CN214492428U - Foot type robot with flight capability - Google Patents
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- CN214492428U CN214492428U CN202022841784.4U CN202022841784U CN214492428U CN 214492428 U CN214492428 U CN 214492428U CN 202022841784 U CN202022841784 U CN 202022841784U CN 214492428 U CN214492428 U CN 214492428U
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- 210000000689 upper leg Anatomy 0.000 claims description 47
- 210000002414 leg Anatomy 0.000 claims description 36
- 230000001681 protective effect Effects 0.000 claims description 26
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000008447 perception Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 244000309466 calf Species 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Abstract
The application discloses sufficient robot that possesses flight ability includes chassis assembly, rotor assembly and control assembly. On the basis of a foot type robot, a rotor assembly is introduced, so that the robot has double capabilities of walking on the ground and flying in the air. Under the comparatively simple condition in road surface, can directly accomplish with leg foot system and remove, in the obstacle district that the condition is complicated, can open rotor assembly, take the robot off the ground fast, smoothly pass through the obstacle district. The end parts of the leg and foot components in contact with the ground are directly arranged on the robot body, and the rotor assembly is also arranged on the robot body, so that the whole robot is compact in structure, and the light design of the robot structure is facilitated. Meanwhile, the leg and foot assembly is designed to have three degrees of freedom, so that the leg and foot assembly can move in three directions, and the robot can travel in various environments.
Description
Technical Field
The application relates to the technical field of robots, in particular to a foot type robot with flight capability.
Background
As robots play more and more important roles in the life of people, various types of robots are emerging continuously, and meanwhile, the robots are required to have higher flexibility and be capable of adapting to various complex environments so as to replace people to do lots of work, and particularly, the robots can replace human beings to enter dangerous environments in the presence of mountainous regions or various natural disasters. For example, wheeled robots and legged robots have high flexibility and can travel in scenes such as stairs, bottoms of mountains and ruins, but the environments of the scenes are complex and difficult to predict, and wheeled robots and legged robots are prone to falling down during traveling, and finally cause damage to the robots or failure of tasks.
SUMMERY OF THE UTILITY MODEL
The application provides a foot type robot with flight capability, which can enable the robot to have the capability of walking and flying so as to improve the adaptability of the robot in various complex environments.
Embodiments of the present application provide a legged robot with flight capabilities, including a chassis assembly, a rotor assembly, and a control assembly. The chassis assembly comprises a machine body and a leg and foot assembly which is arranged on the machine body and has three degrees of freedom, the leg and foot assembly comprises an X-axis driving assembly arranged on the machine body, a Y-axis driving assembly arranged at an X-axis driving end of the X-axis driving assembly, a Z-axis driving assembly arranged at a Y-axis driving end of the Y-axis driving assembly and a leg supporting portion connected with a Z-axis driving end of the Z-axis driving assembly, and the end portion of the leg supporting portion is used for being in contact with the ground. The rotor assembly includes a rotor assembly mounted to the fuselage. The control assembly is mounted on the fuselage and includes a chassis control system for controlling movement of the leg and foot assemblies, and a rotor control system for controlling operation of the rotor assemblies.
In some exemplary embodiments, the flying capable legged robot further includes a sensing assembly including a sensing component for sensing the external environment. The control assembly further comprises a main control system for controlling the chassis control system and the rotor wing control system, the sensing component is connected with the main control system to transmit the signal generated by the sensing component to the main control system, and the main control system controls at least one of the chassis assembly and the rotor wing assembly to operate according to the signal generated by the sensing component.
In some exemplary embodiments, the sensing assembly includes one or more of a lidar, a vision camera, and an inertial sensor.
In some exemplary embodiments, the X-axis drive assembly includes an X-axis rotary drive motor mounted to the body. The Y-axis driving component comprises a Y-axis rotation driving motor, and the Y-axis rotation driving motor is installed at the driving end of the X-axis rotation driving motor. The Z-axis driving component comprises a Z-axis rotation driving motor, and the Z-axis rotation driving motor is installed at the driving end of the Y-axis rotation driving motor. The leg supporting part comprises a thigh connected with the Z-axis driving assembly and a shank rotatably arranged at the end part of the thigh, and the end part of the shank is contacted with the ground. The leg and foot assembly further comprises a linkage assembly, one end of the linkage assembly is connected with the driving end of the Z-axis rotation driving motor, and the other end of the linkage assembly is connected with the connecting ends of the thigh and the shank so as to adjust the distance between the thigh and the shank relative to the ground. The X-axis rotation driving motor, the Y-axis rotation driving motor and the Z-axis rotation driving motor are all connected with the chassis control system.
