CN220410908U - A deformable land and air amphibious robot - Google Patents

Abstract

The utility model discloses a deformable air-ground amphibious robot, which comprises a deformed unmanned aerial vehicle module and a ground driven module, wherein the deformed unmanned aerial vehicle module comprises a traditional power assembly, a deformed assembly and a control assembly, and the traditional power assembly comprises four motors and two pairs of paddles; the deformation assembly comprises a center frame, a deformation front frame, a deformation rear frame, a rudder frame, a steering engine crank, two connecting rods, two crank holders and two hinge frames; the control component comprises a flight control, an electric control, a computer bar and a battery; the ground driven module comprises two sets of driven wheel assemblies, and each driven wheel assembly comprises a driven wheel, a driven shaft and a wheel shaft clamp. The deformable amphibious unmanned aerial vehicle can solve the problem of continuous voyage of the unmanned aerial vehicle, is free of topography, and is smart and light.

Description

A deformable land and air amphibious robot

Technical field

The utility model relates to a deformable land and air amphibious robot.

Background technique

With the development of drone and robot technology, more and more drones or robots have entered people's lives. Many photography enthusiasts use drones to take photos and videos; drones can often be seen in hospitals transporting emergency supplies; and even in post-disaster rescue work, drones are also needed for search work. However, drones currently have shortcomings such as short endurance and limited flight distance.

Compared with drones, robots have also begun to play an important role in people's lives. They are responsible for delivering meals in hotels; transporting express delivery in industrial logistics; and there are also robots specifically responsible for operating in complex terrain. However, compared to drones, robots have disadvantages such as slow movement speed and being restricted by terrain.

The existing land and air amphibious robots (UAVs) on the market have redundant power sets. They are more about adding driving wheels that can provide power under the UAV or adding flying blades on the unmanned vehicle. They are not A set of power sets solves land and air problems and has a complex structure.

The existing power sleeve structure's solution to the land-air amphibious problem is to increase the pitch angle of the drone and use the horizontal component of the blade thrust to provide the power to move the entire aircraft forward. Because the working angle of the sensor is limited, the pitch angle It cannot be too large, which will result in the inability to fully utilize the thrust of the motor and low utilization of battery energy.

Utility model content

In order to solve the above existing problems in the prior art, the present utility model proposes a deformable land and air amphibious robot.

The utility model can be realized through the following technical solutions:

A deformable land and air amphibious robot, including a deformable UAV module and a ground driven module. The deformable UAV module includes a traditional power component, a deformation component and a control component. The traditional power component includes four motors and two pairs of propellers. Leaf; the deformation components include a center frame, a deformation front frame, a deformation rear frame, a servo frame, a servo, a servo crank, two connecting rods, two crank seats and two hinge frames, and the control component includes a flight control and an ESC. , computer stick and battery. The flight control, ESC and computer stick provide a control algorithm for the deformable land and air amphibious robot; the steering gear is installed at the center of the center frame through the steering gear frame; the two hinge frames are symmetrical above and below the center. Installed at the front and rear of the center frame; two crank seats are installed on the hinge frame and form a rotating pair; the output shaft of the steering gear is fixedly connected to the steering gear crank, and the rotation of the steering gear drives the steering gear crank to rotate, and the two ends of the steering gear crank are Connect a connecting rod to form a rotating pair; the other end of the connecting rod is connected to the crank seat to form a rotating pair, and finally form two sets of double crank structures, and are controlled by the steering gear crank at the same time. Through mechanical limits, the two double cranks The maximum swing amplitude of the structure is 90°; the steering gear rotates 90°, the deformed front frame and its mounted motors and blades rotate downward 90°, and the deformed rear frame and its mounted motors and blades rotate upward 90°; The ground driven module includes two sets of driven wheel assemblies. The driven wheel assembly includes a driven wheel, a driven shaft and an axle clamp; one end of the driven wheel and the driven shaft is connected through a bearing to form a rotating pair; the other end of the driven shaft is clamped with the axle. connected to form a driven wheel assembly; the two sets of driven wheel assemblies are fixedly connected to the center frame through axle clamps. The driven shafts on both sides are coaxial and ensure that the center of gravity of the deformed land-air amphibious robot is below the axis.

