Robot with adjustable rotary wing angle

A robot includes a housing including a first shell and a second shell and having a first configuration and a second configuration, a rack disposed in an inner cavity of the housing, a telescopic assembly disposed on the rack and connected between the first shell and the second shell, and a rotary wing assembly disposed on the rack and having a folded configuration and a flight configuration. The rotary wing assembly includes: a folding arm with one end rotatably connected to the rack, a rotary wing, and a tilting arm connected between the rotary wing and the folding arm, the tilting arm and the rotary wing are extended to an outside of the housing to be adapted to drive the robot to fly in the flight configuration, and the tilting arm is rotatable relative to the folding arm to adjust a rotation direction of the rotary wing.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to and benefits of Chinese Patent Application Serial No. 202210918291.7, filed Aug. 1, 2022, the entire content of which is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of robots, and particularly to a robot with an adjustable rotary wing angle.

BACKGROUND

The housing of a spherical robot rolls as a whole to drive the robot to move rapidly and stably with a high maneuverability, and the housing of the spherical robot may protect the mechanism inside the robot during the movement. The spherical robot in the related art has a poor trafficability and cannot roll through complex and rugged terrains, so the movement range of the robot is restricted by the terrain conditions.

SUMMARY

The present disclosure aims to solve one of the technical problems in the related art to at least a certain extent. Therefore, embodiments of the present disclosure provide a robot with an adjustable rotary wing angle. The robot with the adjustable rotary wing angle has good trafficability and high flight maneuverability.

The robot with the adjustable rotary wing angle provided by embodiments of the present disclosure includes: a housing, a rack, a telescopic assembly, and a rotary wing assembly. The housing includes a first shell and a second shell and has a first configuration and a second configuration, the first shell and the second shell are separated for robot flight in the first configuration, and the first shell and the second shell are closed for robot rolling in the second configuration. The rack is disposed in an inner cavity of the housing. The telescopic assembly is disposed on the rack and connected between the first shell and the second shell, the telescopic assembly is telescopic to switch the housing to the first configuration or the second configuration. The rotary wing assembly is disposed on the rack and has a folded configuration and a flight configuration, the rotary wing assembly includes a folding arm, a tilting arm and a rotary wing, one end of the folding arm is rotatably connected to the rack, the tilting arm is connected between the rotary wing and the folding arm, the folding arm, the tilting arm and the rotary wing are accommodated in the housing to roll the housing in the folded configuration, the tilting arm and the rotary wing are extended to an outside of the housing to be adapted to drive the robot to fly in the flight configuration, and the tilting arm are rotatable relative to the folding arm to adjust a rotation direction of the rotary wing.

The robot with the adjustable rotary wing angle provided by embodiments of the present disclosure has good trafficability and high flight maneuverability.

In some embodiments, the rotary wing assembly includes a tilting motor, one end of the tilting motor is connected to one end of the folding arm away from the rack, and the other end of the tilting motor is connected to the tilting arm to drive the tilting arm to rotate relative to the folding arm.

In some embodiments, a first seat is provided at one end of the folding arm close to the tilting arm, a second seat is provided at one end of the tilting arm close to the folding arm, the tilting motor includes a first portion and a second portion, the second portion is rotatably fitted to the first portion, the first portion is connected to the first seat, the second portion is connected to the second seat and has a through hole, a rotary shaft is provided in the through hole and penetrates through the first seat and the second seat to improve a radial carrying capacity between the folding arm and the tilting arm.

In some embodiments, the rotary wing assembly includes a driver having one end rotatably connected to a base and the other end rotatably connected to the folding arm, and a length of the driver is adjustable to drive the rotary wing assembly to switch between the flight configuration and the folded configuration.

In some embodiments, the rotary wing is located at one end of the tilting arm away from the folding arm and includes a plurality of spiral arms and a flight motor, the flight motor is connected to the plurality of spiral arms to be adapted to drive the plurality of spiral arms to rotate to generate a lift, the plurality of spiral arms are uniformly arranged at intervals in a circumferential direction of the flight motor in the flight configuration to retain the rotary wing assembly in dynamic balance during the rotation, and the plurality of spiral arms are extended in a length direction of the folding arm in the folded configuration to accommodate the rotary wing assembly in the housing.

In some embodiments, the rotary wing assembly includes a first rotary wing assembly and a second rotary wing assembly, and the first rotary wing assembly and the second rotary wing assembly are symmetrically arranged in a width direction of the rack.

In some embodiments, the amphibious robot with the adjustable rotary wing angle includes: a first drive motor disposed at one end of the telescopic assembly and connected to the first shell; and a second drive motor disposed at the other end of the telescopic assembly and connected to the second shell. The first drive motor is adapted to drive the first shell to rotate, and the second drive motor is adapted to drive the second shell to rotate.

In some embodiments, the telescopic assembly includes: a screw assembly; a telescopic motor; a first pushing frame connected to the first drive motor and assembled with the rack in a guided manner in a length direction of the rack; and a second pushing frame connected to the second drive motor and assembled with the rack in the guided manner in the length direction of the rack. The telescopic motor is connected to the screw assembly to drive the screw assembly to rotate, and the screw assembly extends in the length direction of the rack and is connected to the first pushing frame and the second pushing frame to drive the first pushing frame and the second pushing frame to move relative to the rack.

In some embodiments, the robot with the adjustable rotary wing angle includes a pendulum assembly disposed on the rack and adapted to adjust a center of gravity of the robot to adjust a direction of travel of the robot or to improve a stability.

In some embodiments, the pendulum assembly includes a first assembly, a second assembly and a counterweight, the first assembly is disposed on the rack, one end of the second assembly is rotatably assembled with the first assembly, the counterweight is disposed at the other end of the second assembly, the first assembly is adapted to drive the second assembly to swing to adjust an inclination angle of the counterweight, and the second assembly is adapted to drive the counterweight to translate to adjust a spacing between the counterweight and the first assembly.

REFERENCE NUMERAL

DETAILED DESCRIPTION

Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings. Embodiments described herein with reference to drawings are explanatory and used to generally understand the present disclosure, and shall not be construed to limit the present disclosure.

A robot with an adjustable rotary wing angle according to embodiments of the present disclosure will be described below with reference to the accompanying drawings.

As shown inFIG.1toFIG.11, the robot with the adjustable rotary wing angle according to embodiments of the present disclosure includes a housing1, a rack2, a telescopic assembly3and a rotary wing assembly4.

The housing1has a first configuration and a second configuration, the first shell11and the second shell12are separated for robot flight in the first configuration, and the first shell11and the second shell12are closed for robot rolling in the second configuration.

Specifically, the housing1is spherical and has a spherical inner cavity. The rack2, the telescopic assembly3and the rotary wing assembly4are located in the inner cavity. The first shell11and the second shell12are hemispherical and symmetrically arranged in a left-right direction, and the left end of the first shell11and the right end of the second shell12may be assembled together so that the first shell11and the second shell12are assembled into the spherical housing1.

In the second configuration, the first shell11and the second shell12are assembled together to form the spherical housing1, thereby facilitating the rolling motion of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure on the ground. In the first configuration, the first shell11and the second shell12are separated to allow the inner cavity of the housing1to communicate with the outside, so that a part of the rotary wing assembly4may be extended to an outside of the housing1to drive the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to fly.

The rack2is disposed in the inner cavity of the housing1. Specifically, as shown inFIG.1, the rack2includes a main frame21, a first base22and a second base23. The main frame21is located inside the housing1and extends in the left-right direction, the main frame21has a mounting groove extending in the left-right direction, and an upper end of the mounting groove communicates with an upper end of the main frame21to facilitate mounting the telescopic assembly3in the main frame21.

The telescopic assembly3is disposed on the rack2and connected between the first shell11and the second shell12, and the telescopic assembly3is telescopic to switch the housing1to the first configuration or the second configuration.

Specifically, as shown inFIG.1, the telescopic assembly3is cooperatively connected to the main frame21of the rack2, and the telescopic assembly3extends in the left-right direction. The left end of the telescopic assembly3is rotatably connected to the second shell12, the right end of the telescopic assembly3is rotatably connected to the first shell11, and the length of the telescopic assembly3along the left-right direction is adjustable, thereby adjusting the spacing between the first shell11and the second shell12, and switching the housing1between the first configuration and the second configuration.

The rotary wing assembly4is disposed on the rack and has a folded configuration and a flight configuration. The rotary wing assembly4includes a folding arm41, a tilting arm42and a rotary wing43. One end of the folding arm41is rotatably connected to the rack2, and the tilting arm42is connected between the rotary wing43and the folding arm41. The folding arm41, the tilting arm42and the rotary wing43are accommodated in the housing1to roll the housing1in the folded configuration, the tilting arm42and the rotary wing43are extended to an outside of the housing1to be adapted to drive the robot to fly in the flight configuration, and the tilting arm42is rotatable relative to the folding arm41to adjust a rotation direction of the rotary wing43.

Specifically, as shown inFIG.6andFIG.7, in the folded configuration, the rotary wing assembly4is accommodated in the housing1to avoid the first shell11and the second shell12, so that the first shell11and the second shell12may be joined and closed to form the housing1, thereby enabling the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to be in the second configuration.

When the robot with the adjustable rotary wing angle according to embodiments of the present disclosure is in the first configuration, the rotary wing assembly4may be in the flight configuration. As shown inFIG.1andFIG.8, in the flight configuration, the rotary wing43and the tilting arm42extend out of the housing1, and after extending out of the housing1, the rotary wing43may generate a downward thrust to drive the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to fly.

The tilting arm42may rotate in a circumferential direction of an extending direction of the folding arm41. Since a rotary shaft45of the rotary wing43is fixed relative to the tilting arm42, when the tilting arm42rotates relative to the folding arm41, the rotation direction of the rotary wing43also rotates relative to the folding arm41, thereby changing the direction in which the rotary wing43generates the thrust, and a component force of the thrust in the horizontal direction drives the horizontal movement of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure.

It should be noted that, when the housing1is in the second configuration, the rotary wing assembly4is always in the folded configuration to enable the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to roll to advance, and when the housing1is in the first configuration, the rotary wing assembly4may be switched between the folded configuration and the flight configuration.

The robot with the adjustable rotary wing angle according to embodiments of the present disclosure is able to roll to advance in the second configuration, and has high maneuverability under relatively flat terrain conditions, but when the robot is required to pass through a relatively rugged terrain, the robot cannot roll to advance. In the first configuration, the rotary wing assembly4may be adjusted to a flight configuration to drive the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to fly, so as to enable the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to fly over a relatively rugged terrain. When the robot with the adjustable rotary wing angle according to embodiments of the present disclosure is in the flight configuration, the direction of the thrust generated by the rotary wing43is adjusted by rotating the tilting arm42, and the component force of the thrust in the horizontal direction drives the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to move horizontally, thereby improving the maneuverability of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure in the flight configuration, so that the robot with the adjustable rotary wing angle according to embodiments of the present disclosure has good trafficability and high flight maneuverability.

In some embodiments, the rotary wing assembly4includes a tilting motor44, one end of the tilting motor44is connected to one end of the folding arm41away from the rack2, and the other end of the tilting motor44is connected to the tilting arm42to drive the tilting arm42to rotate relative to the folding arm41.

Specifically, as shown inFIG.1,FIG.2andFIG.5, the tilting motor44is arranged between the tilting arm42and the folding arm41, the rotary shaft45of the tilting motor44coincides with the extending direction of the folding arm41, and the extending direction of the tilting arm42coincides with the rotary shaft45of the tilting motor44. Both ends of the tilting motor44may be relatively rotated, thereby relatively rotating the tilting arm42and the folding arm41.

The tilting motor44is a stepping motor, whereby the tilting motor44may precisely control the rotation direction of the rotary wing43to drive the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to move horizontally in the flight configuration, thereby improving the maneuverability of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure in the flight configuration.

In some embodiments, a first seat411is provided at one end of the folding arm41close to the tilting arm42, a second seat421is provided at one end of the tilting arm42close to the folding arm41. The tilting motor44includes a first portion441and a second portion442, the second portion442is rotatably fitted to the first portion441, the first portion441is connected to the first seat411, the second portion442is connected to the second seat421and has a through hole, and the rotary shaft45is provided in the through hole and penetrates through the first seat411and the second seat421to improve a radial carrying capacity between the folding arm41and the tilting arm42.

Specifically, as shown inFIG.1,FIG.2andFIG.5, one end of the folding arm41is adapted to be rotatably connected to the rack2, the other end of the folding arm41is provided with the first seat411, the first seat411extends in a plane perpendicular to the extending direction of the folding arm41, one end of the tilting arm42close to the folding arm41is provided with the second seat421, the second seat421is arranged in parallel and spaced apart from the first seat411, and the tilting motor44is connected between the first seat411and the second seat421.

The first portion441of the tilting motor44is a stator, the second portion442of the tilting motor is a rotor, the geometric axis of the second portion442coincides with the geometric axis of the first portion441, the second portion442is fitted in the first portion441and rotates relative to the first portion441, one end of the first portion441close to the first seat411is detachably connected to the first seat411via a connector, and one end of the second portion442close to the second seat421is detachably connected to the second seat421via a connector.

Thereby, the second portion442is rotated by a set angle relative to the first portion441under the drive of an electromagnetic force, so that the tilting arm42is rotated by a set angle relative to the folding arm41. Since the folding arm41remains fixed relative to the rack2in the flight configuration, the tilting motor44drives the rotation direction of the rotary wing43to rotate by a set angle relative to the rack2to drive the horizontal movement of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure.

As shown inFIG.5, the tilting motor44is a circumferential motor, the second part442is provided with a passage therein, the first seat411is provided with a first through hole412coaxial with the passage, the second seat421is provided with a second through hole422coaxial with the passage, the rotary shaft45successively penetrates through the first through hole412, the passage and the second through hole422, the rotary shaft45is connected to the hole wall of the first through hole412via a bearing, and the rotary shaft45is connected to the hole wall of the second through hole422via a bearing.

Therefore, in the flight configuration, the lift generated by the rotary wing43drives the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to fly, the rotary wing43is connected to the tilting arm42so as to generate a torsion moment between the tilting arm42and the folding arm41, and the structural strength between the tilting arm42and the folding arm41may be increased by providing the rotary shaft45without affecting the relative rotation between the tilting arm42and the folding arm41, so as to bear the torsion moment between the tilting arm42and the folding arm41applied by the rotary wing43.

In some embodiments, the rotary wing assembly4includes a driver46, one end of the driver46is rotatably connected to a base, and the other end of the driver46is rotatably connected to the folding arm41, and a length of the driver46is adjustable to drive the rotary wing assembly4to switch between the flight configuration and the folded configuration.

Specifically, one end of the driver46is rotatably connected to a middle section of the folding arm41to form a first connection position, and the other end of the driver46is rotatably connected to a middle section of the base to form a second connection position.

Therefore, when the folding arm41swings from the folded configuration to the flight configuration, the distance between the first connection position and the second connection position increases. The length of the driver46is adjustable, so as to adapt the change in the distance between the first connection position and the second connection position on the one hand, and on the other hand to increase the distance between the first connection position and the second connection position, thereby switching the folding arm41between the flight configuration and the folded configuration.

In some embodiments, the rotary wing43is located at one end of the tilting arm42away from the folding arm41, and includes a plurality of spiral arms431and a flight motor432, the flight motor432is connected to the plurality of spiral arms431to be adapted to drive the plurality of spiral arms431to rotate to generate a lift. The plurality of spiral arms431are uniformly arranged at intervals in a circumferential direction of the flight motor432in the flight configuration to retain the rotary wing assembly4in dynamic balance during the rotation, and the plurality of spiral arms431are extended in a length direction of the folding arm41in the folded configuration to accommodate the rotary wing assembly4in the housing.

Specifically, the rotary wing43is a foldable rotary wing43, and in the folded configuration, the plurality of spiral arms431are folded and received in the folding arm41, and in this case, the plurality of spiral arms431extend in a direction substantially parallel to the folding arm41, and the plurality of spiral arms431abut against a side of the folding arm41facing away from the base to reduce the width of the plurality of spiral arms431, thereby reducing the width of the rotary wing assembly4, so that the width of the rotary wing assembly4is smaller than the spacing between the first shell11and the second shell12, so that the rotary wing assembly4can be accommodated into the housing1in the folded configuration.

In the flight configuration, the folding arm41moves the rotary wing assembly4to the outside of the housing1, the flight motor432drives the plurality of spiral arms431to rotate around an axial line of the flight motor432to generate a lift, and the plurality of spiral arms431are uniformly arranged at equal intervals along the outer peripheral side of the flight motor432, so that the mass of the plurality of spiral arms431is uniformly distributed in the circumferential direction of the flight motor432to retain the rotary wing assembly4in dynamic balance during the rotation.

Therefore, the flight motor432is located at the end of the folding arm41away from the base, and the rotary wing43is the foldable rotary wing43, which on the one hand increases the length of the plurality of spiral arms431to facilitate the rotary wing assembly4to provide a greater lift in the flight configuration, and on the other hand increases the moment arm length of the lift moment of the rotary wing assembly4in the flight configuration, thereby increasing the stability of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure in the flight configuration.

In some embodiments, the rotary wing assembly4includes a first rotary wing assembly401and a second rotary wing assembly402, and the first rotary wing assembly401and the second rotary wing assembly402are symmetrically arranged in a width direction of the rack2.

Specifically, as shown inFIG.8, the first rotary wing assembly401is rotatably connected to the first base22, and the second rotary wing assembly402is rotatably connected to the second base23. The first base22and the second base23are arranged symmetrically in a front-rear direction, so that the first rotary wing assembly401and the second rotary wing assembly402are symmetrical in the front-rear direction. The first rotary wing assembly401and the second rotary wing assembly402move synchronously, i.e. when one of the first rotary wing assembly401and the second rotary wing assembly402is switched from the flight configuration to the folded configuration, the other one of the first rotary wing assembly401and the second rotary wing assembly402is also switched from the flight configuration to the folded configuration.

Therefore, the first rotary wing assembly401and the second rotary wing assembly402are symmetrically arranged in the front-rear direction, so that, on the one hand, the robot with the adjustable rotary wing angle according to embodiments of the present disclosure has a uniform weight distribution in the front-rear direction, and the center of gravity of the robot in the static state is stabilized in a vertical geometric central axial line of the robot; and on the other hand, the lift moment generated by the first rotary wing assembly401is offset by the lift moment generated by the second rotary wing assembly402in the flight state of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure, thereby stabilizing the flight state of the robot.

In some embodiments, the robot with the adjustable rotary wing angle includes a first drive motor601and a second drive motor602. The first drive motor601is disposed at one end of the telescopic assembly3and connected to the first shell11, and the first drive motor601is adapted to drive the first shell11to rotate. The second drive motor602is disposed at the other end of the telescopic assembly3and connected to the second shell12, the second drive motor602is adapted to drive the second shell12to rotate.

