阅读说明：本技术 一种陆空混合移动机器人 (Air-ground hybrid mobile robot ) 是由 肖轩 张葆家 吴爽 宋帅 刘程朴 张桂龙 于 2021-09-22 设计创作，主要内容包括：本发明涉及一种陆空混合移动机器人,属于机器人技术领域,其特征包括轮-足-涵道变形机构、翻转机构、螺旋桨、动力电机和机架；所述轮-足-涵道变形机构由四个四分之一圆弧杆和能够实现两级变速的带传动装置组成,通过控制该机构可以实现轮-足-涵道变形的功能,通过两级变速的带传动装置,使得螺旋桨高速与涵道低速运动,实现低速大扭矩、高速小扭矩两种输出模式,分别用来驱动足式运动和飞行两种状态；所述翻转机构包含四个合页机构和四个齿轮组,通过控制电机使旋转机构翻转90度与机架平行；所述动力电机共十二个；综上,该机器人可以实现轮式、足式以及涵道飞行三种不同运动形式的切换,极大的扩大了机器人的活动范围。(The invention relates to a land-air hybrid mobile robot, belonging to the technical field of robots and being characterized by comprising a wheel-foot-duct deformation mechanism, a turnover mechanism, a propeller, a power motor and a rack; the wheel-foot-duct deformation mechanism consists of four quarter arc rods and a belt transmission device capable of realizing two-stage speed change, the function of wheel-foot-duct deformation can be realized by controlling the mechanism, the propeller moves at high speed and at low speed in the duct by the belt transmission device capable of realizing two-stage speed change, two output modes of low speed, large torque and high speed and small torque are realized, and the two output modes are respectively used for driving two states of foot type movement and flight; the turnover mechanism comprises four hinge mechanisms and four gear sets, and the rotation mechanism is turned over by 90 degrees to be parallel to the rack by controlling the motor; twelve power motors are provided; in conclusion, the robot can realize the switching of three different motion modes of wheel type, foot type and duct flight, and the moving range of the robot is greatly enlarged.)

1. The invention relates to a land-air hybrid mobile robot, belonging to the technical field of robots and being characterized by comprising a wheel-foot-duct deformation mechanism, a turnover mechanism, a propeller, a power motor and a rack; the wheel-foot-duct deformation mechanism consists of four quarter arc rods and a belt transmission device capable of realizing two-stage speed change, the function of wheel-foot-duct deformation can be realized by controlling the mechanism, the propeller moves at high speed and at low speed in the duct by the belt transmission device capable of realizing two-stage speed change, two output modes of low speed, large torque and high speed and small torque are realized, and the two output modes are respectively used for driving two states of foot type movement and flight; the turnover mechanism comprises four hinge mechanisms and four gear sets, and the rotation mechanism is turned over by 90 degrees to be parallel to the rack by controlling the motor; twelve power motors are provided; in conclusion, the robot can realize the switching of three different motion modes of wheel type, foot type and duct flight, and the moving range of the robot is greatly enlarged.

2. The air-ground hybrid mobile robot of claim 1, wherein: the motor drive actuating mechanism connected with the turnover mechanism is controlled to overturn for 90 degrees to be parallel to the rack, and then the two motors are controlled to ensure that four quarter arc rods which are positively and negatively hinged together just form a complete circle to form a duct.

3. The air-ground hybrid mobile robot of claim 1, wherein: the two motors connected with the rotating mechanism are controlled to deform the four quarter arc rods which are hinged in the positive and negative directions to form a leg mechanism with an opening, and the two motors are controlled to make the leg mechanism perform integral reciprocating cycloidal motion, so that the robot can realize a foot type motion mode.

Technical Field

The invention relates to a land-air hybrid mobile robot, in particular to a free switching method for realizing foot type, wheel type and ducted type air flight modes, belonging to the technical field of robots.

Background

With the rapid development of scientific technology, more and more robots of different types are applied to various industries, great convenience is brought to people, and meanwhile the problem that tasks cannot be completed manually is solved. Therefore, the robot technology has a very wide development prospect, wherein the robot with the variable motion mode is concerned by more and more researchers, the robot can deal with more and more complex conditions, the application field of the robot is greatly increased, and the application value is higher.

The air-ground hybrid mobile robot not only can take the advantages of ground motion into consideration, but also has the characteristic of being capable of achieving an air task, for example, an air-ground amphibious robot disclosed in patent [ CN112937234A3] can roll integrally and has a flight mode, a wheel-propeller integrated air-ground amphibious robot disclosed in patent [ CN112498034A ] only has wheel type and flight mode switching, a ground-air amphibious robot is disclosed in patent [ CN112339516A ] only has foot type and flight mode switching, and a wheel type and foot type dual-mode switchable quadruped robot is disclosed in patent [ CN113022731A ] only has foot type and wheel type switching. The robot has the advantages that only wheel type and foot type modes are switched, or only foot type, wheel type and flight mode are switched, the application scene is small, the change is not flexible enough, and the mechanism is complex, so the invention aims at inventing the land-air hybrid mobile robot which has simple structure and flexible change, the robot can complete the switching of the wheel type and foot type motion modes on the ground, and can also be switched into an air flight mode with a duct, the combination of the three motion modes enables the moving range of the robot to be wider, the number of motors is reduced through the two-stage speed change device, and the utilization rate of the motors of the robot is higher.