Furthermore, the crank seat on the front side of the center frame can only swing downward, with a swing range of 90°, and the crank seat on the rear side of the center frame can only swing upward, with a swing range of 90°, and the two crank seats are permanently linked.

Further, the deformed front frame is fixed on the crank seat on the front side of the center frame; the deformed rear frame is fixed on the crank seat on the rear side of the center frame.

Further, the four motors are respectively fixed on the four ends of the deformed front frame and the deformed rear frame; two pairs of blades are installed on the four motors according to the rules for the installation of forward and reverse propellers of the UAV.

Furthermore, the deformation front frame and the deformation rear frame are always linked and parallel.

beneficial effects

1. The deformable land-air amphibious robot of this utility model can switch between two postures. It usually drives on the energy-saving road posture, and adopts an air flight posture to ensure a greater operating distance when encountering extreme terrain or when it needs to fly;

2. Compared with unmanned vehicles, the deformable land-air amphibious robot of the present invention can quickly switch between road driving and air flying, and has strong ground adaptability;

3. By adding a driven wheel and an ingenious propeller motor direction deformation structure, this utility model realizes a common set of power sleeves for on-road postures and air postures, with a simple and ingenious structure;

4. By flipping the front blade down 90° and the rear blade up 90°, this utility model ensures that the direction of the reaction force of the blade thrust is the deformable land when the sensor angle remains unchanged. There is no energy loss caused by different movement directions and force directions due to the movement direction of the aerial amphibious robot.

Description of the drawings

Figure 1 is a schematic diagram showing the full utilization of the total thrust of the blades of the present utility model;

Figure 2 is a schematic structural diagram of the utility model;

Figure 3 is a schematic structural diagram of the deformed UAV module;

Figure 4 is a side view of the deformable UAV module;

Figure 5 is a schematic diagram of the flight attitude in the air;

Figure 6 shows the driving posture on the road.

Detailed ways

The following describes the implementation of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

As shown in Figure 1, the force analysis of the front and rear blades after flipping:

1. Torque cancellation argument:

Because the parts of the deformed front frame and its supporting deformed components are exactly the same as those of the deformed rear frame, and the installation is centrally symmetrical with the center of the wheel circle, so L ₁ and L ₂ are equal. Because when moving forward, the front and rear blades rotate at the same speed, so the thrust generated is the same, that is, F ₁ is equal to F ₂ . Since F ₁ and F ₂ are respectively below and above the wheel axis, the torque formed relative to the wheel center is in opposite directions. The formed torques M ₁ =F ₁ *L ₁ and M ₂ =F ₂ *L ₂ are equal in magnitude and opposite in direction, so the torques cancel out. In this state, the four blades of the deformable land and air amphibious robot move at the same speed, that is, It can move forward, and the deformed drone module does not rotate.

2. Demonstration of full utilization of thrust:

In this state, the total thrust of the blades: F _total = F ₁ + F ₂ , the thrust direction of the air received by the blades is horizontal to the left, and the direction of movement of the UAV is horizontal to the left, that is, the direction of movement and the force The directions are exactly the same, so the thrust of the blades is fully utilized.

Example

As shown in Figure 2-4, a deformable land and air amphibious robot of the present invention includes a deformable UAV module 1 and a ground driven module 2. The deformation drone module 1 includes a traditional power component 11 , a deformation component 12 and a control component 13 . The traditional power component 11 includes four motors 111 and two pairs of propellers 112; the deformed component 12 includes a center frame 121, a deformed front frame 122, a deformed rear frame 123, a steering gear frame 124, a steering gear 125, a steering gear crank 126, two A connecting rod 127, two crank seats 128 and two hinge frames 129. The control component 13 includes a flight control 131 , an ESC 132 , a computer stick 133 and a battery 134 .

The flight control 131, the electric controller 132 and the computer stick 133 provide control algorithms for a deformable land and air amphibious robot. Battery 134 provides kinetic energy.

The steering gear 125 is installed at the center of the center frame 121 through the steering gear frame 124; two hinge frames 129 are installed at the front and rear of the center frame 121 in a symmetrical manner; two crank seats 128 are installed on the hinge frame 129. It forms a rotating pair; the output shaft of the steering gear 125 is fixedly connected to the steering gear crank 126, and the rotation of the steering gear 125 drives the rotation of the steering gear crank 126. The two ends of the steering gear crank 126 are each connected to a connecting rod 127 and form a rotating pair; the other end of the connecting rod 127 is connected to the crank base 128 to form a rotating pair. Finally, two sets of double crank structures are formed, and are controlled by the steering gear crank 126 at the same time. Through mechanical limits, the maximum swing range of these two double-crank structures is 90°. Among them, the crank seat 128 on the front side of the center frame 121 can only swing downward, with a swing range of 90°, and the crank seat 128 on the rear side of the center frame 121 can only swing upward, with a swing range of 90°, and the two crank seats 128 are permanently Linkage. The deformed front frame 122 is fixed on the crank seat 128 on the front side of the center frame 121; the deformed rear frame 123 is fixed on the crank seat 128 on the rear side of the center frame 121. The four motors 111 are respectively fixed on the four ends of the deformed front frame 122 and the deformed rear frame 123. Two pairs of propeller blades 112 are installed on four motors 111 according to the rules for installing forward and reverse propellers on a drone.

Finally, the steering gear 125 is rotated 90°, the deformed front frame 122 and its mounted motor 111 and blades 112 are rotated downward by 90°, and the deformed rear frame 123 and its mounted motor 111 and blades 112 are rotated upward by 90°. The deformation front frame 122 and the deformation rear frame 123 are always linked and parallel.

The ground driven module 2 includes two sets of driven wheel assemblies 21. The driven wheel assembly includes a driven wheel 211, a driven shaft 212 and an axle clamp 213.

One end of the driven wheel 211 and the driven shaft 212 are connected through a bearing to form a rotating pair; the other end of the driven shaft 212 is fixedly connected to the axle clamp 213 to form the driven wheel assembly 21 . Two sets of driven wheel assemblies 21 are fixedly connected to the center frame 121 through axle clamps 213. The driven shafts 212 on both sides are coaxial and ensure that the center of gravity of the deformed land-air amphibious robot is below the axis.

The deformable land-air amphibious robot is divided into air flying posture and road driving posture.

As shown in Figure 5, the flying posture in the air: the deformed front frame 122 and the deformed rear frame 123 remain horizontal, the four motors 111 and the two pairs of blades 112 face upward, and the flight is no different from other UAVs. The ground driven module 2 plays a protective role at this time and can protect the core components when the deformable land-air amphibious robot hits an obstacle or accidentally falls.

As shown in Figure 6, the driving posture on the road: the deformable land and air amphibious robot rotates the deformed front frame 122 downward by 90°, and the deformed rear frame 123 rotates upward by 90°. The thrust of the two front blades 112 of the deformable land-air amphibious robot is horizontally backward, and the thrust of the two rear blades 112 is also horizontally backward. And because the entire deformation structure is centrally symmetrical about the center of the driven wheel 211. Therefore, when the front blade 112 rotates, the torque generated by the deformation drone module 1 around the driven axis 212 is generated, and when the rear blade 112 rotates, the torque generated by the deformation drone module 1 around the driven axis 212 is generated. Exactly offset. Therefore, the steering gear 125 does not need to provide additional torque outside of the deformation process. In this state, the thrust (lift) formed by the rotation of the blades 112 is along the horizontal direction, and all the power of the motor 111 is converted into thrust for the forward movement of the deformable land-air amphibious robot, achieving maximum utilization of effectiveness. It is worth mentioning that if the left and right blades 112 of the deformable land-air amphibious robot rotate at the same speed and the opposite direction can be achieved, in-situ steering in the driving posture on the road can be achieved; the differential speed of the blades 112 on both sides can be achieved When turning in this attitude, controlling the differential speed can control the turning radius. The deformable land-air amphibious robot can increase its working range by switching between two postures (the energy consumed by the road driving posture is much less than the air flying posture), while also ensuring the flexibility of driving and not being limited by the ground.

