CN204749768U

CN204749768U - Empty amphibious dicyclo shape shifting robot in land

Info

Publication number: CN204749768U
Application number: CN201520434369.3U
Authority: CN
Inventors: 段宇航
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-06-24
Filing date: 2015-06-24
Publication date: 2015-11-11
Anticipated expiration: 2025-06-24

Abstract

The utility model provides an empty amphibious dicyclo shape shifting robot in land which includes: overlapping mutually and hinging with ring in rotating a complex excircle ring sum no. 1 at straight ascending both ends, it can cup joint one and can wind the interior wheel rim of its axial pivoted around the outer wheel rim of its axial pivoted at least to cup joint one on the outer diametral plane of outer ring at least on the outer diametral plane of interior ring, the intra -annular of interior ring still is fixed with: a contained angle motor that is used for changing ring angle folding relatively in the excircle ring sum, one be used for the drive to connect outer wheel rim pivoted outer lane motor, one be used for the drive to connect interior wheel rim pivoted inner circle motor, the module is transferred to a model aeroplane and model ship power consumption, is fixed with two in the axial electricity accent module in interior ring intra -annular center and flies to control the motor, and two fly to control motor drive connection two revolves to opposite rotor. All -round automation adapts to topography, collapsible in order to remove in marcing in land in narrow space, also ring wind channel orientation is in order to adjust the flight gesture in the accessible folded deformation, and two rotor moments of torsion can change flight direction to can reconnaissance flight in comparatively constrictive space.

Description

A kind of air-ground amphibious double-loop deformed robot

Technical field

The utility model relates to a kind of air-ground amphibious double-loop deformed robot, and specifically a kind of Foldable and deformable is to change the multi-purpose robot of its land walking posture and airflight attitude.

Background technology

The empty amphibious robot in land is widely used in environment detection, security detection, lifesaving detection, the fields such as scouting of taking photo by plane, current air-ground amphibious robot mostly cannot be out of shape the need of the walking met in different narrow space, also cannot change its flight attitude by distortion aloft.

A kind of air-ground amphibious spherical change born of the same parents robot based on becoming born of the same parents' principle as disclosed in Chinese invention patent application (CN104260605A), when this robot prepares flight, upper hemispherical shell makes way for the hold-down arm of folding frame by upward movement, after arm expansion to be supported puts in place, upper hemispherical shell moves downward playback again, namely four hold-down arms of spherical shell are stretched out by upper hemispherical shell and the involutory location of lower hemisphere shell, then open the driven by motor rotor high speed rotating of hold-down arm outer end, realize the flight of four rotor robots; During walking, upper hemispherical shell makes way for the hold-down arm of folding frame by upward movement, and the horizontal backswing of hold-down arm is retracted in spherical shell, upper hemispherical shell moves downward playback again, namely rotor is accommodated in spherical shell, then the leg of double leval jib is put on display, become Four-feet creeping robot; After robot takes off, need the leg little bottom that makes that bounces back to become a complete hemispherical Shell, reduce resistance during flight.Problem existing for this robot has: when 1. flight and creep mode switch, the hold-down arm installing rotor motor needs flexible spherical shell of coming in and going out, the leg of double leval jib needs flexible turnover spherical shell, and the mechanism design of this complexity makes the structure of this robot very complicated, and it is very inconvenient to manipulate; When 2. running into as narrow in height or low wide land travel space, because spherical shell cannot reduce distortion, thus cannot by high narrow or low wide narrow space; 3., during four rotor flyings, because own vol cannot be out of shape, when therefore running into narrow flight space, this robot cannot fly and pass through; 4. adopt Four-feet creeping, the land speed of travel is slow.

Utility model content

For solving the problem existing for above-mentioned air-ground amphibious robot, the utility model is intended to propose a kind of air-ground amphibious double-loop deformed robot, make its when land mobile can comprehensive automatic adaptation to the ground, can folded state spin in movable in narrow space, sway, upset or original place by land; Flight attitude is regulated, with this by narrow flight space by changing folded state aloft when making it fly.

