The invention belongs to the technical field of unmanned aerial vehicles, and discloses a deformable four-rotor structure robot based on a rotary duct driver, which is composed of a rack, an FOC controller, the rotary duct driver and a deformation mechanism. The rack is in an I-shaped layout and is mainly composed of a front cross beam, a rear cross beam and a main longitudinal beam. Wherein the front and rear cross beams are fixed on the main longitudinal beams through flange bearings and can rotate around the transverse shaft; synchronous pulleys are mounted at the roots of the front and rear cross beams; the steering engine or the stepping motor is installed on the rack, and a synchronous belt wheel is installed on a rotating shaft of the steering engine or the stepping motor. The synchronous pulley on the rotating shaft of the steering engine or the stepping motor and the synchronous pulleys on the front cross beam and the rear cross beam are connected together through a synchronous belt and rotate synchronously. By means of the structure deformation mode, the robot has the underwater, ground and air triphibian maneuvering capacity, the multi-medium rapid conversion and maneuvering capacity of the robot in the complex landform environment is achieved, and the defect that a traditional split type amphibious robot is slow in state conversion is overcome.

    本发明属于无人机技术领域,公开了一种基于旋转涵道驱动器的可变形四旋翼结构机器人,由机架、FOC控制器、旋转涵道驱动器、变形机构组成;机架呈工字形布局,主要由前后横梁和主纵梁构成;其中前后横梁通过法兰轴承固定在主纵梁上,能够绕横轴方向转动;前后横梁的根部安装有同步带轮;舵机或步进电机安装在机架上,其转轴上安装有同步带轮;舵机或步进电机转轴上的同步带轮和前后横梁上的同步带轮通过同步皮带连接在一起,且同步转动。本发明通过结构形变的方式使机器人具备了水下、地面和空中三栖机动能力,解决了在复杂地貌环境下机器人的多介质快速转换与机动能力,克服了传统分体式两栖机器人状态转换慢的缺点。


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    Title :

    Deformable four-rotor triphibian robot based on rotary duct drivers


    Additional title:

    一种基于旋转涵道驱动器的可变形四旋翼三栖机器人


    Contributors:
    ZHU YONGZHONG (author) / CHEN JUNFENG (author) / WANG GANG (author) / FAN YING (author) / LEE JUNG-JIN (author)

    Publication date :

    2025-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U



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