The above descriptions are only preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in the present utility model. Within the protection scope of utility model.

Claims (5)

1. A deformable air-ground amphibious robot, characterized in that: the unmanned aerial vehicle comprises a deformation unmanned aerial vehicle module (1) and a ground driven module (2), wherein the deformation unmanned aerial vehicle module (1) comprises a traditional power assembly (11), a deformation assembly (12) and a control assembly (13), and the traditional power assembly (11) comprises four motors (111) and two pairs of paddles (112); the deformation assembly (12) comprises a center frame (121), a deformation front frame (122), a deformation rear frame (123), a steering engine frame (124), a steering engine (125), a steering engine crank (126), two connecting rods (127), two crank bases (128) and two hinge frames (129), the control assembly (13) comprises a flight control (131), an electric control (132), a computer stick (133) and a battery (134), and the flight control (131), the electric control (132) and the computer stick (133) provide a control algorithm for the deformable air-ground amphibious robot;

the steering engine (125) is arranged at the center of the center frame (121) through a rudder frame (124); the two hinge frames (129) are arranged at the front and rear positions of the center frame (121) in a vertically central symmetry mode; two crank holders (128) are mounted on the hinge bracket (129) and form a revolute pair; an output shaft of the steering engine (125) is fixedly connected with a steering engine crank (126), the steering engine (125) rotates to drive the steering engine crank (126) to rotate, and two ends of the steering engine crank (126) are respectively connected with a connecting rod (127) and form a revolute pair; the other end of the connecting rod (127) is connected with the crank seat (128) to form a revolute pair, and finally two sets of double-crank structures are formed, and are controlled by the steering engine crank (126) at the same time, and the maximum swing amplitude of the two double-crank structures is 90 degrees through mechanical limiting;

the steering engine (125) rotates by 90 degrees, the deformation front frame (122) and the motor (111) and the paddle (112) arranged on the deformation front frame rotate by 90 degrees downwards, and the deformation rear frame (123) and the motor (111) and the paddle (112) arranged on the deformation rear frame rotate by 90 degrees upwards;

the ground driven module (2) comprises two sets of driven wheel assemblies (21), wherein each driven wheel assembly comprises a driven wheel (211), a driven shaft (212) and a wheel axle clamp (213); one end of the driven wheel (211) and one end of the driven shaft (212) are connected through a bearing to form a revolute pair; the other end of the driven shaft (212) is fixedly connected with the wheel shaft clamp (213) to form a driven wheel assembly (21); the two driven wheel assemblies (21) are fixedly connected with the center frame (121) through wheel axle clamps (213), driven shafts (212) on two sides are coaxial, and the gravity center of the deformed amphibious robot is ensured to be below the axis.

2. A deformable air-ground amphibious robot according to claim 1, wherein: the crank seat (128) at the front side of the center frame (121) can only swing downwards, the swing range is 90 degrees, the crank seat (128) at the rear side of the center frame (121) can only swing upwards, the swing range is 90 degrees, and the two crank seats (128) are always linked.

3. A deformable air-ground amphibious robot according to claim 1, wherein: the deformation front frame (122) is fixed on a crank seat (128) at the front side of the center frame (121); the deformed rear frame (123) is fixed on a crank seat (128) at the rear side of the center frame (121).

4. A deformable air-ground amphibious robot according to claim 1, wherein: the four motors (111) are respectively fixed at four ends of the deformation front frame (122) and the deformation rear frame (123); two pairs of paddles (112) are arranged on four motors (111) according to the rule of forward and reverse paddle installation of the unmanned aerial vehicle.

5. A deformable air-ground amphibious robot according to claim 1, wherein: the deformation front frame (122) and the deformation rear frame (123) are permanently linked and permanently parallel.