For reaching above-mentioned purpose, the utility model provides a kind of air-ground amphibious double-loop deformed robot, it is characterized in that it comprises: to be nested and two ends in a radial direction are hinged with annulus in an outer toroid and of rotatable engagement, the outer diameter face of outer toroid being at least socketed one can around the outer rim of its axial rotation, and the outer diameter face of interior annulus being at least socketed one can around the inner rim of its axial rotation; Also be fixed with in the ring of interior annulus: one for changing outer toroid and the interior annulus angle motor, relative to folding angles for driving the outer ring motor, being connected outer rim and rotating for driving the inner ring motor connecting inner rim and rotate; One model plane electricity consumption mode transfer block, in interior annulus ring center shaft to electric mode transfer block on be fixed with two and fly to control motor, two fly to control motor drives the rotor that connection two rotation direction is contrary.

The rotating shaft of described angle motor is affixed through interior annulus and outer toroid, and an affixed outer ring gear drive outer rim after interior annulus and outer toroid is passed in the rotating shaft of outer ring motor; The rotating shaft of angle motor and the rotating shaft of outer ring motor are as two pin jointed ends in above-mentioned radial direction; Drive outer toroid by the axis of rotation of angle motor, to control the folding angles of interior annulus and outer toroid, in advancing in land, change shape to make the utility model and narrow space can be passed; When folding angles is zero, interior annulus is enclosed within outer toroid completely, is convenient to the utility model storage and carries; Rotation outer ring pinion rotation on the machine shaft of outer ring drives outer rim to rotate at outer toroid outside face, makes outer toroid removable.

Describedly be fixed on inner ring machine shaft in interior annulus ring through an affixed internal ring gear wheel drive inner rim after interior annulus; Inner ring driven by motor internal ring gear wheel drive inner rim rotates at interior ring textures, makes interior annulus removable.

Described outer toroid is provided with roller that the is some and normal-running fit of outer rim inside face; Interior annulus is arranged the roller with the inside face normal-running fit of inner rim.Roller is provided with object and is to support outer rim, and outer rim rotating band is added flexibly.

Described outer rim inner ring surface is provided with the first internal gear with outer ring gears meshing; Outer ring gear actuation first internal gear, rotates to realize outer rim.

Described inner rim inside diameter surface is provided with the second internal gear with inner ring gears meshing; Rotate to realize inner ring gear driven inner rim.

Described electric mode transfer block two ends are fixedly connected between angle motor and outer ring motor; Described electric mode transfer block is between the plane of revolution of two rotors; Design like this makes two rotors be in interior annulus ring, and electric mode transfer block can be fixed on intermediate symmetrical position in ring.

Also fix one in described interior annulus ring for controlling the guiding device that interior annulus turns to, guiding device comprises a guide motor, the rotating shaft of guide motor is fixed a flow deflector; Led to by the air-flow in interior annulus ring by flow deflector pendulum angle, air-flow reacts on flow deflector and activates interior annulus, realizes inclined side chikung energy of the present utility model.

In described interior annulus ring, surrounding is also fixed with the electric-controlled box for installing battery or circuit card; Battery in electric-controlled box can be the utility model and provides power, and the circuit card in electric-controlled box can be used for controlling angle motor of the present utility model, outer ring motor, inner ring motor and guide motor.

The radially-outer surface of described outer toroid and interior annulus is all fixed with some sensors and camera; Camera is used for filmed image in amphibious motion, and sensor can be the sensor of infradred sensor or other detecting.

The beneficial effects of the utility model are as follows:

1. land comprehensive automatic adaptation to the ground in advancing, collapsible with movable in narrow space, also has the function spinned in sway, upset or original place, to meet the needs of the detections such as environment, security survey, lifesaving;

2. in airflight by annulus air channel in folded deformation to regulate flight attitude, can change of flight direction by changing two rotor torque, and can reconnaissance flight in comparatively narrow space;

3. simple, the mobile and flight reliable in function of few, the structure of the utility model parts, folding storage or carry convenient.

Accompanying drawing explanation

Fig. 1 to be the utility model folding angles be perspective view (inside and outside annulus fit) of 0 °.

Fig. 2 to be the utility model folding angles be perspective view (inside and outside annulus expansion) of 90 °.

