CN115284805A - Air-ground amphibious robot with fixed wings - Google Patents
Air-ground amphibious robot with fixed wings Download PDFInfo
- Publication number
- CN115284805A CN115284805A CN202211027074.5A CN202211027074A CN115284805A CN 115284805 A CN115284805 A CN 115284805A CN 202211027074 A CN202211027074 A CN 202211027074A CN 115284805 A CN115284805 A CN 115284805A
- Authority
- CN
- China
- Prior art keywords
- shank
- leg
- driving motor
- ground
- connecting rod
- 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
Images
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
- B62D57/028—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 having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
An air-ground amphibious robot with fixed wings relates to the technical field of air-ground amphibious robots. The invention solves the problems that the existing air-ground amphibious robot is easy to cause the condition that platforms are mutually loaded after a composite mobile platform is combined with a flying platform, and the composite mobile platform can damage the integrity of the whole wing profile and the whole aerodynamic characteristics of the robot in a flying mode. The four rotor assemblies of the tilting four-rotor flight mechanism are respectively arranged at the front end and the rear end of two sides of the fuselage close to the wings in a pairwise opposite manner, the ground moving platform is a two-wheel-leg self-balancing crawling mechanism, the two leg assemblies of the two-wheel-leg self-balancing crawling mechanism are respectively and symmetrically arranged in the ground moving platform accommodating grooves at two sides of the bottom of the fuselage, and the leg assemblies can be completely recycled into the fuselage in a flight mode and realize flight operation through the four rotor assemblies. The method is used for guaranteeing the integrity of the integral wing profile of the air-ground amphibious robot in the flight mode and the integral aerodynamic characteristics of the robot.
Description
Technical Field
The invention relates to the technical field of air-ground amphibious robots, in particular to an air-ground amphibious robot with fixed wings.
Background
The existing air-ground amphibious robot mainly adopts a mode that rotors are combined with wheels to move, so that the independent flying and independent walking functions are realized, the mode switching mainly adopts a mode of manual control or instruction control, and certainly, a plurality of scholars fuse a multi-rotor platform with various crawling mechanisms such as foot type and crawler type to realize new functions, mainly comprising the lifting and stable landing of the flying and walking functions. Based on the current situation, the future development direction of the amphibious platform mainly comprises the following points:
first, in terms of the form of a crawling mechanism, relevant researches on combination with a rotor platform are conducted on wheel type, foot type and crawler type as traditional ground moving modes, the composite moving mode combines the advantages of a single moving mode, the ground moving capability of the platform is greatly improved, and the researches on combination with the rotor platform are few. The wheel-leg type composite moving crawling mechanism is combined with the flying platform, so that the crawling mechanism has foot type ground adaptability and wheel type quick moving capability, assistance of the flying platform is eliminated, independent walking is realized, and the cruising ability of the robot is improved.
Secondly, from the perspective of a flight platform, most of air-ground amphibious robots can achieve functions of vertical take-off and landing, horizontal flight and the like by adopting a four-rotor or multi-rotor flight mode, but few amphibious robots have fixed-wing flight capability. The fixed wing flight mode can alleviate the burden of rotor to a certain extent, and then promotes the duration of the robot.
Finally, from the synergistic effect among the platforms, how to realize the synergistic effect between the flight power and the ground mobile power improves the performance or endurance of the robot, avoids the situation that the platforms are mutually loaded as much as possible, and improves the energy utilization rate of the driving unit, which is also an important direction for the development of the amphibious platform.
In summary, the existing air-ground amphibious robot has the problems that after the composite mobile platform is combined with the flight platform, the platforms are easy to load each other, and the composite mobile platform can damage the integrity of the whole wing profile and the whole aerodynamic characteristics of the robot in the flight mode.
Disclosure of Invention
The invention aims to solve the problems that the existing air-ground amphibious robot is easy to have the situation that platforms are mutually loaded after a composite mobile platform is combined with a flight platform, and the composite mobile platform can damage the integrity of the whole wing profile and the whole aerodynamic characteristics of the robot in a flight mode, and further provides the air-ground amphibious robot with a fixed wing.
The technical scheme of the invention is as follows:
the utility model provides an air-ground amphibious robot with fixed wing, it includes flight platform and ground moving platform, flight platform is including four rotor flight mechanism and the fixed wing flight mechanism can vert, fixed wing flight mechanism includes fuselage 3, fin support frame 4, fin 5 and two wings 21, fin 5 is located fuselage 3 rear, fin 5 passes through fin support frame 4 and fuselage 3 rear end fixed connection, four rotor assemblies of four rotor flight mechanism that can vert set up in fuselage 3 both sides near both ends department around wing 21 respectively two liang of relatively, ground moving platform is two-wheeled leg formula self-balancing crawl mechanism, 3 bottom both sides of fuselage are processed respectively and are had ground moving platform to accomodate the groove, two leg assemblies of two-wheeled leg formula self-balancing crawl mechanism are symmetrical respectively to be installed in the ground moving platform of 3 bottom both sides of fuselage accomodate the groove, can retrieve leg assembly to 3 inside and realize the flight operation through four rotor assemblies completely under the flight mode, can stretch out 3 outsides of fuselage with leg assembly and realize ground moving operation through two leg assemblies under the ground moving mode.
Further, every rotor subassembly is equipped with support frame connecting sleeve 22 respectively including tilting steering wheel 1, rotor driving motor 2, screw 6 and screw support frame 7, 3 both sides of fuselage are close to the front and back both ends department of wing 21, and the fixed cartridge of 7 one ends of screw support frame is in support frame connecting sleeve 22, and tilting steering wheel 1 is installed to the 7 other ends of screw support frame, tilting steering wheel 1's rocking arm and rotor driving motor 2's casing fixed connection install screw 6 on rotor driving motor 2's the motor shaft.
Furthermore, each leg component comprises a leg mounting plate 8, a thigh driving motor 9, a thigh rod 10, a shank rod 11, a shank driving motor 13, a shank connecting rod a14, a shank connecting rod B15, a shank connecting rod C16, a shank connecting rod D17 and a wheel component, the leg mounting plate 8 is vertically mounted on the inner wall of the ground moving platform accommodating groove of the machine body 3, the thigh driving motor 9 and the shank driving motor 13 are mounted on the end surface of one side of the leg mounting plate 8 in parallel with each other through motor shafts, two motor shaft assembling holes are formed in the leg mounting plate 8, motor shafts of the thigh driving motor 9 and the shank driving motor 13 respectively penetrate through two motor shaft assembling holes of the leg mounting plate 8 and extend to the other side of the leg mounting plate 8, one end of the shank connecting rod a14 is fixedly connected with the motor shaft of the shank driving motor 13, one end of the shank connecting rod C16 is rotatably connected with the motor shaft of the thigh driving motor 9 through a bearing, two ends of the shank connecting rod B15 are rotatably connected with the other ends of the shank connecting rod a14 and the shank connecting rod C16 through a pin shaft, the other end of the shank connecting rod is rotatably connected with the middle part of the shank connecting rod D11 through a pin shaft, and the other end of the shank connecting rod D17.
Further, the leg assembly adopts a double four-link structure.
Further, the lower leg link a14, the lower leg link B15, the lower leg link C16, and the leg attachment plate 8 constitute a first four-link mechanism.
Further, the first four-bar linkage is a parallel four-bar linkage.
Further, the lower leg link C16, the lower leg link D17, the thigh link 10, and the lower leg link 11 constitute a second four-link mechanism.
Further, the wheel part assembly comprises a wheel part driving motor 18, a wheel hub 19 and a tire 20, the wheel part driving motor 18 is mounted at the bottom end of the shank 11, the wheel hub 19 is mounted on a motor shaft of the wheel part driving motor 18, and the tire 20 is mounted on the wheel hub 19.
Furthermore, each leg assembly further comprises a driven wheel 12, a driven wheel mounting frame is arranged on the end face of one side, away from the thigh rod 10, of the upper portion of the shank rod 11, and the driven wheel 12 is mounted on the driven wheel mounting frame.
Furthermore, lightening holes are processed on the leg mounting plate 8.
Compared with the prior art, the invention has the following effects:
1. in the aspect of flight, the air-ground amphibious robot has two flight modes of a four-rotor wing and a fixed wing, and the functions of vertical take-off and landing, vertical rotation and horizontal flight and the like of the robot are realized by adopting the flight control technology of the tiltable rotor wing. Meanwhile, the robot has the capability of running and taking off due to the fixed wings and the crawling mechanism with the wheels, the flying energy consumption can be effectively reduced by adopting a fixed wing flying mode, and the cruising capability of the robot is improved. After the robot takes off, the legs can be completely recovered to the interior of the robot body, and the whole wing profile of the robot body can be ensured after the cabin door is closed, so that the whole aerodynamic characteristic is ensured.
2. In the aspect of ground movement, the ground moving platform adopts a two-wheel-leg composite moving mode, is lighter in weight and more flexible in movement, and is more suitable for being combined with a rotor platform with limited load capacity. The robot can pass through, cross over and even jump over obstacles through the control algorithm of the leg parts, the level and the stability of the robot body can be ensured on uneven road surfaces, and the robot can adapt to most terrains. The driven wheels are arranged at the knee joints, so that the robot has a four-wheel ground movement mode, and the great load capacity and stability are obtained under the condition of sacrificing the height adjustment capacity.
3. The two-wheel-leg self-balancing crawling mechanism is controlled by a cascade control algorithm which is similar to a control algorithm of a rotor aircraft, so that the power of the rotor and a driving unit of the crawling mechanism can be cooperatively controlled, the control targets of the power of the rotor and the driving unit of the crawling mechanism are the same, the stability and the load capacity of the robot can be improved under the cooperative action, meanwhile, the robot can realize the effects of single-leg movement, stable any posture and the like, and the two-wheel-leg self-balancing crawling mechanism can adapt to more complex application scenes.
4. The crawling mechanism, namely the legs of the ground moving platform, adopts a double four-connecting-rod type structure and has two degrees of freedom. The thigh rod 10 is directly driven by the thigh driving motor 9, and the shank rod 11 is driven by two four-bar linkages, so that on one hand, compared with a two-bar linkage type leg structure, the knee joint output torque can be reduced by half; meanwhile, the driving unit can be integrated at the machine body, so that the rotational inertia of the leg structure is reduced, and the control performance of the robot is improved.
Drawings
FIG. 1 is a front view of an air-ground amphibious robot with fixed wings according to the present invention;
FIG. 2 is a side view of an air-ground amphibious robot with fixed wings of the present invention;
FIG. 3 is a top view of the air-ground amphibious robot with fixed wings of the present invention;
FIG. 4 is an isometric view of an air-ground amphibious robot with fixed wings of the present invention;
figure 5 is a schematic structural view of a rotor assembly of the present invention.
Fig. 6 is a front view of a leg unit of the ground moving platform of the present invention;
FIG. 7 is a side view of the leg unit of the ground moving platform of the present invention;
FIG. 8 is a top view of the leg unit of the ground moving platform of the present invention;
fig. 9 is an isometric view of a leg unit of the ground mobile platform of the present invention; .
In the figure: 1-a tilt steering engine; 2-rotor drive motor; 3-a fuselage; 4-empennage supporting frames; 5-tail fin; 6, a propeller; 7-a propeller support frame; 8-a leg mounting plate; 9-thigh drive motor; 10-a thigh bar; 11-shank rod; 12-a driven wheel; 13-a calf drive motor; 14-shank link A; 15-shank link B; 16-a lower leg link C; 17-shank link D; 18-wheel section drive motor; 19-a hub; 20-a tyre; 21-an airfoil; 22-support frame connecting sleeve.