Specifically, one end of the first drive motor601is connected to the first shell11, the other end of the first drive motor601is connected to the telescopic assembly3, and one end of the second drive motor602is connected to the second shell12, and the other end of the second drive motor602is connected to the telescopic assembly3.

Therefore, the first drive motor601may drive the first shell11to rotate relative to the telescopic assembly3and the rack2, and the second drive motor602may drive the second shell12to rotate relative to the telescopic assembly3and the rack2, so that in the second configuration, the first shell11and the second shell12rotate relative to the rack2to drive the rolling motion of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure.

In some embodiments, the telescopic assembly3includes: a screw assembly31; a telescopic motor32; a first pushing frame33, and a second pushing frame34. The first pushing frame33is connected to the first drive motor601and assembled with the rack2in a guided manner in a length direction of the rack2. The second pushing frame34is connected to the second drive motor602and assembled with the rack2in the guided manner in the length direction of the rack2. The telescopic motor32is connected to the screw assembly31to drive the screw assembly31to rotate, and the screw assembly31extends in the length direction of the rack2and is connected to the first pushing frame33and the second pushing frame34to drive the first pushing frame33and the second pushing frame34to move relative to the rack2.

Specifically, as shown inFIG.9, the outer peripheral side of the telescopic motor32is fixedly connected to the rack2, and a rotating portion of the telescopic motor32is connected to the screw assembly31to drive the first pushing frame33and the second pushing frame34to move towards or away from each other in the left-right direction, so that the first shell11and the second shell12are symmetrical in the left-right direction while changing the spacing between the first drive motor601and the second drive motor602, thereby adjusting the spacing between the first shell11and the second shell12.

The screw assembly31includes a two-way screw311, a first nut portion312and a second nut portion313. The first nut portion312and the second nut portion313are assembled with the two-way screw311in screw-thread fit, a spiral direction of the portion of the two-way screw311matched with the first nut portion312is opposite to that of the portion of the two-way screw311matched with the second nut portion313, the first nut portion312is connected to the first pushing frame33to drive the first pushing frame33, and the second nut portion313is connected to the second pushing frame34to drive the second pushing frame34.

Therefore, when the telescopic motor32drives the two-way screw311to rotate, the first nut portion312and the second nut portion313move along the axial direction of the two-way screw311, driving the first pushing frame33and the second pushing frame34to move in the left-right direction, thereby driving the first drive motor601and the second drive motor602to move relative to the rack2in the left-right direction, so that the first shell11and the second shell12move relative to the rack2in the left-right direction to open and close the housing.

In some embodiments, the robot with the adjustable rotary wing angle according to embodiments of the present disclosure includes a pendulum assembly5disposed on the rack2and adapted to adjust a center of gravity of the robot to adjust a direction of travel of the robot or to improve a stability. Specifically, as shown inFIG.1andFIG.6toFIG.8, the pendulum assembly5is located at a lower side of the rack2, and the pendulum assembly5is stabilized at the lower side of the rack2under the action of gravity, so that the attitude of the rack2is kept stable in the second configuration of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure.

As shown inFIG.6, when the robot with the adjustable rotary wing angle according to embodiments of the present disclosure rolls in the second configuration, the pendulum assembly5may adjust and shift the center of gravity of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to the left or right side, so that the housing1rolls towards the side where the center of gravity is shifted to, thereby driving the robot to turn.

As shown inFIG.8, when the robot with the adjustable rotary wing angle according to embodiments of the present disclosure is in the flight configuration, the pendulum assembly5moves the center of gravity of the robot towards the rotary wing assembly4, so as to make the center of gravity of the robot close to the rotary wing assembly4, thereby improving the stability of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure during flight.

In some embodiments, the pendulum assembly5includes a first assembly51, a second assembly52and a counterweight53, the first assembly51is disposed on the rack2, one end of the second assembly52is rotatably assembled with the first assembly51, the counterweight53is disposed at the other end of the second assembly52, the first assembly51is adapted to drive the second assembly52to swing to adjust an inclination angle of the counterweight53, and the second assembly52is adapted to drive the counterweight53to translate to adjust a spacing between the counterweight53and the first assembly51.

Specifically, as shown inFIG.8, the first assembly51is arranged in the front-rear direction, the second assembly52is arranged in the radial direction of the first assembly51, the counterweight53is located at one end of the second assembly52away from the first assembly51, and the first assembly51is able to rotate relative to the rack2to adjust the extending direction of the second assembly52, thereby adjusting the position of the counterweight53in the circumferential direction of the first assembly51. The second assembly52drives the counterweight53to move in the extending direction of the second assembly52to adjust the spacing between the counterweight53and the first assembly51, thereby adjusting the position of the center of gravity of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure.

