CN214564421U - Separable air-ground amphibious cooperative robot - Google Patents
Separable air-ground amphibious cooperative robot Download PDFInfo
- Publication number
- CN214564421U CN214564421U CN202120216896.2U CN202120216896U CN214564421U CN 214564421 U CN214564421 U CN 214564421U CN 202120216896 U CN202120216896 U CN 202120216896U CN 214564421 U CN214564421 U CN 214564421U
- Authority
- CN
- China
- Prior art keywords
- sleeve
- robot
- connecting rod
- unmanned aerial
- land
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to the technical field of robot, concretely relates to detachable air-ground amphibious robot in coordination, include: unmanned aerial vehicles and land robots; the unmanned aerial vehicle is characterized in that an upper connecting module is mounted at the bottom of the unmanned aerial vehicle, a lower connecting module is mounted at the top of the land robot, the upper connecting module comprises a first sleeve, the lower connecting module comprises a sleeving module and a telescopic module, the sleeving module comprises a second sleeve, the second sleeve can be sleeved in the first sleeve, the wall of the second sleeve is provided with a plurality of wall holes, each wall hole is provided with a rolling body, and an arc-shaped groove matched with the rolling body is formed in the first sleeve; the telescopic module comprises a sliding block, a connecting rod and a motor, and the motor drives the connecting rod to drive the sliding block to slide up and down in the second sleeve through rotation; when the sliding block slides upwards to enable the rolling body to be meshed with the groove, the butt joint self-locking of the unmanned aerial vehicle and the land robot is realized; when the slider slides downwards to roll the rolling bodies into the wall holes, separation of the unmanned aerial vehicle and the land robot is achieved.
Description
Technical Field
The utility model relates to a land robot technical field, concretely relates to detachable air-ground amphibious robot in coordination.
Background
For a general land-air robot, because of its inseparability. When the indoor detection is carried out, the large flying part becomes the encumbrance of the land walking detection, and the passing capacity of the land walking detection is reduced; when the unmanned aerial vehicle is only required to carry out high-altitude detection, the walking part becomes unnecessary flight drag, the flight load is increased, and the flexibility of the unmanned aerial vehicle is reduced. The flying and walking parts can not be detected independently, and the function of the other part of the robot is wasted when the robot is driven on the land or in the air, so that the actual utilization rate of the robot on the land and the air is low.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a detachable air-ground amphibious cooperative robot to solve one or more technical problem that exist among the prior art, provide a profitable selection or create the condition at least.
In order to achieve the above object, the present invention provides the following technical solutions:
a detachable air-ground amphibious collaborative robot, comprising: unmanned aerial vehicles and land robots;
an upper connecting module is arranged at the bottom of the unmanned aerial vehicle, a lower connecting module is arranged at the top of the land robot,
the upper connecting module comprises a first sleeve, the lower connecting module comprises a sleeving module and a telescopic module, the sleeving module comprises a second sleeve, the second sleeve can be sleeved in the first sleeve, the wall of the second sleeve is provided with a plurality of wall holes, each wall hole is provided with a rolling element, and an arc-shaped groove matched with the rolling element is formed in the first sleeve;
the telescopic module comprises a sliding block, a connecting rod and a motor, the sliding block is sleeved in the second sleeve, the motor is fixedly arranged on the land robot, the connecting rod is respectively connected with the sliding block and the motor to form a crank and rocker mechanism, and the motor drives the connecting rod to drive the sliding block to slide up and down in the second sleeve through rotation;
when the sliding block slides upwards to enable the rolling bodies to be meshed with the grooves, the unmanned aerial vehicle and the land robot are in butt joint and self-lock; when the slider slides down to roll the rolling bodies into the wall holes, the drone and the land robot disengage.
As a further improvement of the above technical solution, the wall holes are circular, and each wall hole is provided with a metal sphere.
As a further improvement of the above technical solution, the wall holes are rectangular, and each wall hole is provided with a metal round cake.
As a further improvement of the above technical solution, the plurality of wall holes are uniformly arranged in the wall of the second sleeve.
As a further improvement of the above technical solution, the number of the wall holes is 6.
As a further improvement of the above technical solution, the upper connecting module further includes a first connecting plate, the socket module further includes a second connecting plate, the first connecting plate and the first sleeve are integrally formed, and the second connecting plate and the second sleeve are integrally formed.
As a further improvement of the above technical scheme, unmanned aerial vehicle is quad-rotor unmanned aerial vehicle, unmanned aerial vehicle has first platform support, first connecting plate fixed mounting in the bottom of first platform support.