Detailed Description
The first specific implementation way is as follows: the embodiment is described with reference to fig. 1 to 9, the air-ground amphibious robot with fixed wings of the embodiment includes a flight platform and a ground moving platform, the flight platform includes a tiltable quadrirotor flight mechanism and a fixed wing flight mechanism, the fixed wing flight mechanism includes a body 3, a tail support frame 4, a tail 5 and two wings 21, the tail 5 is located behind the body 3, the tail 5 is fixedly connected with the rear end of the body 3 through the tail support frame 4, the four rotor assemblies of the tiltable quadrirotor flight mechanism are respectively arranged at the front and rear ends of the body 3, which are close to the wings 21, two sides of the bottom of the body 3 are respectively processed with ground moving platform accommodating grooves, the two leg assemblies of the two-wheel leg self-balancing crawling mechanism are respectively and symmetrically installed in the ground moving platform accommodating grooves at the two sides of the bottom of the body 3, the leg assemblies can be completely recovered into the body 3 in the body in a flight mode (indicating the working condition of the ground moving platform), and the leg assemblies can extend out of the body 3 and move on the ground.
The flying platform of the land-air amphibious robot with the fixed wings adopts a flying mode that the fixed wings are reinforced by four tilting rotors, and can realize functions of vertical take-off and landing, vertical rotation and horizontal flying and the like; meanwhile, through reasonable design of the wing profile of the robot body, the robot has the capabilities of fixed wing flight and sliding flight, and the cruising ability of the robot can be improved to a certain extent; the space for taking in the leg structure is designed, and under the flight mode, the leg assembly is completely recycled to the inside of the machine body 3, the completeness of the whole wing profile can be guaranteed after the cabin door is closed, and the whole pneumatic characteristic of the robot is guaranteed.
The ground moving mechanism of the ground moving platform of the air-ground amphibious robot with the fixed wings adopts a double-wheel-foot composite moving mode, and has the ground adaptability of foot type moving and the high-speed and high-efficiency performance of wheel type moving. The biped structure improves the ground movement flexibility of the robot and reduces the body mass of the robot as much as possible. The two-wheel-leg moving mode is adopted, on one hand, the mode can realize the functions of basic ground walking, jumping and adaptation to complex road surfaces; on the other hand compares in many wheel legs mode of removal, and two wheel legs have the quality characteristics lighter and more nimble, more are fit for combining with rotor flight platform. Meanwhile, the crawling mechanism also has a four-wheel moving mode, so that the stability and the ultimate load capacity are improved, and the crawling mechanism can be freely switched with a two-wheel self-balancing mode; in addition, the control principle of the two-wheel leg type self-balancing crawling mechanism is similar to that of the rotor platform, so that the power of the rotor can be utilized to assist the ground moving platform in the ground moving process so as to improve the ultimate load capacity and the stability capacity of the platform.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, each rotor assembly of the embodiment includes a tilting steering engine 1, a rotor driving motor 2, a propeller 6 and a propeller support frame 7, support frame connecting sleeves 22 are respectively arranged at the front end and the rear end of the two sides of a fuselage 3 close to a wing 21, one end of the propeller support frame 7 is fixedly inserted into the support frame connecting sleeves 22, the tilting steering engine 1 is installed at the other end of the propeller support frame 7, a rocker arm of the tilting steering engine 1 is fixedly connected with a shell of the rotor driving motor 2, and the propeller 6 is installed on a motor shaft of the rotor driving motor 2. So set up, the flight platform adopts the flight mode of four rotors that can vert, and every rotor all possesses independent driving motor and the steering wheel that verts, and the angle of verting can reach 60, utilizes the vertical take-off and landing, the rotation of droing of current four rotor control techniques can realize the robot to tie functions such as fly. Other components and connections are the same as in the first embodiment.
In this embodiment, the tilt steering engine 1 is a kst 60kg × cm steering engine.