Therefore, when the robot with the adjustable rotary wing angle according to embodiments of the present disclosure rolls to advance in the second configuration, the first assembly51drives the counterweight53to swing left and right to enable the center of gravity of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure to move left and right, so that the robot tilts to the direction where the center of gravity is shifted to adjust the advancing direction in which the robot rolls. When the robot with the adjustable rotary wing angle according to embodiments of the present disclosure flies in the first configuration, the second assembly52adjusts the position of the counterweight53in the up-down direction to make the center of gravity of the robot close to the moment arm of the lifting force generated by the rotary wing assembly4, thereby improving the stability of the robot during flight.

In some embodiments, the first assembly51includes a first swing motor511, a second swing motor512and a rotating frame513, the rotating frame513is connected between the first swing motor511and the second swing motor512, the first swing motor511and the second swing motor512are coaxially arranged to drive the rotating frame513to rotate, and the second assembly52is connected to the rotating frame513and extends in the radial direction of the rotating frame513.

Specifically, as shown inFIG.8, the front end of the first swing motor511is connected to the rack2, the rear end of the first swing motor511is connected to the rotating frame513, the front end of the second swing motor512is connected to the rotating frame513, and the rear end of the second swing motor512is connected to the rack2. The first swing motor511and the second swing motor512are arranged symmetrically in the front-rear direction, the first swing motor511and the second swing motor512rotate synchronously to drive the rotating frame513to rotate in a plane perpendicular to the front-rear direction, and the rotary shaft45of the rotating frame513extends in the front-rear direction, thereby changing the position of the counterweight53in the left-right direction.

Therefore, on the one hand, the first swing motor511and the second swing motor512are symmetrically arranged in the front-rear direction, so that the mass of the first assembly51is distributed symmetrically in the front-rear direction, which improves the stability of the center of gravity of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure in the front-rear direction. On the other hand, the coaxial arrangement of the first swing motor511and the second swing motor512improves the output torque of the first swing motor511and the second swing motor512, thereby facilitating the swing of the second assembly52and the counterweight53.

In some embodiments, the rotating frame513includes a first portion5131, a second portion5132and a connecting portion5133. The first portion5131and the second portion5132are arranged at intervals in parallel, the first portion5131is connected to the first swing motor511, the second portion5132is connected to the second swing motor512, the connecting portion5133is connected between the first portion5131and the second portion5132, and a groove is formed between the first portion5131, the second portion5132and the connecting portion5133. Specifically, the rotating frame513has a “C”-shaped structure. The first portion5131and the second portion5132are arranged in parallel to each other, and the first portion5131and the second portion5132are arranged at intervals in the front-rear direction. There is a set interval between the first portion5131and the second portion5132to define an assembly space. The first portion5131is located at the front side of the second portion5132, the connecting portion5133is arranged horizontally and the front end of the connecting portion5133is connected to the upper end of the first portion5131, and the rear end of the connecting portion5133is connected to the upper end of the second portion5132.

In some embodiments, the first portion5131, the second portion5132and the connecting portion5133are rectangular plate structures, the front end of the first swing motor511is connected to the rear side of the first portion5131, and the rear end of the second swing motor512is connected to the front end of the second portion5132, and the connecting portion5133is located on the upper sides of the first swing motor511and the second swing motor512to connect the first portion5131and the second portion5132.

Therefore, the first portion5131and the second portion5132are vertically arranged plate structures, the first swing motor511is connected to the rear side of the first portion5131, and the second swing motor512is connected to the front side of the second portion5132, so as to increase the contact area between the swing motors and the rack2at the connection, thereby improving the bearing capacity when the first swing motor511and the second swing motor512drive the counterweight53to swing.

In some embodiments, the first swing motor511includes a first rotor portion5111and a first stator portion5112, the second swing motor512includes a second rotor portion5121and a second stator portion5122. The first stator portion5112is connected to the rack, one end of the first rotor portion5111is rotatably fitted to the first stator portion5112, the other end of the first rotor portion5111is connected to the first portion5131, the second stator portion5122is connected to the rack, one end of the second rotor portion5121is rotatably fitted to the second stator portion5122, and the other end of the second rotor portion5121is connected to the second portion5132.

Specifically, the first swing motor511and the second swing motor512each include a rotor portion and a stator portion. The first stator portion5112of the first swing motor511is located at the front side of the first swing motor511, the front end of the first stator portion5112of the first swing motor511is connected to the rear side of the first portion5131, the rear end of the first rotor portion5111is connected to the front end of the rotating frame513, the first rotor portion5111of the first swing motor511is rotatably fitted to the first stator portion5112of the first swing motor511, and the first rotor portion5111of the first swing motor511and the first stator portion5112of the first swing motor511are rotatable relative to each other.

The second stator portion5122of the second swing motor512is located at the rear side of the second rotor portion5121of the second swing motor512, the rear end of the second stator portion5122of the second swing motor512is connected to the second portion5132, the front end of the second rotor portion5121of the second swing motor512is connected to the rear end of the rotating frame513, the second rotor portion5121of the second swing motor512is rotatably fitted to the second stator portion5122of the second swing motor512, and the second rotor portion5121of the second swing motor512is rotatable relative to the second stator portion5122of the second swing motor512.

