, and accessory | |
| CN214727996U (en) | Air-ground amphibious robot | |
| CN111591438A (en) | Air-ground dual-purpose unmanned vehicle | |
| CN207550502U (en) | A kind of multi-modal deformable rotor robot | |
| CN203806022U (en) | Wheel-tracked combined robot adaptable to complicated unstructured environments such as nuclear power plant | |
| CN211032070U (en) | Air-ground inspection robot | |
| CN108528556B (en) | Moving body based on rotor wing aerodynamic force and wall climbing method thereof | |
| WO2000032469A1 (en) | Hybrid toroidal airship | |
| CN114084344A (en) | Multi-shaft rotor aircraft with power wheel type undercarriage | |
| CN106078671A (en) | A kind of intelligent robot omnidirectional driving means | |
| CN210592186U (en) | Logistics robot with omnidirectional movement and obstacle crossing capability | |
| CN105480014A (en) | Vibration reduction omni-directional moving wheel train device capable of crossing obstacle, working method of device, and mobile platform | |
| CN103522854A (en) | Wheeled-like movable robot with capacities of flying and water passing | |
| CN111591437A (en) | Single-wing aircraft with protection device | |
| CN109625264B (en) | Adjustable small logistics transportation device and assembling method thereof | |
| CN109649512B (en) | Vehicle-mounted active aerodynamic device and application method thereof | |
| US20220242181A1 (en) | Triphibian Vehicle | |
| CN212738326U (en) | Crawler-type outdoor chariot stair climbing device | |
| CN101602402A (en) | Airship empennage of tail rotor type |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |