CN219191842U

CN219191842U - Deformable air-ground amphibious robot

Info

Publication number: CN219191842U
Application number: CN202320011424.2U
Authority: CN
Inventors: 田丰年; 闫思潭; 王婧兰; 陈天郎; 万杰; 韩佳雪
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-01-04
Filing date: 2023-01-04
Publication date: 2023-06-16
Anticipated expiration: 2033-01-04

Abstract

The utility model provides a deformable air-ground amphibious robot which comprises a frame, wherein four rotatable wings are arranged at four corners of the frame, two front wheels are symmetrically arranged at the bottom of the front end of the frame, a steering mechanism is arranged between the two front wheels at the bottom of the frame, the wheels are always perpendicular to the ground through two groups of first connecting rods and three groups of second connecting rods to form a parallelogram, the ground trafficability is improved while the wheels have longer suspension compression stroke, when the wheels bump on the road, the first connecting rods and the second connecting rods can rotate for a certain angle, the front wheels and the rear wheels can stably pass through the bump road, compared with the prior art, the front wheels are controlled to rotate through driving wheels to drive the movement of a device, the steering mechanism is used for controlling the front wheels to steer, so that amphibious functions of an unmanned aerial vehicle are realized, the wings can be folded when the unmanned aerial vehicle runs on the ground, the transverse width of the unmanned aerial vehicle is reduced, and the problem of collision or forced stop is solved.

Description

Deformable air-ground amphibious robot

Technical Field

The utility model relates to the field of unmanned aerial vehicles, in particular to a deformable air-ground amphibious robot.

Background

The multi-rotor unmanned aerial vehicle mainly controls the propellers of four groups of wings to rotate and fly through a main control unit (the core of a flight control system, and the equipment such as an IMU, a GPS compass, a steering engine, a remote control receiver and the like is connected into the flight control system through the main control unit), so that the autonomous flight function of the aircraft is realized, and the unmanned aerial vehicle is used for aerial investigation and shooting.

In the prior art, an unmanned aerial vehicle generally cannot move on the ground unless a driving wheel is additionally arranged at the bottom of the unmanned aerial vehicle, such as an existing ground walking robot, but because the unfolding radian of the wing of the unmanned aerial vehicle is large, the wing is easy to collide with the outside in the ground running process of installing the driving wheel, the wing is easy to be stopped by force or even damaged, and the driving wheel group of the existing ground walking robot is arranged at the bottom of the unmanned aerial vehicle.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide the deformable air-ground amphibious robot which solves the problems in the prior art, has novel structure, is convenient to walk on the ground when an unmanned aerial vehicle wing is refitted and folded, controls the rear wheel to rotate through a driving wheel to drive the movement of a device, and controls the front wheel to steer through a steering mechanism, so that the amphibious use function of the unmanned aerial vehicle is realized.

In order to achieve the above object, the present utility model is realized by the following technical scheme: the utility model provides a deformable air-ground amphibious robot, includes the frame, four wings of rotatable are installed to frame four corners department, frame front end bottom symmetry is equipped with two front wheels, and the frame bottom is located and is equipped with steering mechanism between two front wheels, frame rear end bottom symmetry is equipped with two rear wheels, and the frame bottom is located and is equipped with actuating mechanism between two rear wheels.

Further, the screw rod is rotatably arranged on the surface of the middle shaft of the stand through the shaft seat, the driving motor is fixedly arranged on the surface of the stand corresponding to one end of the screw rod, the output end of the driving motor is fixedly connected with the screw rod, the two ends of the screw rod are symmetrically meshed and sleeved with the screw sleeve, the bottom of the screw sleeve slides on the surface of the stand, the two sides of the screw sleeve are rotatably connected with the pull rod, the other end of the pull rod is rotatably arranged on the surface of the wing, and the screw rod can be used for controlling four wings or separately controlling two wings on the same side while corresponding to one bidirectional screw rod or two opposite screws.

Further, two first connecting rods are rotatably arranged on two sides of the bottom of the frame, corresponding to the front wheels, through vertical rotating shafts, connecting seats are rotatably arranged on the front wheel axle center rotating shafts through transverse rotating shafts, and the other ends of the two first connecting rods are rotatably arranged on the connecting seats through vertical rotating shafts.

Further, the steering mechanism comprises a guide frame, the rear face of the bottom of the frame, which is positioned at the two groups of first connecting rods, is fixedly provided with a guide frame, the guide frame is internally connected with a movable frame in a sliding manner, two ends of the movable frame are fixedly provided with push rods, the other ends of the push rods are rotationally connected with connecting plates, the connecting plates are fixed on the surface of an axis rotating shaft at the inner side of the front wheel, a limit column is fixed in the guide frame, and the movable frame is sheathed on the surface of the limit column in a sliding manner.

Further, the surface of the bottom of the frame corresponding to one side of the guide frame is fixedly provided with a first motor, the output end of the first motor is fixedly provided with a swing arm, the other side of the swing arm is rotationally connected with a cross rod, and the other end of the cross rod is fixed on the surface of the movable frame.

Further, the inside surface of rear wheel is fixed with the mount pad, the frame bottom corresponds the position of mount pad and rotates through vertical pivot and install three second connecting rod, and the second connecting rod other end is rotated through vertical pivot and is installed on the mount pad.

Further, the driving mechanism comprises a second motor fixed at the bottom of the frame and close to the rear wheel, a differential mechanism is installed at the output end of the second motor, a rotating ball is installed at two ends of the differential mechanism through vertical clamping grooves in a rotating mode, a driving shaft is fixed at the outer side of the rotating ball, and the driving shaft is connected with the rear wheel shaft through a vertical rotating shaft in a rotating mode.

Further, torsion springs are arranged at the rotating connection positions of the first connecting rod and the second connecting rod and the vertical rotating shaft of the frame.

The utility model has the beneficial effects that: the utility model relates to a deformable air-ground amphibious robot, which comprises a frame; a wing; a screw; a pull rod; a driving motor; a front wheel; a first link; a connecting seat; a rear wheel; a mounting base; a steering mechanism; a first motor; swing arms; a connecting plate; a cross bar; a moving frame; a guide frame; a limit column; a push rod; a driving mechanism; a second motor; a differential; a drive shaft; a rotating ball;

1. according to the deformable air-ground amphibious robot, under the action of the screw rods, four groups of wings are unfolded or folded and stored simultaneously, the structural strength of the horn can be enhanced through the cooperation of the screw rods and the connecting rods, the vibration of the horn is restrained, and therefore the stability of the unmanned aerial vehicle during flight is kept.

2. This kind of deformable air-ground amphibious robot all forms the parallelogram through two sets of first connecting rods and three second connecting rods, makes the wheel perpendicular to ground all the time, improves ground trafficability characteristic when possessing longer suspension compression stroke, installs front wheel and rear wheel in the frame bottom through the connecting rod, when meetting the road jolt, first connecting rod and second connecting rod can rotate certain angle for front wheel and rear wheel can be steady the road of jolt.

3. The deformable air-ground amphibious robot can realize the effect of quickly resetting the front and rear wheels driven by the first connecting rod and the second connecting rod under the action of the torsion spring, and the transmission connection of the driving mechanism and the steering mechanism can not be influenced through the connection of the first connecting rod and the second connecting rod.

4. Compared with the prior art, the deformable air-ground amphibious robot has the advantages that the rear wheel is controlled to rotate through the driving wheels to drive the device to move, the front wheel is controlled to steer through the steering mechanism, so that amphibious using functions of the unmanned aerial vehicle are achieved, wings can be folded when the unmanned aerial vehicle runs on the ground, the transverse width of the unmanned aerial vehicle is reduced, and the problems of collision or stopping when the unmanned aerial vehicle encounters resistance are solved.

Drawings

FIG. 1 is a schematic diagram of the overall working state structure of a deformable air-ground amphibious robot;

FIG. 2 is a schematic diagram showing the connection of the front wheel of the deformable air-ground amphibious robot with the steering mechanism;

FIG. 3 is a schematic view of a steering mechanism of the deformable air-ground amphibious robot;

FIG. 4 is one of the schematic connection diagrams of the rear wheel and the driving mechanism of the deformable air-ground amphibious robot;

FIG. 5 is a second schematic diagram of the connection between the rear wheel and the driving mechanism of the deformable space amphibious robot;

in the figure: 1. a frame; 2. a wing; 3. a screw; 31. a pull rod; 32. a driving motor; 4. a front wheel; 41. a first link; 42. a connecting seat; 5. a rear wheel; 51. a mounting base; 6. a steering mechanism; 61. a first motor; 62. swing arms; 63. a connecting plate; 64. a cross bar; 65. a moving frame; 66. a guide frame; 67. a limit column; 68. a push rod; 7. a driving mechanism; 71. a second motor; 72. a differential; 73. a drive shaft; 74. the ball is rotated.

Detailed Description

The utility model is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the utility model easy to understand.

Referring to fig. 1 to 5, the present utility model provides a technical solution: the utility model provides a flexible air-ground amphibious robot, includes frame 1, four wings 2 of rotatable are installed to frame 1 four corners department, frame 1 front end bottom symmetry is equipped with two front wheels 4, and frame 1 bottom is located and is equipped with steering mechanism 6 between two front wheels 4, frame 1 rear end bottom symmetry is equipped with two rear wheels 5, and frame 1 bottom is located and is equipped with actuating mechanism 7 between two rear wheels 5, and unmanned aerial vehicle fuselage is installed at frame 1 top, expandes wing 2 when flying, controls through unmanned aerial vehicle automatic flight control system, when walking on ground, accomodates wing 2 fold, drives rear wheel 5 through actuating mechanism 7 and rotates, and the device can travel on ground, drives front wheel 4 through steering mechanism 6 and rotates to realize the steering function of device.

In the embodiment, a screw 3 is rotatably installed on the surface of a central shaft of the stand 1 through a shaft seat, a driving motor 32 is fixedly installed on the surface of one end of the stand 1 corresponding to the screw 3, the output end of the driving motor 32 is fixedly connected with the screw 3, two ends of the screw 3 are symmetrically engaged and sleeved with screw sleeves, the bottom of each screw sleeve slides on the surface of the stand 1, pull rods 31 are rotatably connected to two sides of each screw sleeve, the other end of each pull rod 31 is rotatably installed on the surface of each wing 2, the screw 3 can control four wings 2 correspondingly or separately control two wings 2 on the same side through one bidirectional screw 3 or two opposite screws 3, the driving motor 32 is started, the screw 3 is driven to rotate through the driving motor 32, the screw sleeves are meshed with the screw 3 to translate, four horn rotations are folded or unfolded through the cooperation of the screw 3 and the pull rods 31, the structural strength of the horn can be enhanced, and the horn vibration is restrained, so that the stability of the unmanned aerial vehicle in the flight is kept, the screw 3 can control the unfolding and folding of the four wings 2 through one motor, and can also use two opposite screws 3 to control two independent screw 3 to drive one wing 2 or two opposite screws 3 to be simultaneously or two opposite screw 3 to be retracted through one or two opposite screw 3; simultaneously driving two wings 2 to use two sections of screw rods 3 with positive and negative threads, or two sections of screw rods with the same rotation direction but different rotation directions of a driving motor 32, and simultaneously folding and unfolding two wings 2 on the same side by one screw rod can be realized;

in this embodiment, two first connecting rods 41 are installed through vertical pivot rotation in the both sides that frame 1 bottom corresponds front wheel 4, connecting seat 42 is installed through horizontal pivot rotation in front wheel 4 axle center axis of rotation, two the other end of first connecting rod 41 is installed on connecting seat 42 through vertical pivot rotation, rear wheel 5 inboard fixed surface has mount pad 51, frame 1 bottom corresponds the position of mount pad 51 and installs three second connecting rods through vertical pivot rotation, and the second connecting rod other end is installed on mount pad 51 through vertical pivot rotation, torsion springs are all installed in first connecting rod 41 and second connecting rod and frame 1 vertical pivot rotation junction, and two sets of first connecting rods 41 and three second connecting rods all form the parallelogram, make the wheel all perpendicular to ground all the time, improve ground trafficability when possessing longer suspension compression stroke, install front wheel 4 and rear wheel 5 in frame 1 bottom through the connecting rod, when meetting the road and jolting, first connecting rod 41 and second connecting rod can rotate certain angle for front wheel 4 and rear wheel 5 can be steady and the effect, and can realize under the effect of first connecting rod and the first connecting rod of return spring and the effect of first connecting rod and second connecting rod 6, can not influence the mechanism of the front wheel 4 and the second connecting rod of the front wheel 5 and the effect of the first connecting rod of the mechanism of the front wheel 4 and the second connecting rod of the front-drive mechanism of the front wheel 4 and the front-of the steering mechanism of the front-wheel mechanism of the motor.

In this embodiment, the steering mechanism 6 includes the guide frame 66, the bottom of the frame 1 is located the rear of two sets of first connecting rods 41 and is fixed with the guide frame 66, and the inside slip grafting of guide frame 66 has the movable frame 65, the movable frame 65 both ends are fixed with push rods 68, and the push rods 68 other end rotates and is connected with connecting plate 63, connecting plate 63 is fixed on the axle center axis of rotation surface of the inboard of front wheel 4, the inside spacing post 67 that is fixed with of guide frame 66, and the movable frame 65 slip cup joints on spacing post 67, fixed mounting has first motor 61 on the surface of frame 1 bottom corresponding to one side of guide frame 66, and the output of first motor 61 is fixed with swing arm 62, swing arm 62 opposite side rotates and is connected with horizontal pole 64, and the other end of horizontal pole 64 is fixed on the movable frame 65 surface, opens first motor 61, and swing arm 62 is rotated by a small margin, and swing arm 62 drives movable frame 65 through the connection of connecting rod and slides along the inside of guide frame 66, promotes the axle center axis of rotation of connecting plate 63 and the inboard of front wheel 4 through both sides 68, carries out the spacing effect of spacing post 67 when the movable frame 65 is adjusted to move to the front wheel 4, and the spacing effect of the spacing post 67 is kept along the vertical slip in the course of the movement of the swing post 67.

In this embodiment, the driving mechanism 7 includes a second motor 71 fixed at a position near the rear wheel 5 at the bottom of the chassis 1, and a differential mechanism 72 is installed at an output end of the second motor 71, two ends of the differential mechanism 72 are rotatably installed with a rotating ball 74 through a vertical clamping groove, a driving shaft 73 is fixed at an outer side of the rotating ball 74, the driving shaft 73 is rotatably connected with an axle center of the rear wheel 5 through a vertical rotating shaft, the second motor 71 is started, the second motor 71 drives the differential mechanism 72 to rotate, the differential mechanism 72 drives the two rotating balls 74 to rotate, the rear wheel 5 is driven to rotate by the driving shaft 73, so that a driving force of the device is realized, when the rear wheel 5 floats up and down along with the action of a second connecting rod, the rotating ball 74 rotates along the vertical clamping groove of the differential mechanism 72, and is matched with the floating of the rear wheel 5, so that the driving shaft 73 and the rear wheel 5 are kept in transmission connection (the driving shaft 73 can only rotate vertically with the rear wheel 5 through the connection of the vertical rotating shaft, so as to keep consistent with the rotation direction of the second connecting rod).

When flying, the wing 2 is unfolded, the unmanned aerial vehicle automatic flight control system is used for controlling, when walking on the ground, the driving motor 32 is started, the screw rod 3 is driven to rotate through the driving motor 32, the threaded sleeve is meshed with the screw rod 3 for translation, the four arms are rotated and folded while the pull rod 31 is pulled to rotate, the second motor 71 is started, the second motor 71 drives the differential mechanism 72 to rotate, the differential mechanism 72 drives the two rotating balls 74 to rotate, the driving shaft 73 drives the rear wheel 5 to rotate, the device can run on the ground, the first motor 61 is started, the first motor 61 drives the swing arm 62 to rotate in a small amplitude, the swing arm 62 drives the movable frame 65 to slide along the inside of the guide frame 66 through the connection of the connecting rod, the connecting plate 63 and the axis rotating shaft on the inner side of the front wheel 4 are pushed to rotate through the push rods 68 on two sides, the front wheel 4 is subjected to the limiting effect of the limiting post 67 in the moving process of the movable frame 65, and when the swing arm 62 swings, the movable frame 65 vertically slides along the limiting post 67, the connectivity with the front wheel 4 is kept, and the steering function of the device is achieved.

While the fundamental and principal features of the utility model and advantages of the utility model have been shown and described, it will be apparent to those skilled in the art that the utility model is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined appropriately to form other embodiments that will be understood by those skilled in the art.

Claims

1. The utility model provides a deformable air-ground amphibious robot, includes frame (1), its characterized in that: four rotatable wings (2) are installed in frame (1) four corners department, frame (1) front end bottom symmetry is equipped with two front wheels (4), and is equipped with steering mechanism (6) between frame (1) bottom is located two front wheels (4), frame (1) rear end bottom symmetry is equipped with two rear wheels (5), and frame (1) bottom is located and is equipped with actuating mechanism (7) between two rear wheels (5).

2. A deformable space amphibious robot according to claim 1, wherein: the novel wing control device is characterized in that a screw rod (3) is rotatably arranged on the surface of a middle shaft of the frame (1) through a shaft seat, a driving motor (32) is fixedly arranged on the surface of one end of the frame (1) corresponding to the screw rod (3), the output end of the driving motor (32) is fixedly connected with the screw rod (3), screw sleeves are symmetrically meshed at two ends of the screw rod (3), the bottoms of the screw sleeves are in sliding connection with the surface of the frame (1), pull rods (31) are rotatably connected to two sides of the screw sleeves, the other ends of the pull rods (31) are rotatably arranged on the surface of the wing (2), and the screw rod (3) can be used for controlling four wings (2) or separately controlling two wings (2) on the same side while corresponding to one bidirectional screw rod (3) or two opposite screws (3).

3. A deformable space amphibious robot according to claim 1, wherein: two first connecting rods (41) are rotatably mounted on two sides, corresponding to the front wheels (4), of the bottom of the frame (1) through vertical rotating shafts, connecting seats (42) are rotatably mounted on axle center rotating shafts of the front wheels (4) through horizontal rotating shafts, and the other ends of the two first connecting rods (41) are rotatably mounted on the connecting seats (42) through vertical rotating shafts.

4. A deformable space amphibious robot according to claim 3, wherein: steering mechanism (6) are including guide frame (66), frame (1) bottom is located the back of two sets of first connecting rods (41) and is fixed with guide frame (66), and inside slip grafting of guide frame (66) has removes frame (65), remove frame (65) both ends and be fixed with push rod (68), and the push rod (68) other end rotates and be connected with connecting plate (63), connecting plate (63) are fixed on the axle center axis of rotation surface of front wheel (4) inboard, guide frame (66) inside is fixed with spacing post (67), and removes frame (65) slip and cup joint on spacing post (67) surface.

5. A deformable space amphibious robot according to claim 4, wherein: the bottom of the frame (1) is fixedly provided with a first motor (61) on the surface corresponding to one side of the guide frame (66), the output end of the first motor (61) is fixedly provided with a swing arm (62), the other side of the swing arm (62) is rotationally connected with a cross rod (64), and the other end of the cross rod (64) is fixed on the surface of the movable frame (65).

6. A deformable space amphibious robot according to claim 3, wherein: the rear wheel (5) is fixed with mount pad (51) on the inboard surface, the position that frame (1) bottom corresponds mount pad (51) is rotated through vertical pivot and is installed three second connecting rods, and the second connecting rod other end is rotated through vertical pivot and is installed on mount pad (51).

7. The transformable air-ground amphibious robot of claim 6, wherein: the driving mechanism (7) comprises a second motor (71) fixed at the bottom of the frame (1) and close to the position of the rear wheel (5), a differential mechanism (72) is installed at the output end of the second motor (71), a rotating ball (74) is rotatably installed at two ends of the differential mechanism (72) through vertical clamping grooves, a driving shaft (73) is fixed at the outer side of the rotating ball (74), and the driving shaft (73) is rotatably connected with the axle center of the rear wheel (5) through a vertical rotating shaft.

8. The transformable air-ground amphibious robot of claim 6, wherein: torsion springs are arranged at the rotary connection parts of the first connecting rod (41) and the second connecting rod and the vertical rotating shaft of the frame (1).