In some exemplary embodiments, the linkage assembly includes a first gear, a second gear, and a conveyor belt, a central axis of the first gear and a central axis of the second gear each being disposed in a direction parallel to the Y-axis. The first gear is arranged at the driving end of the Z-axis rotation driving motor, the second gear is arranged at the connecting end of the thigh and the shank, and the conveying belt is sleeved on the peripheries of the first gear and the second gear.
In some exemplary embodiments, the thigh has a hollow structure, the linkage assembly is installed in the thigh, and the thigh end is covered on the periphery of the connection structure of the linkage assembly and the driving end of the Z-axis rotation driving motor. A rotating shaft is arranged at the connecting end of the thigh and the shank in a penetrating mode, the rotating shaft is fixedly connected with the shank and movably connected with the thigh, and the second gear is coaxially arranged on the rotating shaft.
In some exemplary embodiments, the X-axis drive assembly further comprises a first protective housing mounted to the body, the X-axis rotary drive motor being mounted within the first protective housing. The Y-axis driving assembly further comprises a second protective shell, the driving end of the X-axis rotary driving motor extends out of the first protective shell to be connected with the second protective shell, and the Y-axis rotary driving motor is installed in the second protective shell. The Z-axis driving assembly further comprises a third protection shell, the driving end of the Y-axis rotation driving motor extends out of the second protection shell and is connected with the third protection shell, the Z-axis rotation driving motor is installed in the third protection shell, and the driving end of the Z-axis rotation driving motor extends out of the third protection shell and is connected with the linkage assembly. The thigh end is mounted on the third protective shell.
In some exemplary embodiments, the thigh end is fixedly mounted to the third protective shell by a flange.
In some exemplary embodiments, a support frame is disposed on the fuselage, the rotor assembly includes a rotor motor and a blade, the blade is mounted at a drive end of the rotor motor, the rotor motor is mounted on the support frame, and the rotor motor is electrically connected to the rotor control system.
In some exemplary embodiments, the number of the rotor assemblies is multiple, the multiple rotor assemblies are uniformly installed on the support frame, and the multiple blades rotate in the same plane.
The application provides a sufficient robot that possesses flight ability, on sufficient robot's basis, has introduced the rotor assembly for the robot possesses the dual ability of walking on the ground and flying in the air. Under the condition of simpler pavement, the robot can directly complete the movement by using a leg-foot system, and under the condition of complex obstacle areas such as ruins, mountainous regions and the like, the rotor assembly can be started to bring the robot away from the ground to quickly and smoothly pass through the obstacle areas. The end parts of the leg and foot components in contact with the ground are directly arranged on the robot body, and the rotor assembly is also arranged on the robot body, so that the whole robot is compact in structure, and the light design of the robot structure is facilitated. Meanwhile, the leg and foot assembly is designed to have three degrees of freedom, so that the leg and foot assembly can move in three directions, and the robot can travel in various environments.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic perspective view of a legged robot with flight capability according to an embodiment of the present application;
FIG. 2 is a schematic block diagram illustrating the connection between the control assembly and the sensing assembly according to an embodiment of the present disclosure;
FIG. 3 is a perspective view of a leg and foot assembly according to an embodiment of the present application;
FIG. 4 is a schematic perspective view of a linkage assembly according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The inventor finds that the leg-foot type robot has strong advantages in the aspects of environmental adaptability and environmental interactivity, and can be applied to unstructured complex industrial environments and living scenes. The leg-foot type robot has wide application prospects in the aspects of family scenes (such as stairs and sundries), dangerous rescue scenes (such as fire, earthquake and nuclear power station), complex industrial scenes (steps, gullies and obstacles) and the like. But limited by the leg structure of the legged robot, for example, the legged robot is difficult to travel in some scenes with large ground structure drops. Therefore, the embodiments of the present application consider providing a legged robot with flight capability to solve the problem that legged robots are difficult to pass through in special situations.
As shown in fig. 1 to 4, the present embodiment provides a legged robot with flight capability, which includes a chassis assembly 100, a rotor assembly 200, and a control assembly 300.
