The invention discloses a land-air amphibious robot platform rotor wing flywheel and a control method thereof in the field of unmanned aerial vehicles, the land-air amphibious robot platform rotor wing flywheel comprises an inner ring structure and an outer ring structure, the inner ring structure is arranged in the outer ring structure, the inner ring structure and the outer ring structure are connected through a rolling mechanism, and a plurality of undercarriages are arranged at the bottom of the outer ring structure. A forward rotor mechanism is arranged on the upper portion of the inner ring structure, a reverse rotor mechanism is arranged on the lower portion of the inner ring structure, the forward rotor mechanism and the reverse rotor mechanism are symmetrical to each other, a control mechanism is further arranged on the inner ring structure, and the periphery of the outer ring structure is further covered with a circle of single-wheel shell. Eight-rotor control is adopted in flight, the structure is simple, maneuverability is high, forward and reverse thrust can be generated through forward and reverse rotor mechanisms, the direction of the thrust can be rapidly changed, and the attitude of the aircraft body is controlled to be stable. The single-wheel shell is in contact with the ground, and the single-wheel robot is of a rolling structure with the high gravity center and the single fulcrum, is slightly disturbed by topographic relief during rolling and has the flexible obstacle crossing capacity.
本发明公开了无人机领域内的一种陆空两栖机器人平台旋翼飞轮及其控制方法,包括内圈结构和外圈结构,内圈结构设置在外圈结构之中,内圈结构与外圈结构之间通过滚动机构相连,外圈结构底部设置有多个起落架,内圈结构的上部设置有正向旋翼机构,内圈结构的下部设置有反向旋翼机构,正向旋翼机构和反向旋翼机构相互对称,内圈结构上还设置有控制机构,外圈结构的外周还覆盖有一圈独轮外壳;飞行上采用八旋翼控制,结构简单,可操纵性高,通过正反向旋翼机构,能够分别产生正反向推力,以快速变换推力的方向,控制机体的姿态稳定;通过独轮外壳与地面接触,是一种重心高而支点单一的滚动结构,在滚动时受地形起伏扰动小,具有灵活的越障能力。
Air-ground amphibious robot platform rotor flying wheel and control method thereof
一种陆空两栖机器人平台旋翼飞轮及其控制方法
01.08.2023
Patent
Elektronische Ressource
Chinesisch
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