Therefore, while the second rotor portion5121of the second swing motor512rotates relative to the second stator portion5122of the second swing motor512, the first rotor portion5111of the first swing motor511rotates relative to the first stator portion5112of the first swing motor511. When the second rotor portion5121of the second swing motor512rotates relative to the second stator portion5122of the second swing motor512, the second rotor portion5121of the second swing motor512drives the rotating frame513to rotate along the axial line of the swing motor, and when the first rotor portion5111of the first swing motor511rotates relative to the first stator portion5112of the first swing motor511, the first rotor portion5111of the first swing motor511drives the rotating frame513to rotate along the axial line of the swing motor, so that the first swing motor511and the second swing motor512synchronously drive the rotating frame513to swing, thereby improving the capacity of the pendulum assembly5to adjust the center of gravity of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure.

In some embodiments, the first portion5131is provided with a first protrusion5134, the second portion5132is provided with a second protrusion5135, and the first protrusion5134and the second protrusion5135are arranged symmetrically in the width direction of the rotating frame513. A portion of the first protrusion5134is rotatably fitted to the first rotor portion5111, and a portion of the second protrusion5135is rotatably fitted to the second rotor portion5121.

Specifically, the first protrusion5134protrudes forwards from the front end of the first portion5131, and the second protrusion5135protrudes rearwards from the rear end of the second portion5132. The first protrusion5134is fitted in the first rotor portion5111of the first swing motor511, and the second protrusion5135is fitted in the second rotor portion5121of the second swing motor512.

The first rotor portion5111of the first swing motor511has a cylindrical structure, the first stator portion5112of the first swing motor511is rotatably assembled in the inner cylinder of the first rotor portion5111of the first swing motor511, and the first protrusion5134is assembled in the first rotor portion5111of the first swing motor511under an interference fit. The second rotor portion5121of the second swing motor512has a cylindrical structure, the second stator portion5122of the second swing motor512is rotatably assembled in the inner cylinder of the second rotor portion5121of the second swing motor512, and the second protrusion5135is assembled in the second rotor portion5121of the second swing motor512under an interference fit.

Therefore, a portion of the first protrusion5134is assembled in the first rotor portion5111of the first swing motor511, and a portion of the second protrusion5135is assembled in the second rotor portion5121of the second swing motor512, thereby improving the radial bearing capacity of the connections between the rotating frame513and the first swing motor511and the second swing motor512, so that the rotating frame513, the first swing motor511and the second swing motor512may bear the counterweight53with a larger weight.

In some embodiments, the second assembly52includes an adjusting motor521, an adjusting screw522, a first guide rod523and a second guide rod524. The adjusting motor521is fixedly connected to the rotating frame513and is connected to the adjusting screw522to drive the adjusting screw522to rotate, the first guide rod523and the second guide rod524are arranged in parallel to and spaced apart from the adjusting screw522, and the adjusting screw522is located between the first guide rod523and the second guide rod524. The counterweight53is slidably fitted to the first guide rod523and the second guide rod524, and the adjusting screw522is connected to the counterweight53in screw-thread fit to drive the counterweight53to move along the two-way screw311.

Specifically, as shown inFIG.8, the adjusting motor521is connected to the rotating frame513, the adjusting screw522extends in the radial direction of the rotary shaft45of the rotating frame513, the first guide rod523and the second guide rod524are arranged in parallel to and spaced apart from the adjusting screw522, the adjusting motor521is connected to the adjusting screw522to drive the adjusting screw522to rotate in the circumferential direction of the adjusting screw522.

When the adjusting screw522rotates, the counterweight53moves in the axial direction of the adjusting screw522to adjust the spacing between the counterweight53and the first mechanism, so that the mass of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure is distributed closer to the rotary wing assembly4. In this way, in the flight configuration, when the first assembly51adjusts the position of the counterweight53in the left-right direction, the counterweight53exerts a smaller torsional moment on the robot, thereby improving the stability of the robot in the flight configuration.

In some embodiments, the adjusting motor521includes a third rotor portion5211and a third stator portion5212, the third stator portion5212is connected to the connecting portion, the third rotor portion5211is sleeved on the outer peripheral side of the adjusting screw522and is connected to the adjusting screw522, the third rotor portion5211is rotatably fitted to the third stator portion5212to drive the adjusting screw522to rotate, and the adjusting screw522is connected to the counterweight53in screw-thread fit to drive the counterweight53to move along the two-way screw.

Specifically, the rotary shaft of the adjusting motor521extends in the up-down direction, the upper end of the third stator portion5212of the adjusting motor521is connected to the lower end surface of the connecting portion of the rotating frame513, the third rotor portion5211of the adjusting motor521is rotatably assembled in the third stator portion5212of the adjusting motor521, and the adjusting screw522is assembled in the third rotor portion5211of the adjusting motor521and is connected to the third rotor portion5211of the adjusting motor521.