Disclosure of Invention

The invention aims to provide a land-air hybrid mobile robot which can flexibly switch and move among three motion modes of wheeled type, foot type and air flight with ducts.

The technical scheme adopted by the invention for solving the technical problems is as follows: a land-air hybrid mobile robot belongs to the technical field of robots and is characterized by comprising a wheel-foot-duct deformation mechanism, a turnover mechanism, a propeller, a power motor and a rack; the one-wheel-one-foot-one-duct deformation mechanism consists of four quarter arc rods and a belt transmission device capable of realizing two-stage speed change, the one-wheel-one-foot-one-duct deformation function can be realized by controlling the mechanism, and the propeller moves at high speed and at low speed through the belt transmission device capable of realizing two-stage speed change, so that two output modes of low speed, large torque and high speed, small torque are realized, and the two output modes are respectively used for driving two states of foot type movement and flight; the turnover mechanism comprises four hinge mechanisms and four gear sets, and the rotation mechanism is turned over by 90 degrees to be parallel to the rack by controlling the motor; twelve power motors are provided; in conclusion, the robot can realize the switching of three different motion modes of wheel type, foot type and duct flight, and the moving range of the robot is greatly enlarged.

The invention has the advantages of simple structure, complete functions, easy control, higher efficiency and lower energy consumption due to the addition of the flight mode with the duct, and is suitable for more and more complex application scenes.

Drawings

Fig. 1 is a schematic view of a rotating mechanism of the air-ground hybrid mobile robot in a foot type state.

Fig. 2 is a schematic view of a rotating mechanism of the air-ground hybrid mobile robot in a wheel type state according to the present invention.

Fig. 3 is a schematic diagram of the transmission mechanism of the air-ground hybrid mobile robot.

Fig. 4 is a schematic diagram of the overturning mechanism of the air-ground hybrid mobile robot.

Fig. 5 is a schematic view of the air-ground hybrid mobile robot in a wheeled state according to the present invention.

Fig. 6 is a schematic diagram of the air-ground hybrid mobile robot in a foot type state.

Fig. 7 is a schematic view of the air-ground hybrid mobile robot in an air flight state.

Detailed Description

The invention will be further described with reference to the following examples and figures:

the invention relates to a land-air hybrid mobile robot (see figures 1-7), which comprises a rotating mechanism, a transmission mechanism, a turnover mechanism, a power motor, a propeller and a rack 77. The rotating mechanisms 12-15 comprise four quarter arc rods 1, 2, 3 and 4, propeller blades 5 and a support rod 6; the transmission mechanism, namely a two-stage coaxial transmission device, comprises a large belt wheel 9, a belt 10, a small belt wheel 11, a belt 12 and a triangular support plate 18; the turnover mechanism comprises a hinge mechanism 16 and two gears 14 and 15; the total number of the actuating motors is 12, wherein 7, 8, 26, 27, 45, 46, 64 and 65 are respectively connected with the rotating mechanism and the transmission mechanism, and the motors 13, 32, 51 and 70 are respectively connected with the turnover mechanism.

Specific examples of the present invention are given below. The specific examples are intended to be illustrative of the invention only and are not to be construed as limiting the claims of the invention.

Example 1:

the invention relates to a land-air hybrid mobile robot which is converted into a flying state with a duct, as shown in figures 3 and 7, a rotating mechanism is turned for 90 degrees to be parallel to a frame by controlling motors 13, 32, 51 and 70 connected with a turning mechanism, then four quarter-circle arc rods 1, 2, 3 and 4 which are hinged in a positive and negative mode are just changed into a complete circle by controlling motors 7, 8, 26, 27, 45, 46, 64 and 65 connected with the rotating mechanism to form the duct, and then the mechanism is switched into an output mode of high-speed propeller and low-speed duct movement by controlling the motors and a two-stage variable speed belt transmission device, so that the robot is converted into the flying state with the duct.

Example 2:

the movement mode of the land-air hybrid mobile robot is switched into wheel type movement, as shown in figure 5, four quarter arc rods 1, 2, 3 and 4 which are hinged in the positive and negative directions are changed into a whole circle by controlling motors 7, 8, 26, 27, 45, 46, 64 and 65 connected with a rotating mechanism to form wheels, and then the motors are controlled to integrally rotate the wheels, so that the robot is changed into a wheel type movement mode.

Example 3:

the invention relates to a land-air hybrid mobile robot, which is switched into a foot type motion mode, wherein four quarter arc rods 1, 2, 3 and 4 which are hinged in the positive and negative directions are changed into a foot type mechanism by controlling motors 7, 8, 26, 27, 45, 46, 64 and 65 connected with a rotating mechanism, and the foot type mechanism is controlled to do overall reciprocating cycloidal motion to realize the foot type motion mode of the robot, as shown in figure 6.