The chassis assembly 100 comprises a body 110 and a leg-foot assembly 120 which is arranged on the body 110 and has three degrees of freedom, wherein the leg-foot assembly 120 comprises an X-axis driving assembly 121 arranged on the body 110, a Y-axis driving assembly 122 arranged at an X-axis driving end of the X-axis driving assembly 121, a Z-axis driving assembly 123 arranged at a Y-axis driving end of the Y-axis driving assembly 122 and a leg supporting part 124 connected with a Z-axis driving end of the Z-axis driving assembly 123, and the end part of the leg supporting part 124 is used for contacting with the ground. Rotor assembly 200 includes a support frame 210 mounted to fuselage 110 and a plurality of rotor assemblies 220 uniformly mounted to support frame 210. Control assembly 300 is mounted to fuselage 110, and control assembly 300 includes a chassis control system 310 for controlling movement of leg-foot assembly 120, and a rotor control system 320 for controlling operation of rotor assembly 220.
The foot robot with flight capability provided by the embodiment of the application introduces the rotor wing assembly 200 on the basis of the foot robot, so that the robot has dual capabilities of walking on the ground and flying in the air. Under the condition of simpler pavement, the robot can directly complete the movement by using a leg-foot system, and under the condition of complex obstacle areas, such as ruins, mountainous regions and the like, the rotor assembly 200 can be started to bring the robot away from the ground to quickly and smoothly pass through the obstacle areas. The end of the leg-foot assembly 120 that contacts the ground is mounted directly to the fuselage 110, and the rotor assembly 200 is also mounted to the fuselage 110, so that the entire robot is compact and the design of the robot structure is lightweight. Meanwhile, the leg and foot assembly 120 is designed to have three degrees of freedom, so that the leg and foot assembly 120 can move in three directions, so that the robot can travel in various environments.
In some exemplary embodiments, the flying-capable legged robot further includes a sensing assembly 400, the sensing assembly 400 including a sensing component 410 for sensing an external environment so as to observe a traveling state of the robot and an environment in which the robot is currently located in real time.
As shown in fig. 2, control assembly 300 further includes a master control system 330 for controlling chassis control system 310 and rotor control system 320, sensing element 410 is coupled to master control system 330 for transmitting signals generated by sensing element 410 to master control system 330, and master control system 330 controls operation of at least one of chassis assembly 100 and rotor assembly 200 based on signals generated by sensing element 410. Specifically, after the main control system 330 analyzes the sensing signal sent back by the sensing component 410, when the main control system 330 determines that the current ground environment of the robot is smooth, the main control system 330 controls the chassis assembly 100 to operate to drive the robot to move on the ground. When the master control system 330 determines that the robot is difficult to move on the ground due to the large fluctuation of the current ground environment, the master control system 330 controls the rotor assembly 200 to operate, so as to take the robot off the ground and cross the obstacle area. Or in other cases, the main control system 330 may also control the chassis control system 310 and the rotor control system 320 to operate simultaneously or alternately to assist each other, so as to further improve the flexibility of the robot during the traveling process, so that the robot provided by the present application can adapt to various complex environments.
The main control system 330, the chassis control system 310, and the chassis control system 310 may be disposed on a main board (not shown), and the main board is mounted in the accommodating cavity of the main body 110. The sensing assembly 410 may be installed on the surface of the body 110, or the sensing assembly 410 may also be installed on the leg and foot assembly 120, so that the sensing assembly 410 moves synchronously with the body 110 or the leg and foot assembly 120 to sense and recognize the environment around the robot and the traveling state of the robot in real time.
Specifically, in some exemplary embodiments, the sensing component 410 may include a laser radar, a vision camera, and an inertial sensor, and external environment information such as a distance, an orientation, a size, a height, and a shape of an object in the external environment, and information such as a traveling state of the robot itself may be acquired through the sensing component 410. Of course, in other embodiments, the sensing component 410 may also include other sensors for sensing the external environment and the state of the robot itself, and may be configured according to the actual installation requirements.
In some exemplary embodiments, the X-axis driving assembly 121 includes an X-axis rotation driving motor 1211, and the X-axis rotation driving motor 1211 is mounted on the body 110. The Y-axis drive unit 122 includes a Y-axis rotation drive motor 1221, and the Y-axis rotation drive motor 1221 is attached to a drive end of the X-axis rotation drive motor 1211. The Z-axis driving assembly 123 includes a Z-axis rotation driving motor 1231, and the Z-axis rotation driving motor 1231 is mounted to a driving end of the Y-axis rotation driving motor 1221. As shown in fig. 1 and 3, the leg support 124 includes a thigh 1241 connected to the Z-axis drive assembly 123 and a lower leg 1242 rotatably mounted to an end of the thigh 1241, an end of the lower leg 1242 contacting the ground. Leg and foot assembly 120 further includes a linkage assembly 125, as shown in fig. 1 and 4, with one end of linkage assembly 125 coupled to a drive end of a Z-axis rotation drive motor 1231 and the other end of linkage assembly 125 coupled to a connected end of thigh 1241 and calf 1242 for adjusting the distance of thigh 1241 and calf 1242 relative to the ground. The X-axis rotation driving motor 1211, the Y-axis rotation driving motor 1221, and the Z-axis rotation driving motor 1231 are connected to the chassis control system 310.