The counterweight53is provided with a threaded hole and a guide hole, the threaded hole extends in the up-down direction and penetrates through the counterweight53, the extending direction of the guide hole is the same as that of the threaded hole, and the guide hole penetrates through the counterweight53, and the adjusting screw522is assembled in the threaded hole in screw-thread fit.

Therefore, when the third rotor portion5211of the adjusting motor521rotates relative to the third stator portion5212of the adjusting motor521, the adjusting screw522is driven to rotate in the circumferential direction of the adjusting motor521, so that the counterweight53translates in the axial direction of the adjusting screw522to change the spacing between the counterweight53and the rotating frame513.

The upper end of the adjusting screw522protrudes from the third rotor portion5211of the adjusting motor521to form an extension section, and the extension section is rotatably assembled to the connecting portion of the rotating frame513through a first bearing. Therefore, when the adjusting screw522bears the torsional moment rotated relative to the rotating frame513, the first bearing between the extension section and the connecting portion bears the radial moment of the adjusting screw522, thereby reducing the radial moment applied to the adjusting motor521.

In some embodiments, the pendulum assembly includes an end plate54, one end of the adjusting screw522is rotatably fitted to the connecting portion, the other end of the adjusting screw522is rotatably fitted to the end plate54, and the first guide rod523and the second guide rod524are connected between the end plate54and the connecting portion.

Specifically, the first guide rod523and the second guide rod524are arranged symmetrically along the axial line of the adjusting screw522, the first guide rod523and the second guide rod524are located on the left and right sides of the adjusting screw522, respectively, the end plate54extends in the left-right direction, the end plate54is disposed on the lower end of the adjusting screw522and is connected to the lower ends of the first guide rod523and the second guide rod524, the adjusting screw522is rotatably assembled to the end plate54through a second bearing, and the lower ends of the first guide rod523and the second guide rod524both are fixedly connected to the end plate54.

Therefore, the end plate54connects the lower ends of the guide rods with the lower end of the adjusting screw522, which not only improves the structural strength of the assembly composed of the first guide rod523, the second guide rod524, the adjusting screw522and the counterweight53, but also improves the guiding accuracy of the first guide rod523and the second guide rod524to the counterweight53when the counterweight53translates in the axial direction of the guide rods.

In some embodiments, the counterweight53is provided with an avoiding groove531, and the avoiding groove531extends in the length direction of the adjusting screw522and is adapted to avoid the end plate54.

Specifically, the avoiding groove531is located at the lower side of the counterweight53and extends in the left-right direction, the width of the avoiding groove531is greater than that of the end plate54, the lower end of the threaded hole of the counterweight53communicates with the avoiding groove531, and the lower end of the guide hole of the counterweight53communicates with the avoiding groove531.

Therefore, at least part of the adjusting screw522and at least part of the guide rod are located in the avoiding groove531. When the counterweight53moves downwards, the end plate54may move into the avoiding groove531, thereby increasing the travel of the counterweight53in the axial direction of the adjusting screw522.

In some embodiments, the counterweight53has an inner cavity, which is adapted to receive a counterweight object. Specifically, the counterweight53has a hollow structure. Therefore, the battery and other components with a high density of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure may be arranged in the counterweight53. In this way, on the one hand, the weight53has a large mass, which may adjust the position of the center of gravity of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure, and on the other hand, the volume of the robot with the adjustable rotary wing angle according to embodiments of the present disclosure may be reduced by installing components such as the battery in the inner cavity.

In the specification, it is to be understood that terms such as “central,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial” and “circumferential” should be construed to refer to the orientation as then described or as shown in the drawings under discussion. These relative terms are for convenience of description, but do not indicate or imply that the device or element referred to must have a particular orientation, or be constructed or operated in a particular orientation, and thus shall not be construed to limit the present disclosure.

Reference throughout this specification to “an embodiment,” “some embodiments,” “embodiments,” “one embodiment”, “an example,” “another example,” “a specific example,” or “some examples,” means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. Thus, the appearances of the phrases such as “in embodiments,” “in some embodiments,” “in one embodiment”, “in an embodiment”, “in an example,” “in another example,” “in a specific example,” or “in some examples,” in various places throughout this specification are not necessarily referring to the same embodiment or example of the present disclosure. Furthermore, the particular features, structures, materials, or characteristics as described may be combined in any suitable manner in one or more embodiments or examples. In addition, in the absence of contradiction, those skilled in the art can combine different embodiments or examples described in this specification, or combine the features of different embodiments or examples.

Although embodiments and examples have been shown and described herein, it would be appreciated by those skilled in the art that the above embodiments and examples are illustrative, and cannot be construed to limit the present disclosure, and changes, alternatives, modifications and variants may be made in embodiments without departing from spirit, principles and scope of the present disclosure.