Fig. 3 is the spatial structure decomposing schematic representation that the inside and outside wheel rim of the utility model and inside and outside annulus assemble.

Fig. 4 is that the utility model outer ring motor drives the perspective view connecting outer rim.

Fig. 5 is that the utility model inside and outside circle motor drives the perspective view connecting inside and outside wheel rim respectively.

Fig. 6 is through perspective view during normed space in the terrestrial motion of the utility model.

Fig. 7 is through perspective view when narrow or short space in the terrestrial motion of the utility model.

Fig. 8 is the structural representation of the empty takeoff condition of dwelling of the utility model.

Fig. 9 is the structural representation that the empty flight of dwelling of the utility model flies state slowly.

Figure 10 is the structural representation that the empty flight of dwelling of the utility model flies state soon.

Figure 11 is the structural representation of the empty dogled state of dwelling of the utility model.

In figure, accompanying drawing is designated: A. is radial; 10. outer toroid; 11. outer rims; 12. outer rollers; Annulus in 20.; 21. inner rims; 22. internal trolleys; 30. angle motors; The rotating shaft of 31. angle motors; 40. outer ring motors; The rotating shaft of 41. outer ring motors; 42. outer ring gears; 50. inner ring motors; 51. inner ring gears; 60. electric mode transfer blocks; 70. fly to control motor; 71. rotors; 80. guide motors; 81. flow deflectors; 90. electric-controlled boxes; 100. sensor; 200. camera.

Detailed description of the invention

Below in conjunction with drawings and Examples, the utility model is further illustrated.

As fig. 1with fig. 2the air-ground amphibious double-loop deformed robot of shown one, it comprises: be nested and two ends on a radial A are hinged with annulus 20 in an outer toroid 10 and of rotatable engagement, the outer diameter face of outer toroid 10 being socketed two can around the outer rim 11 of its axial rotation, and the outer diameter face of interior annulus 20 being socketed two can around the inner rim 21 of its axial rotation; Also be fixed with one in the ring of interior annulus 20 to be connected outer ring motor 40, that outer rim 11 rotates for changing outer toroid 10 and interior annulus 20 relative to the angle motor 30, of folding angles and to connect for driving the inner ring motor 50 and a model plane electricity consumption mode transfer block 60 that inner rim 21 rotates for driving; In interior annulus 20 ring center shaft to electric mode transfer block 60 on be fixed with two fly control motor 70, respectively fly control motor 70 and drive connection one rotor 71, two rotor 71 rotation directions are contrary, electric mode transfer block 60 two ends of the present utility model are fixedly connected between angle motor 30 and outer ring motor 40, and electric mode transfer block 60 is between the plane of revolution of two rotors 71; One is also fixed for controlling the guiding device that interior annulus 20 turns in interior annulus 20 ring, guiding device comprises a guide motor 80, the rotating shaft of guide motor 80 is fixed a flow deflector 81, guide motor 80 of the present utility model is in the same radial two ends in interior annulus 20 ring with inner ring motor 50; In interior annulus 10 ring four perisporiums motor between be separately installed with four for installing the electric-controlled box 90 of battery or circuit card; Battery in electric-controlled box 90 can be the utility model and provides electric power, and the circuit card in electric-controlled box 90 can be used for the process of the terrestrial nearly control signal of the utility model.

As fig. 2~ fig. 5shown in, the rotating shaft of the utility model angle motor 30 31 is affixed with outer toroid 10 through interior annulus 20, drives outer toroid 10 by the rotating shaft 31 of angle motor 30, adjustable and folding angles between outer toroid 10 and interior annulus 20, the rotating shaft 41 of outer ring motor 40 drives outer rim 11 through the rear affixed outer ring gear 42 of interior annulus 20 and outer toroid 10, outer toroid 10 is provided with outer roller 12 that the is some and normal-running fit of outer rim 11 inside face, outer rim 11 can be rotated at the outside face of outer toroid 10, outer rim 11 inner ring surface is provided with the first internal gear 111 engaged with outer ring gear 42, two outer rims 11 that turning set is connected on outer toroid 10 surperficial are all engaged with outer ring gear 42 by the first internal gear 111, the rotating shaft 41 of outer ring motor 40 drives outer ring gear 42 transmission two outer rims 11 to rotate, make outer toroid 10 removable, inner ring motor 50 rotating shaft be fixed in interior annulus 20 ring drives inner rim 21 through an affixed inner ring gear 51 after interior annulus 20, interior annulus 20 is arranged the internal trolley 22 with the inside face normal-running fit of inner rim 21, inner rim 21 inside diameter surface is provided with the second internal gear 211 engaged with inner ring gear 51, and two inner rims 21 that turning set is connected on interior annulus 20 surperficial are all engaged with outer ring gear 51 by the second internal gear 211, inner ring gear 51 in inner ring motor 50 rotating shaft is rotated by the second internal gear 211 transmission inner rim 21, makes interior annulus 20 removable, the rotating shaft 31 of angle motor 30 and the rotating shaft 41 of outer ring motor 40 are as two pin jointed ends on above-mentioned radial A.

The radially-outer surface of outer toroid 10 of the present utility model and interior annulus 20 is all fixed with some sensors 100 and camera 200, also can install micro lighting light source, Mai Kefeng, temperature sensor, humidity sensor etc. according to actual needs.

The principle of work terrestrial the following detailed description of the utility model and specifically implement action.

As fig. 6shown in, angle motor 30 is driven to drive outer toroid 10, outer toroid 10 and interior annulus 20 shape are had angle, then drive the individual outer rim 11 in outer toroid 10 to rotate by outer ring motor 40 simultaneously, drive the inner rim 21 on interior annulus 20 to rotate by inner ring motor 50, drive the utility model to travel forward by the outer rim 11 that rotates with earth surface and inner rim 21 simultaneously; When outer ring motor 40 and inner ring motor 50 reverse simultaneously, then outer rim 11 and inner rim 21 drive the utility model to move backward, when outer ring motor 40 forward drive outer rim 11, inner ring motor 50 reverse drive inner rim 21, then can realize the function of spinning in the utility model original place.

As fig. 7shown in, when the utility model runs into narrow or short space on land, directly advance in motion of the present utility model, outer toroid 10 is driven by angle motor 30, regulate outer toroid 10 and interior annulus 20 angle, outer toroid 10 is declined with the center of gravity of interior annulus 20, and outer toroid 10 and interior annulus 20 entirety are more close to ground; Then make whole height of the present utility model reduce, width broadens, and passes through highly low, that width is large space (if the chassis of roadlice is to the space on ground) to make utility model.

The following detailed description of the utility model sky principle of work of dwelling with specifically implement action.

As fig. 8shown in, when interior annulus 20 and outer toroid 10 folding angles are 0 °, starting two flight motors 70 by the electric mode transfer block 60 of model plane drives two rotors 71 with contrary direction high speed rotating, high velocity air is gone out by interior annulus 20 Jet with downward flow direction, interior annulus 20 serves as air channel, the jet-impingement direction in air channel determines heading of the present utility model, the overall vertical uplift of air propels the utility model that interior annulus 20 Jet with downward flow direction goes out; Then as fig. 9shown in, outer toroid 10 is driven by angle motor 30, interior annulus 20 is tilted a low-angle, the airflow thrust of two rotor 71 generations is divided into two parts, the vertical thrust of a part overcomes the overall gravity of the utility model and makes the height that the utility model remains certain aloft, and the thrust that another part tilts promotes the utility model and travels forward, because interior annulus 20 angle of inclination is little, therefore Level Promoting airflow thrust of the present utility model is less, realizes of the present utility modelly flying state slowly with this.

As figure 10shown in, regulated by angle motor 30, when making the angle of inclination between interior annulus 20 and outer toroid 10 larger, rotor 71 rotates the air-flow of formation by the almost transverse jet injection of interior annulus 20, namely high-speed rotor 71 is used to promote the horizontal high-speed flight of the utility model in the large branch of air-flow that interior annulus 20 is released, and a sub-fraction air-flow is led downwards for holding the gravity that the utility model is subject to offset the utility model by outer toroid 10.

As fig. 9shown in, when the air flow line of interior annulus 20 is identical with flow deflector 81 forward, rotor 71 rotates the air-flow produced can not produce application force through the direction that interior annulus 20 sprays to flow deflector 81 two sides, and namely flow deflector 81 can not be stressed and interior annulus 20 is turned to; As figure 11shown in, rotate flow deflector 81 by guide motor 80, make flow deflector 81 by air flow impulse, this air flow impulse acts on interior annulus 20 through flow deflector 81 and guide motor 80, makes the integral inclined of interior annulus 20, the utility model can be transferred to crabbing.

The utility model exports moment of torsion in different size by making two to fly control motor 70 and makes the utility model around interior annulus 20 center shaft to turning to, namely when the torque of two rotors 71 is different, the utility model integral level can be activated rotate, to change heading of the present utility model; And when two fly control motor 70 export equirotal moment of torsion time, the moment of torsion of two rotors 71 offsets and makes the utility model can not horizontal rotation, namely heading of the present utility model can not change, and is namely changed by the moment of torsion of two rotors 71, can change the utility model head towards.

Above embodiment is only for illustration of the utility model, but not to restriction of the present utility model, those skilled in the art, when not departing from spirit and scope of the present utility model, various conversion or change can also be made, therefore, all equivalent technical schemes also should belong to category of the present utility model, are limited by each claim.

Claims

1. an air-ground amphibious double-loop deformed robot, is characterized in that it comprises:

To be nested and two ends in a radial direction (A) are hinged with annulus (20) in an outer toroid (10) and of rotatable engagement, the outer diameter face of outer toroid (10) being at least socketed one can around the outer rim of its axial rotation (11), and the outer diameter face of interior annulus (20) being at least socketed one can around the inner rim of its axial rotation (21); Also be fixed with in the ring of interior annulus (20):

One for changing outer toroid (10) and interior annulus (20) the angle motor (30), relative to folding angles for driving the outer ring motor (40), being connected outer rim (11) and rotating for driving the inner ring motor (50) connecting inner rim (21) and rotate;

One model plane electricity consumption mode transfer block (60), in interior annulus (20) ring center shaft to electric mode transfer block (60) on be fixed with two and fly control motor (70), two fly to control motor (70) drives the rotor (71) that connection two rotation direction is contrary.

2. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 1, it is characterized in that: the rotating shaft (31) of described angle motor (30) is affixed through interior annulus (20) and outer toroid (10), the rotating shaft (41) of outer ring motor (40) through interior annulus (20) and outer toroid (10) afterwards an affixed outer ring gear (42) drive outer rim (11); The rotating shaft (31) of angle motor (30) and the rotating shaft (41) of outer ring motor (40) are as two pin jointed ends in above-mentioned radial direction (A).

3. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 1, is characterized in that: described in be fixed on inner ring motor (50) rotating shaft in interior annulus (20) ring through interior annulus (20) afterwards an affixed inner ring gear (51) drive inner rim (21).

4. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 1, is characterized in that: described outer toroid (10) is provided with roller (12) that the is some and normal-running fit of outer rim (11) inside face; Interior annulus (20) is upper arranges the roller (22) with the inside face normal-running fit of inner rim (21).

5. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 2, is characterized in that: described outer rim (11) inner ring surface is provided with the first internal gear (111) engaged with outer ring gear (42).

6. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 3, is characterized in that: described inner rim (21) inside diameter surface is provided with the second internal gear (211) engaged with inner ring gear (51).

7. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 1, is characterized in that: described electric mode transfer block (60) two ends are fixedly connected between angle motor (30) and outer ring motor (40); Described electric mode transfer block (60) is positioned between the plane of revolution of two rotors (71).

8. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 1, it is characterized in that: also fix one in described interior annulus (20) ring for controlling the guiding device that interior annulus (20) turns to, guiding device comprises a guide motor (80), the rotating shaft of guide motor (80) is fixed a flow deflector (81).

9. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 1, is characterized in that: in described interior annulus (20) ring, surrounding is also fixed with the electric-controlled box (90) for installing battery or circuit card.

10. a kind of air-ground amphibious double-loop deformed robot as claimed in claim 1, is characterized in that: described outer toroid (10) and the radially-outer surface of interior annulus (20) are all fixed with some sensors (100) and camera (200).