When the main control system 330 analyzes and obtains that the current environment can adopt the chassis assembly 100 to travel on the ground according to the received sensing signal, the main control system 330 controls at least one of the X-axis rotation driving motor 1211, the Y-axis rotation driving motor 1221 and the Z-axis rotation driving motor 1231 to operate, the X-axis rotation driving motor 1211 drives the Y-axis rotation driving motor 1221 to rotate around the X-axis as a central axis, the Y-axis rotation driving motor 1221 drives the Z-axis rotation driving motor 1231 to rotate around the Y-axis as a central axis, the Z-axis rotation driving motor 1231 drives the linkage component 125 to rotate, and further adjusts the distance between the thigh 1241 and the shank 1242 relative to the ground, so as to satisfy that the leg and foot component 120 has three degrees of freedom, and to make the leg and foot component 120 move more flexibly.
Specifically, as shown in fig. 4, in some exemplary embodiments, linkage assembly 125 may include a first gear 1251, a second gear 1252, and a belt 1253, with a central axis of first gear 1251 and a central axis of second gear 1252 each disposed in a direction parallel to the Y-axis. The first gear 1251 is installed at a driving end of the Z-axis rotation driving motor 1231, the second gear 1252 is installed at a connecting end of the thigh 1241 and the calf 1242, and the belt 1253 is sleeved on peripheries of the first gear 1251 and the second gear 1252. A rotating shaft 1245 can be inserted through the ends of the thigh 1241 and the shank 1242, the rotating shaft 1245 is disposed along a direction parallel to the central axis of the first gear 1251, the rotating shaft 1245 is fixedly connected with the shank 1242 and movably connected with the thigh 1241, and the second gear 1252 is coaxially and fixedly mounted on the rotating shaft 1245. The Z-axis rotation driving motor 1231 is operated to rotate the first gear 1251 about the Y-axis, the first gear 1251 drives the second gear 1252 to rotate about the Y-axis via the belt 1253, and the lower leg 1242 is driven by the second gear 1252 to rotate about the Y-axis.
In some exemplary embodiments, the upper leg 1241 is a hollow structure, the linkage assembly 125 is installed in the upper leg 1241, and the end of the upper leg 1241 covers the periphery of the connection structure of the linkage assembly 125 and the driving end of the Z-axis rotation driving motor 1231, i.e., the end of the upper leg 1241 covers the connection end of the first gear 1251 and the Z-axis rotation driving motor 1231. By providing the thigh 1241 as a hollow structure to protect the first gear 1251, the conveyor belt 1253 and the second gear 1252 from being damaged during the robot traveling process, the stability of the leg and foot assembly 120 during the traveling process is ensured, and the service life of the robot is prolonged.
In some exemplary embodiments, the X-axis drive assembly 121 further includes a first shield housing 1212, the Y-axis drive assembly 122 further includes a first shield housing 1222, and the Z-axis drive assembly 123 further includes a first shield housing 1232. The first shield case 1212 is mounted on the body 110, the X-axis rotation driving motor 1211 is mounted in the first shield case 1212, and a driving end of the X-axis rotation driving motor 1211 extends out of the first shield case 1212 to be connected with the second shield case 1222. The Y-axis rotation driving motor 1221 is installed in the second protective case 1222, and a driving end of the Y-axis rotation driving motor 1221 protrudes out of the second protective case 1222 to be connected to the third protective case 1232. The Z-axis rotation driving motor 1231 is installed in the third prevention housing 1232, and the driving end of the Z-axis rotation driving motor 1231 extends out of the third prevention housing 1232 to be connected with the linkage assembly 125. The end of thigh 1241 is mounted on a third guard housing 1232. The first protective housing 1212, the second protective housing 1222, and the third protective housing 1232 may be respectively covered around the X-axis rotation driving motor 1211, the Y-axis rotation driving motor 1221, and the Z-axis rotation driving motor 1231, so as to facilitate the installation of each rotation driving motor and the leg and foot assembly 120, protect each rotation driving motor, and improve the connection stability of the leg and foot assembly 120 during the operation process.
In some exemplary embodiments, as shown in fig. 1, the end of the thigh 1241 may be fixedly mounted on the third protection housing 1232 through a flange 1243, the Y-axis rotation driving motor 1221 may operate to drive the Z-axis rotation driving motor 1231 and the thigh 1241 to rotate synchronously around the Y-axis as a central axis, the Z-axis rotation driving motor 1231 operates to drive the first gear 1251 to rotate and drive the second gear 1252 to rotate under the action of the belt 1253, and the second gear 1252 drives the shank 1242 to rotate around the second gear 1252, so that the thigh 1241 and the shank 1242 may move in a plane parallel to the Z-axis in a folding manner. In addition, one end of the thigh 1241 is fixedly connected with the third protection housing 1232, and the other end of the thigh 1241 is movably connected with the shank 1242, so that the thigh 1241 and the shank 1242 are driven by the linkage assembly 125 to rotate relatively, and the Y-axis rotation driving motor 1221 is further facilitated to control the rotation angle of the thigh 1241, thereby facilitating the corresponding adjustment of the distances between the thigh 1241 and the shank 1242 relative to the ground in response to different external environments.
Further, the first protective housing 1212 and the second protective housing 1222, and the second protective housing 1222 and the third protective housing 1232 may be connected by a rotation bearing, so as to further improve the stability and the smoothness of the leg and foot assembly 120 during the traveling process.
The leg and foot assemblies 120 in the embodiment of the present application may be provided in multiple groups, for example, the number of the leg and foot assemblies 120 may be 4, 6, 8, and the like, and the multiple groups of leg and foot assemblies 120 are symmetrically installed on the body 110, so that the robot can more flexibly travel in multiple directions.
In some exemplary embodiments, a support frame 210 may be disposed on the fuselage 110, the rotor assembly 220 includes a rotor motor 221 and a blade 222, the blade 222 is mounted at a drive end of the rotor motor 221, the rotor motor 221 is mounted on the support frame 210, and the rotor motor 221 is electrically connected to the rotor control system 320. The main control system 330 analyzes according to the acquired sensing signal, and if the judgment result shows that the leg and foot assembly 120 is difficult to pass through in the current environment, the main control system 330 sends a control signal to the rotor control system 320 to control the rotor motor 221 to drive the blades 222 to rotate so as to take the robot off the ground.
The support bracket 210 may be configured to facilitate mounting of the rotor assembly 220 to the fuselage 110, and the mounting position of the rotor assembly 220 may be adjusted by the configuration of the support bracket 210. The inside of the support frame 210 may also be a hollow structure, and a cable connecting the rotor motor 221 and the main control system 330 may be installed in the hollow structure inside the support frame 210. In addition, a sensing assembly 410 for sensing an external environment may also be mounted on the supporting frame 210.
In some exemplary embodiments, the number of rotor assemblies 220 is multiple groups, for example, the number of rotor assemblies 220 may be two groups, three groups, four groups, five groups, six groups, etc. The multiple sets of rotor assemblies 220 are uniformly mounted on the support frame 210, and the multiple blades 222 rotate in the same plane, so that the multiple blades 222 can stably drive the robot to fly.
According to the legged robot with flight capability provided by the embodiment of the application, the main control system 330 inside the legged robot can analyze and calculate motion information such as the motion rule, the motion track, the moments of the thigh 1241 and the shank 1242, and the running speed of the rotor assembly 220 of each leg and foot assembly 120 according to the acquired sensing signals, and store a plurality of groups of acquired sensing signals and corresponding robot motion information. In the actual use process, the corresponding motion information can be called according to the actually acquired sensing signal, and the leg and foot components 120 and the rotor assembly 200 are controlled to operate, so that the robot travels in different environments.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the above terms may be understood by those skilled in the art according to specific situations.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A legged robot having flight capability, comprising:
the chassis assembly comprises a machine body and a leg-foot assembly which is arranged on the machine body and has three degrees of freedom, wherein the leg-foot assembly comprises an X-axis driving assembly arranged on the machine body, a Y-axis driving assembly arranged at an X-axis driving end of the X-axis driving assembly, a Z-axis driving assembly arranged at a Y-axis driving end of the Y-axis driving assembly and a leg supporting part connected with a Z-axis driving end of the Z-axis driving assembly, and the end part of the leg supporting part is used for contacting with the ground;
a rotor assembly including a rotor assembly mounted to the fuselage; and
and the control assembly is arranged on the machine body and comprises a chassis control system for controlling the leg-foot component to move and a rotor wing control system for controlling the rotor wing component to operate.
2. The flying-capable legged robot of claim 1, further comprising a perception assembly including a sensing component for sensing an external environment;
the control assembly further comprises a main control system for controlling the chassis control system and the rotor control system, the sensing component is connected with the main control system to transmit the signal generated by the sensing component to the main control system, and the main control system controls at least one of the chassis assembly and the rotor assembly to operate according to the signal generated by the sensing component.
3. The flying-capable legged robot of claim 2, wherein the sensing component comprises one or more of a lidar, a vision camera, and an inertial sensor.
4. The flying capable legged robot of claim 1, wherein the X-axis drive assembly includes an X-axis rotary drive motor mounted to the fuselage;
the Y-axis driving component comprises a Y-axis rotation driving motor, and the Y-axis rotation driving motor is arranged at the driving end of the X-axis rotation driving motor;
the Z-axis driving component comprises a Z-axis rotation driving motor, and the Z-axis rotation driving motor is arranged at the driving end of the Y-axis rotation driving motor;
the leg supporting part comprises a thigh connected with the Z-axis driving component and a shank rotatably arranged at the end part of the thigh, and the end part of the shank is contacted with the ground;
the leg and foot assembly further comprises a linkage assembly, one end of the linkage assembly is connected with the driving end of the Z-axis rotation driving motor, and the other end of the linkage assembly is connected with the connecting end of the thigh and the shank so as to adjust the distance between the thigh and the shank relative to the ground;
the X-axis rotation driving motor, the Y-axis rotation driving motor and the Z-axis rotation driving motor are all connected with the chassis control system.
5. The flying-capable legged robot of claim 4, wherein the linkage assembly includes a first gear, a second gear, and a conveyor belt, the central axis of the first gear and the central axis of the second gear being both disposed in a direction parallel to the Y-axis;
the first gear is mounted at the driving end of the Z-axis rotation driving motor, the second gear is mounted at the connecting end of the thigh and the shank, and the conveying belt is sleeved on the peripheries of the first gear and the second gear.
6. The flying-capable legged robot according to claim 5, wherein the thigh is hollow, the linkage assembly is mounted in the thigh, and the thigh end cover is provided on the periphery of a connection structure between the linkage assembly and the driving end of the Z-axis rotation driving motor;
a rotating shaft is arranged at the connecting end of the thigh and the shank in a penetrating mode, the rotating shaft is fixedly connected with the shank and movably connected with the thigh, and the second gear is coaxially arranged on the rotating shaft.
7. The flying capable legged robot of claim 4, wherein the X-axis drive assembly further includes a first protective housing mounted to the fuselage, the X-axis rotary drive motor being mounted within the first protective housing;
the Y-axis driving assembly further comprises a second protective shell, the driving end of the X-axis rotary driving motor extends out of the first protective shell to be connected with the second protective shell, and the Y-axis rotary driving motor is installed in the second protective shell;
the driving end of the Y-axis rotation driving motor extends out of the second protection shell and is connected with the third protection shell, the Z-axis rotation driving motor is installed in the third protection shell, and the driving end of the Z-axis rotation driving motor extends out of the third protection shell and is connected with the linkage component;
the thigh end is mounted on the third protective shell.
8. The flying-capable legged robot of claim 7, wherein the thigh end is fixedly mounted to the third protective housing by a flange.
9. The legged robot having flight capability of claim 1, wherein the fuselage is provided with a support frame, the rotor assembly includes a rotor motor and a blade, the blade is mounted at a drive end of the rotor motor, the rotor motor is mounted on the support frame, and the rotor motor is electrically connected to the rotor control system.
10. The flying capable legged robot of claim 9, wherein the number of the rotor assemblies is multiple, the multiple rotor assemblies are uniformly mounted on the support frame, and the multiple blades rotate in the same plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022841784.4U CN214492428U (en) | 2020-11-30 | 2020-11-30 | Foot type robot with flight capability |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022841784.4U CN214492428U (en) | 2020-11-30 | 2020-11-30 | Foot type robot with flight capability |
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| CN214492428U true CN214492428U (en) | 2021-10-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590338A (en) * | 2022-03-11 | 2022-06-07 | 上海交通大学 | Skating hexapod robot structure |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590338A (en) * | 2022-03-11 | 2022-06-07 | 上海交通大学 | Skating hexapod robot structure |
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