The third concrete implementation mode: the present embodiment is described with reference to fig. 6 to 9, each leg assembly of the present embodiment includes a leg mounting plate 8, a thigh driving motor 9, a thigh rod 10, a shank rod 11, a shank driving motor 13, a shank link a14, a shank link B15, a shank link C16, a shank link D17 and a wheel assembly, the leg mounting plate 8 is vertically mounted on the inner wall of the floor moving platform accommodating slot of the body 3, the thigh driving motor 9 and the shank driving motor 13 with parallel motor shafts are respectively mounted on one side end surface of the leg mounting plate 8, two motor shaft mounting holes are processed on the leg mounting plate 8, the motor shafts of the thigh driving motor 9 and the shank driving motor 13 respectively pass through the two motor shaft mounting holes of the leg mounting plate 8 and extend to the other side of the leg mounting plate 8, one end of a shank connecting rod A14 is fixedly connected with a motor shaft of a shank driving motor 13, one end of a shank connecting rod C16 is coaxially and rotatably connected with a motor shaft of a thigh driving motor 9 through a bearing, two ends of a shank connecting rod B15 are respectively rotatably connected with the other ends of the shank connecting rod A14 and the shank connecting rod C16 through hinge pins, the top end of a thigh rod 10 is fixedly connected with the motor shaft of the thigh driving motor 9, the bottom end of the thigh rod 10 is rotatably connected with the top end of a shank rod 11 through a hinge pin, a wheel part assembly is installed at the bottom end of the shank rod 11, one end of a shank connecting rod D17 is rotatably connected with the middle upper part of the shank rod 11 through a hinge pin, and the other end of the shank connecting rod D17 is rotatably connected with the other end of the shank connecting rod C16 through a hinge pin. So set up, the shank adopts two four connecting rod formula structures, has two degrees of freedom. The thigh rod 10 is directly driven by the thigh driving motor 9, and the shank rod 11 is driven by two four-bar linkages, so that on one hand, compared with a two-bar linkage type leg structure, the knee joint output torque can be reduced by half; meanwhile, the driving unit can be integrated at the machine body, so that the rotational inertia of the leg structure is reduced, and the control performance of the robot is improved. Other compositions and connections are the same as in the first or second embodiments.
The legs of the robot adopt a control mode of position control and feedforward moment compensation, functions such as height adjustment and ground adaptation can be realized, the height adjustment enables the robot to cross, pass or jump over an obstacle, the ground adaptation enables the robot to ensure the level of a machine body as far as possible under the condition that the landing heights of the two legs are different, and the stability of the robot is improved. In addition, the flying platform can provide additional supporting force and stability guarantee for the robot in the ground moving process, and the stability of the robot body can be kept through flying power when the robot is unstable; when the road surface is narrow, the vehicle can pass by adopting a single-wheel traveling mode.
The fourth concrete implementation mode is as follows: the present embodiment will be described with reference to fig. 6 to 9, and the leg unit of the present embodiment adopts a double four-link structure. Due to the arrangement, the shank rod 11 is driven by the two four-connecting rods, so that the output torque of the knee joint can be reduced by half compared with a two-connecting-rod type shank structure; meanwhile, the driving unit can be integrated at the machine body, so that the rotational inertia of the leg structure is reduced, and the control performance of the robot is improved. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 6 to 9, and the lower leg link a14, the lower leg link B15, the lower leg link C16, and the leg attachment plate 8 of the present embodiment constitute a first four-link mechanism. With this arrangement, the lower leg link a14 and the lower leg link C16 can be directly driven by the lower leg driving motor. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode is as follows: the present embodiment will be described with reference to fig. 6 to 9, and the first four-bar linkage of the present embodiment is a parallel four-bar linkage. With this arrangement, the driving torque of the knee joint can be reduced by half compared to the two-link structure. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: the present embodiment is described with reference to fig. 6 to 9, and the lower leg link C16, the lower leg link D17, the upper leg lever 10, and the lower leg lever 11 of the present embodiment constitute a second four-bar linkage. In this way, the lower leg link C16 can be driven to drive the lower leg lever 11. Other compositions and connection relations are the same as those of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment or the sixth embodiment.
The specific implementation mode is eight: the present embodiment is described with reference to fig. 6 to 9, and the wheel unit of the present embodiment includes a wheel driving motor 18, a hub 19, and a tire 20, the wheel driving motor 18 is mounted on the bottom end of the shank 11, the hub 19 is mounted on the motor shaft of the wheel driving motor 18, and the tire 20 is mounted on the hub 19. In this arrangement, the wheel-portion driving motor 18 is fixed to the shank 11, and is connected to the tire 20 via the hub 19 to form the wheel portion of the crawler mechanism. The wheel driving motor 18 drives the wheel hub 19 and the tire 20 mounted on the wheel hub 19 to rotate, thereby realizing a ground traveling function. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.
The specific implementation method nine: referring to fig. 6 and 9, the present embodiment is described, each leg assembly of the present embodiment further includes a driven wheel 12, a driven wheel mounting bracket is provided on an end surface of the upper portion of the lower leg rod 11 away from the upper leg rod 10, and the driven wheel 12 is mounted on the driven wheel mounting bracket. So set up, set up the follower and make the robot possess four-wheel ground movement mode in knee joint department, obtained very big load capacity and stability under the condition of sacrificing height adjustment ability. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: the present embodiment will be described with reference to fig. 6 and 9, and a lightening hole is formed in the leg attachment plate 8 of the present embodiment. With the arrangement, the weight of the wheel leg can be effectively reduced by designing the lightening holes on the leg mounting plate 8. Other compositions and connections are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiment.
Principle of operation
The working principle of the air-ground amphibious robot with fixed wings of the invention is described with reference to fig. 1 to 9:
in a flight mode, firstly, a tilting four-rotor flight mechanism is adopted to enable the robot to be in a hovering state, then a thigh driving motor 9 is started to directly drive a thigh rod 10 to rotate towards one side close to a flight platform by taking a motor shaft of the thigh driving motor 9 as a center until the thigh rod 10 is in a horizontal state; then, a shank driving motor 13 is started to drive a shank rod 11 to rotate towards one side close to the thigh rod 10 by taking a pin shaft at the joint of the shank rod 11 and the thigh rod 10 as a center through a first four-bar linkage mechanism and a second four-bar linkage mechanism in sequence until the shank rod 11 is overlapped with the thigh rod 10, at the moment, a shank component is completely recovered into the machine body 3, the integrity of the whole wing shape can be ensured after the cabin door is closed, and the whole pneumatic characteristic of the robot is ensured; and finally, the four tiltable rotors are adopted to reinforce the fixed wing to realize the functions of vertical take-off and landing, vertical rotation, horizontal flight and the like.
In a ground moving mode, firstly, a shank driving motor 13 is started to drive a shank rod 11 to rotate towards one side far away from a shank rod 10 by taking a pin shaft at the joint of the shank rod and the shank rod 10 as a center through a first four-bar linkage mechanism and a second four-bar linkage mechanism, and then, a thigh driving motor 9 is started to directly drive the shank rod 10 to rotate towards one side close to the ground by taking a motor shaft of the thigh driving motor 9 as a center; finally, the wheel part driving motor 18 drives the wheel hub 19 and the tire 20 mounted on the wheel hub 19 to rotate, so that the ground walking function can be realized, and the free switching between the four-wheel moving mode and the two-wheel self-balancing mode can be realized in the walking process.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an empty amphibious robot in land with fixed wing which characterized in that: it includes flight platform and ground moving platform, flight platform is including four rotor flight mechanism and fixed wing flight mechanism can vert, fixed wing flight mechanism includes fuselage (3), fin support frame (4), fin (5) and two wings (21), fin (5) are located fuselage (3) rear, fin (5) are through fin support frame (4) and fuselage (3) rear end fixed connection, four rotor subassemblies of four rotor flight mechanism can vert set up respectively two liang relatively in fuselage (3) both sides near the front and back both ends department of wing (21), ground moving platform is two-wheeled leg type self-balancing crawl mechanism, fuselage (3) bottom both sides have been processed respectively and have been accomodate the groove with ground moving platform, two leg assemblies of two-wheeled leg type self-balancing crawl mechanism are respectively the symmetry and install in fuselage (3) the ground moving platform of bottom both sides accomodate the groove, can retrieve the shank subassembly completely to fuselage (3) inside and realize the flight operation through four leg assemblies under the flight mode, can stretch out the outside of fuselage (3) and realize the ground moving operation through two leg assemblies with the leg assembly under the ground moving mode.
2. An air-ground amphibious robot with fixed wings according to claim 1, characterized in that: every rotor subassembly is equipped with support frame connecting sleeve (22) respectively including tilting steering wheel (1), rotor driving motor (2), screw (6) and screw support frame (7) near the front and back both ends department of wing (21) in fuselage (3) both sides, and the fixed cartridge of screw support frame (7) one end is in support frame connecting sleeve (22), and tilting steering wheel (1) is installed to the screw support frame (7) other end, the rocking arm of tilting steering wheel (1) and the casing fixed connection of rotor driving motor (2) install screw (6) on the motor shaft of rotor driving motor (2).
3. An air-ground amphibious robot with fixed wings according to claim 1 or 2, characterized in that: each leg component comprises a leg mounting plate (8), a thigh driving motor (9), a thigh rod (10), a shank rod (11), a shank driving motor (13), a shank connecting rod A (14), a shank connecting rod B (15), a shank connecting rod C (16), a shank connecting rod D (17) and a wheel component, wherein the leg mounting plate (8) is vertically mounted on the inner wall of a ground moving platform accommodating groove of the machine body (3), a thigh driving motor (9) and a shank driving motor (13) with motor shafts arranged in parallel are respectively mounted on one side end surface of the leg mounting plate (8), two motor shaft assembling holes are processed on the leg mounting plate (8), motor shafts of the thigh driving motor (9) and the shank driving motor (13) respectively penetrate through the two motor shaft assembling holes of the leg mounting plate (8) and extend to the other side of the leg mounting plate (8), one end of the shank connecting rod A (14) is fixedly connected with the motor shaft of the shank driving motor (13), one end of the shank connecting rod C (16) is connected with the thigh driving motor shaft of the thigh driving motor (9) in a rotating mode through a bearing, the two ends of the connecting rod B (15) are respectively connected with the connecting rod A (14) and the other end of the shank connecting rod (14) through a pin shaft, the shank connecting rod C (10), the top end of the shank connecting rod (10) is fixedly connected with the motor shaft of the thigh driving motor shaft of the shank driving motor (9), and the shank driving motor shaft of the shank driving motor (10), the bottom end of the shank rod (11) is provided with a wheel component, one end of a shank connecting rod D (17) is rotatably connected with the middle upper part of the shank rod (11) through a pin shaft, and the other end of the shank connecting rod D (17) is rotatably connected with the other end of a shank connecting rod C (16) through a pin shaft.
4. An air-ground amphibious robot with fixed wings as claimed in claim 3, wherein: the leg component adopts a double four-connecting-rod structure.
5. An air-ground amphibious robot with fixed wings as claimed in claim 1 or 3, wherein: the lower leg link A (14), the lower leg link B (15), the lower leg link C (16) and the leg mounting plate (8) constitute a first four-link mechanism.
6. An air-ground amphibious robot with fixed wings according to claim 5, characterized in that: the first four-bar linkage is a parallel four-bar linkage.
7. An air-ground amphibious robot with fixed wings as claimed in claim 1 or 3, wherein: the lower leg link C (16), the lower leg link D (17), the thigh link (10), and the lower leg link (11) constitute a second four-link mechanism.
8. An air-ground amphibious robot with fixed wings as claimed in claim 7, wherein: the wheel part assembly comprises a wheel part driving motor (18), a hub (19) and a tire (20), the wheel part driving motor (18) is installed at the bottom end of the lower leg rod (11), the hub (19) is installed on a motor shaft of the wheel part driving motor (18), and the tire (20) is installed on the hub (19).
9. An air-ground amphibious robot with fixed wings according to claim 8, characterized in that: each leg component further comprises a driven wheel (12), a driven wheel mounting frame is arranged on the end face of one side, far away from the thigh rod (10), of the upper portion of the shank rod (11), and the driven wheel (12) is mounted on the driven wheel mounting frame.
10. An air-ground amphibious robot with fixed wings according to claim 9, characterized in that: lightening holes are processed on the leg mounting plate (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211027074.5A CN115284805B (en) | 2022-08-25 | 2022-08-25 | Air-ground amphibious robot with fixed wings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211027074.5A CN115284805B (en) | 2022-08-25 | 2022-08-25 | Air-ground amphibious robot with fixed wings |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115284805A true CN115284805A (en) | 2022-11-04 |
| CN115284805B CN115284805B (en) | 2023-05-26 |
Family
ID=83832953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211027074.5A Active CN115284805B (en) | 2022-08-25 | 2022-08-25 | Air-ground amphibious robot with fixed wings |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115284805B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101386959B1 (en) * | 2012-11-26 | 2014-04-29 | 주식회사 엑센스 | Flying car with multi-rotor and multi-axis multi-step tilt function |
| CN106739890A (en) * | 2016-12-01 | 2017-05-31 | 天津农学院 | Wheel-leg combined type amphibious robot with ground moving and sporting flying mode |
| CN111717380A (en) * | 2020-07-23 | 2020-09-29 | 青岛港湾职业技术学院 | Multi-mode port machinery maintenance detection robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel leg robot leg structure and mobile robot |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
-
2022
- 2022-08-25 CN CN202211027074.5A patent/CN115284805B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101386959B1 (en) * | 2012-11-26 | 2014-04-29 | 주식회사 엑센스 | Flying car with multi-rotor and multi-axis multi-step tilt function |
| CN106739890A (en) * | 2016-12-01 | 2017-05-31 | 天津农学院 | Wheel-leg combined type amphibious robot with ground moving and sporting flying mode |
| CN111717380A (en) * | 2020-07-23 | 2020-09-29 | 青岛港湾职业技术学院 | Multi-mode port machinery maintenance detection robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel leg robot leg structure and mobile robot |
| CN113635721A (en) * | 2021-08-19 | 2021-11-12 | 西安戴森电子技术有限公司 | Air-land amphibious biped wheel multi-mode walking flying bionic robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115284805B (en) | 2023-05-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115284804B (en) | Land-air amphibious robot combining tilting four rotors and double-wheel feet | |
| US20220135204A1 (en) | Vtol having retractable wings | |
| CN107554637A (en) | A kind of six sufficient barrier-surpassing robots | |
| US6978969B1 (en) | Fly-drive vehicle | |
| CN113955102B (en) | Land-air double-domain allosteric duct unmanned aerial vehicle | |
| CN112590477B (en) | Bird-like robot with air flight and ground running functions | |
| CN107600415B (en) | Tilting type high-mobility unmanned aerial vehicle adopting cross-pitch-variable rotor wing structure | |
| CN115284805B (en) | Air-ground amphibious robot with fixed wings | |
| RU2099217C1 (en) | Wing-in-ground effect craft, its take-off and landing gear and wing folding actuator | |
| CN205255921U (en) | Flight electric automobile | |
| CN109502019B (en) | Large bionic flapping wing aircraft | |
| CN216684659U (en) | Bionic crawling robot | |
| CN110481775A (en) | A kind of flapping wing mechanism of changeable wing area | |
| CN113500884B (en) | All-terrain mobile robot with lifting function | |
| CN113291460B (en) | Short-distance/vertical take-off and landing aircraft adopting variant landing gear | |
| CN111923672B (en) | Flying automobile | |
| CN113104128B (en) | Wheel foot type robot suspension mechanism, axle module and chassis | |
| CN212473892U (en) | Modularized composite wing unmanned aerial vehicle | |
| CN219821139U (en) | Land-air amphibious robot combining double rotors and wheel feet | |
| CN108995728B (en) | High-mobility wheel-foot composite robot | |
| CN221068446U (en) | Autonomous mobile gyroplane frame | |
| CN217259448U (en) | Amphibious allosteric robot for air and land | |
| CN221091037U (en) | Thigh subassembly of biped robot | |
| CN215622689U (en) | Amphibious aircraft with foldable wings | |
| CN116552843A (en) | Portable air-ground amphibious robot |
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 |