As a further improvement of the above technical solution, the land robot is a four-footed land robot, the land robot has a second platform bracket, the second platform bracket is a double-deck bracket, and the second platform bracket comprises a top bracket and a bottom bracket; the second connecting plate is fixedly installed on a top support of the second platform support, the connecting rod can penetrate through the top support, and the motor is fixedly installed on a bottom support of the second platform support.
As a further improvement of the above technical solution, the connecting rod includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the slider, the other end of the first connecting rod is rotatably connected to the second connecting rod, and the other end of the second connecting rod is rotatably connected to the motor.
As a further improvement of the above technical solution, the motor is a stepping motor.
The utility model has the advantages that: the utility model discloses a detachable air-ground amphibious cooperative robot, include: unmanned aerial vehicles and land robots; the unmanned aerial vehicle is characterized in that an upper connecting module is mounted at the bottom of the unmanned aerial vehicle, a lower connecting module is mounted at the top of the land robot, the upper connecting module comprises a first sleeve, the lower connecting module comprises a sleeving module and a telescopic module, the sleeving module comprises a second sleeve, the second sleeve can be sleeved in the first sleeve, the wall of the second sleeve is provided with a plurality of wall holes, each wall hole is provided with a rolling body, and an arc-shaped groove matched with the rolling body is formed in the first sleeve; the telescopic module comprises a sliding block, a connecting rod and a motor, and the motor drives the connecting rod to drive the sliding block to slide up and down in the second sleeve through rotation; when the sliding block slides upwards to enable the rolling body to be meshed with the groove, the unmanned aerial vehicle and the land robot are in butt joint and self-locked; when the slider slides down to roll the rolling bodies into the wall holes, the drone and the land robot are separated. Thereby realize unmanned aerial vehicle and land robot's auto-lock and separation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic structural diagram of a detachable air-ground amphibious cooperative robot in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an upper connection module and a lower connection module in an embodiment of the present invention.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are used, the meaning is one or more, the meaning of a plurality of words is two or more, and the meaning of more than, less than, more than, etc. is understood as not including the number, and the meaning of more than, less than, more than, etc. is understood as including the number.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1 and 2, an embodiment of the present application provides a separable air-ground amphibious collaborative robot, including: an unmanned aerial vehicle 10 and a land robot 20;
an upper connection module is installed at the bottom of the unmanned aerial vehicle 10, a lower connection module is installed at the top of the land robot 20,
the upper connecting module comprises a first sleeve 120, the lower connecting module comprises a sleeve module 210 and a telescopic module, the sleeve module 210 comprises a second sleeve 212, the second sleeve 212 can be sleeved in the first sleeve 120, the wall of the second sleeve 212 is provided with a plurality of wall holes 213, each wall hole 213 is provided with a rolling body 214, and the first sleeve 120 is internally provided with an arc-shaped groove 130 matched with the rolling body 214;
the telescopic module comprises a sliding block 221, a connecting rod 222 and a motor 223, the sliding block 221 is sleeved in the second sleeve 212, the motor 223 is fixedly arranged on the land robot 20, the connecting rod 222 is respectively connected with the sliding block 221 and the motor 223 to form a crank and rocker mechanism, and the motor 223 drives the connecting rod 222 to drive the sliding block 221 to slide up and down in the second sleeve 212 through rotation;
when the sliding block 221 slides upwards to engage the rolling bodies 214 and the grooves 130, the unmanned aerial vehicle 10 and the land robot 20 are self-locked in a butt joint mode; when the slider 221 slides downward so that the rolling bodies 214 roll into the wall holes 213, the unmanned aerial vehicle 10 and the land robot 20 are separated.
In this embodiment, the rolling elements 214 are engaged with or separated from the grooves 130 by the up-and-down sliding of the slider 221, and the upper connection module is engaged with the lower connection module when the slider 221 is slid up to engage the rolling elements 214 with the grooves 130; when the slider 221 slides downward such that the rolling bodies 214 roll into the wall holes 213, the upper and lower connection blocks are separated.
The main working principle is as follows: when the unmanned aerial vehicle 10 and the land robot 20 start to dock, that is, the first sleeve 120 of the upper connection module and the second sleeve 212 of the lower connection module contact, the motor 223 in the land robot 20 starts to rotate, so that the sliding block 221 moves upwards along the second sleeve 212, in the process, the second sleeve 212 presses the rolling body 214, so that the rolling body 214 protrudes out of a part of the wall hole 213 of the lower connection module and is meshed with the groove 130 of the upper connection module, the rolling body 214 serves as a locker of the first sleeve 120 and the second sleeve 212, at this moment, the motor 223 stops rotating, and the lower connection module and the upper connection module complete self-locking, that is, the unmanned aerial vehicle 10 and the land robot 20 complete self-locking during docking.
When the unmanned aerial vehicle 10 starts to separate from the land robot 20, the motor 223 in the land robot 20 starts to rotate, the sliding block 221 slides downwards along the second sleeve 212, and when the sliding block 221 slides downwards to a set position, the motor 223 stops rotating; it will be appreciated that when the slider 221 is slid down to the set position, the rolling bodies 214 can fully enter the wall holes 213 of the lower connection module; then, the unmanned aerial vehicle 10 rises upwards, so as to drive the first sleeve 120 to move upwards relative to the second sleeve 212, under the action of the component force in the horizontal direction of the groove 130, the rolling body 214 rolls out of the groove 130 of the upper connection module and completely enters the wall hole 213 of the lower connection module, at this time, the rolling body 214 and the groove 130 are completely separated, the lower connection module and the upper connection module complete self-locking separation, and when the first sleeve 120 of the upper connection module is separated from the second sleeve 212 of the lower connection module, the unmanned aerial vehicle 10 and the land robot 20 complete separation.
In some embodiments, the wall holes 213 are circular, and each wall hole 213 is provided with a metal round ball.
In some embodiments, the wall holes 213 are rectangular, and each wall hole 213 is provided with a metal disk.
In some embodiments, the wall holes 213 are uniformly disposed on the wall of the second sleeve 212.
In some embodiments, the number of wall holes 213 is 6.
In some embodiments, the upper connection module further comprises a first connection plate 110, the socket module 210 further comprises a second connection plate 211, the first connection plate 110 and the first socket 120 are integrally formed, and the second connection plate 211 and the second socket 212 are integrally formed.
In some embodiments, the drone 10 is a quad-rotor drone 10, the drone 10 having a first platform cradle 140, the first connection plate 110 being fixedly mounted at the bottom of the first platform cradle 140. In an exemplary embodiment, the first connection plate 110 is fixedly mounted to the bottom of the first platform bracket 140 by screws.
In some embodiments, the land robot 20 is a quadruped land robot 20, the land robot 20 having a second platform bracket 230, the second platform bracket 230 being a double-deck bracket, the second platform bracket 230 including a top bracket 231 and a bottom bracket 232; the second connecting plate 211 is fixedly mounted on the top bracket 231 of the second platform bracket 230, the connecting rod 222 can pass through the top bracket 231, and the motor 223 is fixedly mounted on the bottom bracket 232 of the second platform bracket 230. In an exemplary embodiment, the second connection plate 211 is fixedly mounted to the top bracket 231 of the second platform bracket 230 by screws.
In some embodiments, the connecting rod 222 includes a first connecting rod 222 and a second connecting rod 222, one end of the first connecting rod 222 is rotatably connected to the slider 221, the other end of the first connecting rod 222 is rotatably connected to the second connecting rod 222, and the other end of the second connecting rod 222 is rotatably connected to the motor 223.
In some embodiments, the motor 223 is a stepper motor.
While the description of the present application has been made in considerable detail and with particular reference to a few illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed that the present application effectively covers the intended scope of the application by reference to the appended claims, which are interpreted in view of the broad potential of the prior art. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the present application, not presently foreseen, may nonetheless represent equivalents thereto.
Claims (10)
1. A separable air-ground amphibious cooperative robot is characterized by comprising: unmanned aerial vehicles and land robots;
an upper connecting module is arranged at the bottom of the unmanned aerial vehicle, a lower connecting module is arranged at the top of the land robot,
the upper connecting module comprises a first sleeve, the lower connecting module comprises a sleeving module and a telescopic module, the sleeving module comprises a second sleeve, the second sleeve can be sleeved in the first sleeve, the wall of the second sleeve is provided with a plurality of wall holes, each wall hole is provided with a rolling element, and an arc-shaped groove matched with the rolling element is formed in the first sleeve;
the telescopic module comprises a sliding block, a connecting rod and a motor, the sliding block is sleeved in the second sleeve, the motor is fixedly arranged on the land robot, the connecting rod is respectively connected with the sliding block and the motor to form a crank and rocker mechanism, and the motor drives the connecting rod to drive the sliding block to slide up and down in the second sleeve through rotation;
when the sliding block slides upwards to enable the rolling bodies to be meshed with the grooves, the unmanned aerial vehicle and the land robot are in butt joint and self-lock; when the slider slides down to roll the rolling bodies into the wall holes, the drone and the land robot disengage.
2. A separable air-ground amphibious cooperative robot as claimed in claim 1, wherein the wall holes are circular, and each wall hole is provided with a metal sphere.
3. A separable air-ground amphibious cooperative robot as claimed in claim 1, wherein said wall holes are rectangular, and each of said wall holes is provided with a metal disk.
4. The separable air-ground amphibious cooperative robot of any one of claims 2 or 3, wherein the plurality of wall holes are uniformly formed in the wall of the second sleeve.
5. A separable air-ground amphibious cooperative robot as claimed in claim 4, wherein the number of said wall holes is 6.
6. The detachable air-ground amphibious cooperative robot of claim 1, wherein the upper connection module further comprises a first connection plate, the socket module further comprises a second connection plate, the first connection plate and the first socket are integrally formed, and the second connection plate and the second socket are integrally formed.
7. A detachable air-ground amphibious cooperative robot according to claim 6, wherein the unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle, the unmanned aerial vehicle has a first platform bracket, and the first connecting plate is fixedly mounted at the bottom of the first platform bracket.
8. A separable air-ground amphibious cooperative robot as claimed in claim 6, wherein the land robot is a four-legged land robot having a second platform bracket which is a double-deck bracket comprising a top bracket and a bottom bracket; the second connecting plate is fixedly installed on a top support of the second platform support, the connecting rod can penetrate through the top support, and the motor is fixedly installed on a bottom support of the second platform support.
9. The detachable air-ground amphibious cooperative robot of claim 8, wherein the connecting rod comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the slider, the other end of the first connecting rod is rotatably connected to the second connecting rod, and the other end of the second connecting rod is rotatably connected to the motor.
10. The detachable air-ground amphibious cooperative robot of claim 9, wherein the motor is a stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120216896.2U CN214564421U (en) | 2021-01-26 | 2021-01-26 | Separable air-ground amphibious cooperative robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120216896.2U CN214564421U (en) | 2021-01-26 | 2021-01-26 | Separable air-ground amphibious cooperative robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214564421U true CN214564421U (en) | 2021-11-02 |
Family
ID=78371631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120216896.2U Active CN214564421U (en) | 2021-01-26 | 2021-01-26 | Separable air-ground amphibious cooperative robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214564421U (en) |
-
2021
- 2021-01-26 CN CN202120216896.2U patent/CN214564421U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109018413B (en) | Vehicle-mounted unmanned aerial vehicle nest and application method thereof | |
| CN108016629B (en) | Unmanned aerial vehicle take-off and landing platform | |
| CN109774959B (en) | Unmanned aerial vehicle taking-off and landing platform with automatic battery replacing device | |
| CN110593628B (en) | Can hold three-dimensional hangar of intelligence of many sizes unmanned aerial vehicle | |
| CN108945500B (en) | Movable landing platform of quad-rotor unmanned aerial vehicle and automatic battery replacement method | |
| CN105857593A (en) | Four-rotor multipurpose flying robot | |
| CN214564421U (en) | Separable air-ground amphibious cooperative robot | |
| CN109501657A (en) | A kind of Multifunctional mobile dining car | |
| CN105329448B (en) | A kind of vertical take-off and landing drone oil electric mixed dynamic system | |
| CN113401036B (en) | Vehicle-mounted double-unmanned-aerial-vehicle charging system and task alternate execution method | |
| CN209225411U (en) | Rechargeable type logistics unmanned plane logistics airplane parking area platform | |
| CN112882477A (en) | Control method and system for separable air-ground amphibious cooperative robot | |
| CN109573034B (en) | Radio and tape player and unmanned aerial vehicle | |
| CN216186130U (en) | Parking apron and parking system | |
| CN215753037U (en) | Novel rescue unmanned aerial vehicle | |
| CN217891014U (en) | Traction mechanism, autonomous mobile robot, to-be-towed device and logistics transportation system | |
| CN108622397B (en) | Foldable multi-rotor unmanned aerial vehicle | |
| CN204173157U (en) | A kind of miniature explorer vehicle keeping away barrier | |
| CN108016607B (en) | Unmanned aerial vehicle take-off and landing device | |
| CN216507924U (en) | Automatic charging structure of unmanned aerial vehicle hangar | |
| CN113844668A (en) | Automatic charging platform of unmanned aerial vehicle | |
| CN214498805U (en) | Overturning type opening and closing structure of hangar | |
| CN113335545A (en) | Parking apron, parking system and unmanned aerial vehicle parking method | |
| CN212220006U (en) | A vehicle that is used for thing device and has it of putting of vehicle | |
| CN204802077U (en) | Flying vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |