CN204432279U

CN204432279U - Dwell impact resistant humanoid robot in a kind of land, water and air three

Info

Publication number: CN204432279U
Application number: CN201520115512.2U
Authority: CN
Inventors: 刘跃进
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-02-25
Filing date: 2015-02-25
Publication date: 2015-07-01
Anticipated expiration: 2025-02-25

Abstract

Dwelling impact resistant humanoid robot in the land, water and air three that the utility model discloses brand-new type, comprises high resiliency protective cover, perpendicular rib rubber ring wheel, center shaft, land and water CD-ROM drive motor, fly motor and screw propeller, sealing cargo hold and weight balancing system, control cabinet and control convenience, transparent floater shot, floating wing, mechanical arm, sheet parachute and support etc.; Use the utility model to make three dwell autogyro robot not only safe impact resistant, but also aloft can fly easily, land high speed long run, can also to roam on the water.

Description

Dwell impact resistant humanoid robot in a kind of land, water and air three

Technical field

The water, land and air, three that the utility model discloses a kind of brand-new type is dwelt impact resistant humanoid robot technical scheme and implementation method, belongs to civil aviation and robot field.

Background technology

Autogyro has been invented for many years, and autogyro can vertical takeoff and landing, convenient, flexible, to be widely used at present and to be used in very many fields, as: fire-fighting, rescue, sightseeing, public security, army, private home etc.Development along with the development Robotics of personal aircraft can predict future aircraft universal just as automobile, every household all can have aircraft and robot, and autogyro also will be a good selection.But, 1), safety problem there is following 3 subject matters and deficiency in autogyro:: the safety performance of autogyro compares poor, awing screw propeller is just in case encounter any object because of carelessness, as electric wire, branch, roof antenna etc., all will cause the situation of fatal crass; 2), autogyro generally can only be used for flight, long run cannot be carried out on land; 3), autogyro generally cannot navigate by water on the water.

For prior art shortcoming and supply, the water, land and air, three that the utility model provides a kind of brand-new type is dwelt impact resistant humanoid robot aircraft, or claim aircraft robot, or abbreviation robot, use the utility model to make three dwell autogyro not only safe impact resistant, but also aloft can fly easily, land high speed long run, can also to roam on the water.

Summary of the invention

Dwell impact resistant Robotics scheme and implementation method in the land, water and air three that the utility model provides a kind of brand-new type, described land, water and air three dwell impact resistant aircraft robot (be called for short robot, or three dwell robot) feature of technical scheme and implementation method is, this system comprises high resiliency protective cover, perpendicular rib rubber ring wheel, center shaft, land and water CD-ROM drive motor, flight motor, flight screw propeller, sealing cargo hold and weight balancing system, control cabinet and control convenience, transparent floater shot, floating wing, mechanical arm, lamp, camera, storage battery, fuel tank, sheet parachute and to be configured to, described perpendicular rib rubber ring wheel is arranged on outside high resiliency protective cover, to be arranged on inside high resiliency protective cover on horizontal center line for hollow in the middle of described center shaft, described transparent floater shot adopts transparent waterproof materials to make and is arranged on the two ends of high resiliency protective cover outer side center axle, described land and water CD-ROM drive motor is arranged in floater shot, also can install on center shaft after water-proofing treatment, described flight motor and flight screw propeller are by being arranged on center shaft upper end from symmetrical balance frame, flight motor is through water-proofing treatment, described sealing cargo hold and weight balancing system are fixed on center shaft lower end, described control cabinet and control convenience are arranged on center shaft upper end, described floating wing is arranged on sealing cargo hold both sides, fuel tank is arranged on floating wing inside, described storage battery is arranged on sealing tank top, it is inner that described lamp and camera are arranged on transparent floater shot, described mechanical arm is arranged on outside transparent floater shot, described sheet parachute and support installing are at control cabinet top, between described high resiliency protective cover and center shaft, bearing is installed, can rotates around center shaft under the driving of land and water CD-ROM drive motor, described sealing cargo hold is used to load the goods and materials that will transport, its basis rest battery pack is also furnished with 2 times that weight that weight balancing system makes it when zero load exceedes center shaft above all devices weight sum, during bringing onto load the ratio of its weight should remain on 2-10 doubly between, described control cabinet and control convenience comprise conputer controlled center, flight travel controller, direction controller, signal lamp camera controller, twoway radio, speed and height detecting equipment etc., described sheet parachute will be opened more than during 80km/h automatically at robot aircraft vertical descending speed, with ensure robot when just in case air crash can not more than the impact resistant speed of 100km/h, described technical scheme and implementation method both may be used for someone and have driven land, water and air three and to dwell impact resistant robot, also be applicable to driverless operation land, water and air three to dwell impact resistant robot, on manned robot, control cabinet adopts transparent sealing glass to make, unpiloted robot can not want control cabinet, and described control convenience can be arranged in sealing cargo hold.

The invention also discloses a kind of land, water and air three to dwell robot security's impact resistant protective cover technical scheme, the feature of described impact resistant protective cover technical scheme is, what this protective cover technical scheme used high resiliency light-duty alloy material to make intersects by cross rib and perpendicular rib the spherical cover body formed, described cross rib is to extraradial arcuation rib centered by one end of horizontal middle spindle, and focus on the other end of horizontal middle spindle, described perpendicular rib is the round shape rib with cross rib square crossing, described cross rib can be round shape or ellipticity rib, the number of described perpendicular rib and cross rib determines the density of protective cover, can according to the situation being suitable for road surface, the size of robot, the purposes of robot, collision resistance requirement and flight resistance set the density of protective cover, the higher collision resistance of density is stronger, but flight resistance is also larger, distance generally between both sides of the chest is relatively suitable for general use at 10CM-50CM, between described protective cover and horizontal middle spindle, bearing is installed, can rotate around center shaft, the outside of perpendicular rib is provided with perpendicular rib rubber ring wheel, for with road surface or earth surface, anti-skidding, wear-resisting, antidetonation, and the elastic performance that make use of protective cover decreases when three machines of dwelling travel on land due to vibrations that Uneven road produces.

The invention also discloses a kind of technical scheme and the minimum drag automatic adjustment technologies scheme that reduce impact resistant protective cover flight resistance, the feature of the technical scheme of described reduction impact resistant protective cover flight resistance is, the cross rib of protective cover is become flat-shaped aerodynamic force stream line pattern with the profile design of perpendicular rib, the one side of setting protective cover be flying surface and the angle adjusting the cross rib of protective cover makes protective cover fly towards flying surface direction time air resistance be minimum, cover in flight like this and do not reduce in elastomeric situation farthest to reduce the skyborne flight airflow resistance of the robot wearing this protective cover, but, reaching air resistance is minimumly must ensure flying surface forward, otherwise will air resistance be increased, because the heading of autogyro can change constantly, may fly forward, may retreat and fly, therefore the technical scheme that adjustment flying surface is consistent with heading in real time must be had to be used in combination, the feature of described minimum drag automatic adjustment technologies scheme is, the Analyzing on Building A Planning Scheme of resistance minimum and upper and lower resistance balance when this minimum drag automatic adjustment technologies scheme adopts flying surface consistent with heading, but not flying surface consistent with heading time upper and lower resistance unbalanced Analyzing on Building A Planning Scheme, that is, only flying surface consistent with heading constantly up and down resistance be equal and resistance is minimum, other any face is all designed to upper and lower resistance overbalance, like this, when protective cover automatically can be adjusted to that flying surface is consistent with heading to be ensured to fly by the effect downstream of out-of-balance force, resistance is minimum in-flight, and the bearing force of protective cover is maximum on flying surface, ensure enough drying power when can enjoy a trip in water simultaneously.

The invention also discloses a kind of pendulum-type sealing cargo hold and ensure three dwell robot on land with the weight balancing system technical scheme of running at high speed on the water surface, described sealing cargo hold and ensure that three robots of dwelling are with the feature of weight balancing system technical scheme of running at high speed on the water surface on land, sealing cargo hold is arranged on below center shaft by this technical scheme, the battery pack that its basis rest is heavier, and the weight that make use of the transport goods and materials that sealing cargo hold delivers comes together to carry out weight balancing, this weight balancing system technical scheme makes its overall weight exceed center shaft above all devices weight sum, and the ratio of its weight remains between 2-10 times, this weight balancing system ensures that the situation lower seal cargo hold at protective cover High Rotation Speed is positioned at the below of center shaft always, thus utilize the weight of institute's cargo self to carry out gravitational equilibrium, under the driving of land and water motor, ensure that three machines of dwelling are run at high speed on land with on the water surface, described sealing cargo hold is designed to air when not affecting content volume popular with the air resistance reduced when running at high speed and fly.

The invention also discloses a kind of three to dwell the technical scheme preventing from when robot navigates by water in water turning on one's side, described three dwell prevents when robot navigates by water in water the feature of the technical scheme of turning on one's side to be, this technical scheme has installed transparent sealing floater shot respectively at center shaft two ends, described transparent sealing floater shot adopts sealed transparent material to make, inside can Vehicle clamp mounting and camera, but the total weight that the interior equipment installed of ball comprises the mechanical arm installed outside ball is less than the buoyancy of ball, simultaneously, the buoyancy of each transparent sealing floater shot should be greater than whole three and to dwell 1/2nd of robot total weight, this ensures that there three robots of dwelling and can not cause rollover in water, when three dwell and to play floating and that left and right is stable effect when robot is roamed in water, both left and right upset can not have been produced, also water logging can not be allowed to cross more than axis, even if when high sea whole three dwell also to automatically revert to robot is thrown sealing cargo hold under, control cabinet and flight screw propeller are in the upper normal condition spilling the water surface, under the land and water drive motor on both sides, protective cover rotates around center shaft, cross rib drying produces powered three robot of dwelling and moves ahead in water, retreats, when one side revolution another side is motionless, three robots of dwelling can turn to flexibly in water, when motor rotates forward another side reversion three dwell robot can quick steering in water, three dwell, and speed that robot roams in water can reach more than 40km/h, and meanwhile, owing to ensure that flight screw propeller is always more than the water surface, three robots of dwelling can also start flight motor at any time and rolling takeoff from waterborne.

The invention also discloses and a kind ofly promote three technical schemes of dwelling the skyborne glide lift of robot and the floating force in water, the dwell feature of technical scheme of the skyborne glide lift of robot and the floating force in water of described lifting three is, this technical scheme uses the floating wing being arranged on sealing cargo hold both sides, this floating wing adopts airflow design to play the effect of wing aloft, lift can be provided in-flight to three robots of dwelling, and in water, play floating effect, also play prevent three to dwell effect that robot turns on one's side in water simultaneously, described floating wing is being sealed the both sides of cargo hold by support installing and highly can adjusted, the first half of sealing cargo hold is made to remain on above water, the inside of described floating wing is provided with fuel tank, do not need fuel oil or load carrying ability lighter three dwell on robot and the floating wing not with fuel tank can be installed or floating wing be installed.

The invention also discloses a kind of drive three dwell robot in water and land can exercise flexibly, the technical scheme of flexible turning, described driving three dwell robot in water and land can exercise flexibly, the feature of the technical scheme of flexible turning is, this is exercised flexibly, protective cover is divided into left and right two halves along the perpendicular rib of centre by flexible turning technical scheme, perpendicular rib rubber ring wheel is all installed from the every half of protective cover of the safty shield of middle dimidiation, and every half of protective cover adopts independently land and water drive motor, adopt and be fixed on pendulum-type sealing cargo hold below center shaft and weight balancing system technical scheme and rotate around center shaft to the perpendicular rib rubber ring wheel ensureing land and water CD-ROM drive motor protective cover and outside can be driven to install, thus make three dwell robot in water and land can advance, retreat, and, when land and water, one side CD-ROM drive motor rotate and another side motionless time three dwell robot can on land with turn in water, and when while rotate forward another side reversion time three dwell robot can on land with flipper turn in water, this technical scheme make three dwell robot in water and land can exercise flexibly, turn flexibly, described land and water CD-ROM drive motor can be electro-motor, also can be fuel engines, can be arranged in the transparent floater shot at center shaft two ends, also can install on center shaft, described land and water CD-ROM drive motor can drive three dwell robot on land moving velocity more than 300km/h, and less demanding to road, can afield, run at high speed in ground on hills.

The invention also discloses a kind of self-balancing flight motor system and from symmetrical balance method, described from symmetrical balance flight motor system and being from the feature of symmetrical balance method, the method adopts succinct symmetrical balance frame to realize ALB, saves space; If adopt all balance method on the center-point of equilibrium point centre axle, and 10-30CM balance space will be needed, above this center-point that just have impact on center shaft, need the problem of installing control cabinet; Equilibrium point is moved on to the both sides of center shaft from symmetrical balance method described in employing, thus do not affected the installation of control cabinet.

The invention also discloses the special parachute system technical scheme of a kind of impact resistant protective cover, the feature of the special parachute system technical scheme of described impact resistant protective cover is, this umbrella system solution that falls adopts sheet parachute and mounting system thereof, this system is arranged on the top in impact resistant protective cover internal piloting cabin, after the special sheet parachute of protective cover is opened, mesh above protective cover covers by sheet parachute under wind action, the first half of whole protective cover becomes a parachute, makes three machines of dwelling under any circumstance can both safe landing; The special parachute system of described impact resistant protective cover will be opened to ensure flight safety more than during 80km/h at robot vertical descending speed automatically.

The invention also discloses a kind of three to dwell machine man-machine factor mechanical arm system solution, described three features of dwelling robot automtion mechanical arm system technical scheme are, this mechanical arm system is arranged on outside the impact resistant protective cover at the two ends of center shaft, three dwell robot flight, waterbornely can be convenient to use this mechanical arm system when enjoying a trip to or run at high speed in road surface, such as win the article that veer away, put into or pulling items in sealing cargo hold, open the door, rescue, fire fighting, send express delivery, hold and rob aimed fire etc., robot and robot are organically combined, form three to dwell robot system.

The utility model is owing to adopting above technical scheme and technical design, it has the following advantages: 1, impact resistant: the potential safety hazard solving current autogyro, owing to have employed safty shield, the robot airplane of the utility model design collides general object awing, as building, electric wire, antenna etc. do not have potential safety hazard; 2, can run at high speed on land, rubber ring wheel is driven to adopt three of the utility model design robots of dwelling to run at high speed on road for a long time owing to have employed land and water motor, moving velocity is more than 300km/h, and less demanding to road, can afield, run at high speed in ground on hills; 3, can travel on the water, three dwell, and speed that robot roams in water can reach more than 40km/h; Three robots of dwelling are provided with two robot arm system, and aircraft and robot are organically combined, and make three and to dwell intelligent robot.

The aircraft industry of the utility model to China have and great meaning, and overturning traditional aircraft can not crash-resistant concept, and traditional aircraft can not the concept that uses of aeroamphibious simultaneously.The utility model is a revolution of aircraft industry and aeronautical technology, will become aviation development and aviation and popularize the new direction of development.

Accompanying drawing explanation

Fig. 1 is that water, land and air, three is dwelt impact resistant humanoid robot overall structure high-level schematic functional block diagram.

Fig. 2 is that water, land and air, three impact resistant humanoid robot of dwelling is equipped with multiple flight motor Facad structure schematic diagram.

Fig. 3 is that water, land and air, three is dwelt impact resistant humanoid robot impact resistant protective cover Facad structure schematic diagram.

Fig. 4 is that water, land and air, three is dwelt impact resistant humanoid robot protective cover cross-sectional.

Fig. 5 is that water, land and air, three impact resistant humanoid robot of dwelling removes Facad structure schematic diagram after protective cover.

Fig. 6 is that water, land and air, three impact resistant humanoid robot of dwelling removes protective cover trailing flank structural representation.

Fig. 7 is that water, land and air, three impact resistant humanoid robot of dwelling removes plan structure schematic diagram after protective cover.

Detailed description of the invention

Below in conjunction with accompanying drawing and concrete instance, the utility model is described in detail.

Fig. 1 is that water, land and air, three is dwelt impact resistant humanoid robot overall structure high-level schematic functional block diagram.As shown in Figure 1, described land, water and air three impact resistant robot (be called for short aircraft or triphibian) system of dwelling comprises high resiliency protective cover (1), perpendicular rib rubber ring wheel (3, 4), center shaft (2), land and water CD-ROM drive motor (12), flight motor (8, 21), flight screw propeller (7), sealed module and weight balancing system (15, 17), control cabinet and control convenience (6), transparent floater shot (19), floating wing (13, 18), mechanical arm (11, 20), lamp (9), camera (10), storage battery (15), fuel tank (14), sheet parachute and support (5) are formed, described perpendicular rib rubber ring wheel (3, 4) be arranged on outside high resiliency protective cover, to be arranged on inside high resiliency protective cover on horizontal center line for hollow in the middle of described center shaft (2), described transparent floater shot (19) adopts transparent waterproof materials to make and is arranged on the two ends of high resiliency protective cover outer side center axle (2), described land and water CD-ROM drive motor (12) is arranged in floater shot (19), also can be arranged on center shaft (2), described flight motor (8, 21) and flight screw propeller (7) be arranged on center shaft (2) upper end, described sealed module (17) and weight balancing system (15) are fixed on center shaft (2) lower end, described control cabinet and control convenience (6) are arranged on center shaft (2) upper end, described floating wing (13, 18) sealed module (17) both sides are arranged on, fuel tank (14) is arranged on floating wing (13, 18) inner, described storage battery (15) is arranged on sealed module (17) bottom, it is inner that described lamp (9) and shooting (10) head are arranged on transparent floater shot (19), described mechanical arm (11, 20) transparent floater shot (19) outside is arranged on, described sheet parachute and support (5) are arranged on control cabinet (6) top, between described high resiliency protective cover (1) and center shaft (2), bearing is installed, can rotates around center shaft under the driving of land and water CD-ROM drive motor (12), described sealed module (17) is used to load the goods and materials that will transport, its basis rest battery pack (15) is also furnished with 2 times that weight that weight balancing system (15) makes it when zero load exceedes center shaft (2) above all devices weight sum, during bringing onto load the ratio of its weight should remain on 2-10 doubly between, described control cabinet (6) and control convenience comprise conputer controlled center, flight travel controller, direction controller, signal lamp camera controller, twoway radio, speed and height detecting equipment etc., described sheet parachute (5) will be opened more than during 80km/h automatically at robot vertical descending speed, with ensure robot when just in case air crash can not more than the impact resistant speed of 100km/h, described technical scheme and implementation method both may be used for someone and have driven land, water and air three and to dwell impact resistant robot, also be applicable to driverless operation land, water and air three to dwell impact resistant robot, on manned robot, control cabinet (6) adopts transparent sealing glass to make, unpiloted robot can not wanted control cabinet (6), and described control convenience can be arranged in sealed module (17), perpendicular rib rubber ring wheel (3,4) is used to contact with ground (16) when described triphibian travels on land.

Fig. 2 is that water, land and air, three impact resistant humanoid robot of dwelling is equipped with multiple flight motor Facad structure schematic diagram.Flight motor (32,33,34) is arranged on the top of center shaft, and land and water CD-ROM drive motor (31,36) can be installed on center shaft, also can be arranged in sealed transparent ball, as shown in Figure 1.Composition graphs 2 can illustrate a kind of pendulum-type sealing cargo hold (17) disclosed in the utility model and guarantee triphibian on land with weight balancing system (15) technical scheme of running at high speed on the water surface, described sealing cargo hold (17) and ensure that triphibian is with the feature of weight balancing system technical scheme of running at high speed on the water surface on land, this technical scheme will seal cargo hold (17) and be arranged on center shaft (37) below, the battery pack (38) that its basis rest is heavier, and the weight that make use of the transport goods and materials that sealing cargo hold (17) delivers comes together to carry out weight balancing, this weight balancing system technical scheme makes its overall weight exceed center shaft above all devices weight sum, and the ratio of its weight remains between 2-10 times, this weight balancing system ensures that the situation lower seal cargo hold (17) at protective cover High Rotation Speed is positioned at the below of center shaft always, thus utilize the weight of institute's cargo self to carry out gravitational equilibrium, under the driving of land and water motor (31,36), guarantee three machine of dwelling is run at high speed on land with on the water surface, described sealing cargo hold (17) is designed to air when not affecting content volume popular with the air resistance reduced when running at high speed and fly.Composition graphs 2 can also illustrate the intelligent mechanical arm (35 of a kind of triphibian machine disclosed in the utility model, 39) system solution, described triphibian Intelligentized mechanical arm system (35, 39) feature of technical scheme is, this mechanical arm system (35, 39) outside the impact resistant protective cover being arranged on the two ends of center shaft, fly at triphibian, waterbornely can be convenient to use this mechanical arm system when enjoying a trip to or road surface (30) run at high speed, such as win the article that veer away, put into or pulling items in sealing cargo hold, open the door, rescue, fire fighting, send express delivery, hold and rob aimed fire etc., aircraft and robot are organically combined, form three to dwell robot system.

Fig. 3 is that water, land and air, three is dwelt impact resistant humanoid robot impact resistant protective cover Facad structure schematic diagram.As shown in the figure, this protective cover technical scheme use the light-duty alloy material of high resiliency to make by cross rib (50, 52) and perpendicular rib (51, 53, 54, 55, 56, 57) the spherical cover body of intersection formation, described cross rib (50, 52) be to extraradial arcuation rib centered by one end of horizontal middle spindle (58), and focus on the other end of horizontal middle spindle, described perpendicular rib is the round shape rib with cross rib square crossing, described cross rib can be round shape or ellipticity rib, described perpendicular rib (51, 53) with cross rib (50, 52) number determines the density of protective cover, can according to the situation being suitable for road surface, the size of robot, the purposes of robot, collision resistance requirement and flight resistance set the density of protective cover, the higher collision resistance of density is stronger, but flight resistance is also larger, distance generally between both sides of the chest is relatively suitable for general use at 10CM-50CM, between described protective cover and horizontal middle spindle (58), bearing is installed, can rotate around center shaft (58), the outside of perpendicular rib (53,56) is provided with perpendicular rib rubber ring wheel (53,56), for contacting (60,61) with road surface (62) or ground (62), anti-skidding, wear-resisting, antidetonation, and the elastic performance that make use of protective cover decreases when three machines of dwelling travel on land due to vibrations that Uneven road produces.

The sealed transparent ball (59,63) being fixed on center shaft (58) two ends outside protective cover prevents rollover when being and navigating by water in water for triphibian, described transparent sealing floater shot (59,63) adopts sealed transparent material to make, inside can Vehicle clamp mounting and camera, but the total weight that the interior equipment installed of ball comprises the mechanical arm installed outside ball is less than the buoyancy of ball, simultaneously, the buoyancy of each transparent sealing floater shot (59,63) should be greater than 1/2nd of whole triphibian total weight, this ensures that theres triphibian and can not cause rollover in water; Floating and that left and right is stable effect is played when triphibian is roamed in water, both left and right upset can not have been produced, also water logging can not be allowed to cross more than axis (58), even if also can automatically revert to when high sea throws whole triphibian sealing cargo hold (17) under, control cabinet (6) and flight screw propeller (7) in the upper normal condition spilling the water surface, as shown in Figure 1; Under land and water CD-ROM drive motor (12) on both sides drives, protective cover rotates around center shaft (2,58), cross rib (1,50,52) drying produces powered triphibian and moves ahead in water, retreats, when one side revolution another side is motionless, triphibian can turn to flexibly in water, and when motor rotates forward another side reversion, triphibian can quick steering in water; The speed that triphibian is roamed in water can reach more than 40km/h, and meanwhile, owing to ensure that flight screw propeller (7) is always more than the water surface, triphibian can also start flight motor (8,21,32,33,34) at any time and rolling takeoff from waterborne.

The disclosed a kind of triphibian that drives of the utility model can be exercised flexibly with land in water to coordinate Fig. 3 to explain, the technical scheme of flexible turning, described driving triphibian can be exercised flexibly with land in water, the feature of the technical scheme of flexible turning is, this is exercised flexibly, protective cover is divided (54 along the perpendicular rib of centre by flexible turning technical scheme, 55) be left and right two halves, perpendicular rib rubber ring wheel (53 is all installed from the every half of protective cover of the safty shield of middle dimidiation, 56), and every half of protective cover adopts independently land and water CD-ROM drive motor (31, 36, Fig. 2) drive, adopt the pendulum-type sealing cargo hold (17 be fixed on below center shaft, Fig. 1) with weight balancing system (15, Fig. 1) technical scheme ensures land and water CD-ROM drive motor (31, 36, the perpendicular rib rubber ring wheel (3 that protective cover and outside Fig. 2) can be driven to install, 4, Fig. 1) around center shaft (2, Fig. 1) rotate, thus triphibian can be advanced with land in water, retreat, and, when land and water, one side CD-ROM drive motor rotate and another side motionless time triphibian can on land with turn in water, and when while rotate forward another side reversion time triphibian can on land with flipper turn in water, this technical scheme makes triphibian in water and land can be exercised flexibly, turn flexibly, described land and water CD-ROM drive motor can be electro-motor, also can be fuel engines, can be arranged in the transparent floater shot at center shaft two ends, as Fig. 1, also can install on center shaft, as Fig. 2, described land and water CD-ROM drive motor (31,36, Fig. 2) can drive triphibian on land moving velocity more than 300km/h, and less demanding to road, can afield, run at high speed in ground on hills.

Fig. 4 is that water, land and air, three is dwelt impact resistant humanoid robot protective cover cross-sectional.Coordinate Fig. 4 clearly can explain a kind of technical scheme and minimum drag automatic adjustment technologies scheme reducing impact resistant protective cover flight resistance disclosed in the utility model, the feature of the technical scheme of described reduction impact resistant protective cover flight resistance is, by the cross rib (202 of protective cover, 204, 205) flat-shaped aerodynamic force stream line pattern is become with the profile design of perpendicular rib (203), the one side of setting protective cover is flying surface (201) and adjusts all cross ribs of protective cover (202, 204, 205) air resistance when angle makes protective cover fly towards flying surface (201) direction is minimum, cover in flight like this and do not reduce in elastomeric situation farthest to reduce the skyborne flight airflow resistance of the aircraft wearing this protective cover, but, reaching air resistance is minimumly must ensure flying surface forward, otherwise will air resistance be increased, because the heading of autogyro can change constantly, may fly forward, (206) may be retreated fly, therefore the technical scheme that adjustment flying surface is consistent with heading in real time must be had to be used in combination, the feature of described minimum drag automatic adjustment technologies scheme is, the Analyzing on Building A Planning Scheme of resistance minimum and upper and lower resistance balance when this minimum drag automatic adjustment technologies scheme adopts flying surface consistent with heading, but not flying surface consistent with heading time upper and lower resistance unbalanced Analyzing on Building A Planning Scheme, that is, only flying surface (201) consistent with heading constantly up and down resistance be equal and resistance is minimum, other any face is all designed to upper and lower resistance overbalance, like this, when protective cover automatically can be adjusted to that flying surface (201) is consistent with heading to be ensured to fly by the effect downstream of out-of-balance force, resistance is minimum in-flight, and the bearing force of protective cover is maximum on flying surface, ensure enough drying power when can enjoy a trip in water simultaneously.

Fig. 5 is that water, land and air, three impact resistant humanoid robot of dwelling removes Facad structure schematic diagram after protective cover.Coordinate Fig. 5 and Fig. 3 that a kind of impact resistant protective cover special parachute (71) system solution disclosed in the utility model can be described, the feature of described impact resistant protective cover special parachute (71) system solution is, this umbrella system solution that falls adopts sheet parachute (71) and support (72) system thereof, this system is arranged on the top in impact resistant protective cover internal piloting cabin, after the special sheet parachute (71) of protective cover is opened, mesh above protective cover covers by sheet parachute under wind action, the first half of whole protective cover becomes a parachute, make three machines of dwelling under any circumstance can both safe landing, the special parachute system of described impact resistant protective cover will be opened to ensure flight safety more than during 80km/h at robot vertical descending speed automatically.

Fig. 6 is that water, land and air, three impact resistant humanoid robot of dwelling removes protective cover trailing flank structural representation.Coordinate Fig. 5 and Fig. 6 that a kind of technical scheme promoting the skyborne glide lift of triphibian and the floating force in water disclosed in the utility model can be described, the feature of the technical scheme of the skyborne glide lift of described lifting triphibian and the floating force in water is, this technical scheme uses the floating wing (70 being arranged on sealing cargo hold (84) both sides, 77, 86), this floating wing (70, 77, 86) airflow design is adopted to play the effect of wing aloft, there is provided lift in-flight can to triphibian, and in water, play floating effect, also play the effect preventing triphibian from turning on one's side in water simultaneously, described floating wing (70, 77, 86) sealing the both sides of cargo hold by support installing and highly can adjust, the first half of sealing cargo hold (84) is made to remain on above water, the inside of described floating wing (70,77,86) is provided with fuel tank (14, Fig. 1), do not need fuel oil or load carrying ability lighter triphibian on the floating wing not with fuel tank can be installed or floating wing (70,77,86) is not installed.

Fig. 7 is that water, land and air, three impact resistant humanoid robot of dwelling removes plan structure schematic diagram after protective cover.What show in figure is that the triphibian of 4 flight motors and flight screw propeller (93,97,102,105) is bowed and look at figure, sealing cargo hold (91,98) can be seen in figure, control cabinet (106), transparent floater shot (94), lamp, camera (95), floating wing (96,104), floating wing support (101), parachute (100), working direction (90) and direction of retreat (99).Coordinate Fig. 7 that a kind of self-balancing flight motor system disclosed in the utility model can be described and from symmetrical balance method, described from symmetrical balance flight motor system and being from the feature of symmetrical balance method, the method adopts succinct symmetrical balance frame (103) to realize ALB, saves space; If adopt all balance method on the center-point of equilibrium point centre axle, and 10-30CM balance space will be needed, above this center-point that just have impact on center shaft, need the problem of installing control cabinet; Equilibrium point is moved on to the both sides of center shaft from symmetrical balance method described in employing, thus do not affected the installation of control cabinet.

With above-mentioned each examples of implementation only for illustration of the utility model; the structure of each parts, dimension scale and connection mode all can change to some extent; all according to the utility model principle to structure, the size of parts out of the ordinary or connection mode is improved and equivalents, all should not get rid of outside protection domain of the present utility model.

Claims

1. dwell an impact resistant robot in the land, water and air three of brand-new type, it is characterized in that: dwelling in described land, water and air three, impact resistant robot comprises high resiliency safe impact resistant protective cover or slight drag impact resistant protective cover, perpendicular rib rubber ring wheel, center shaft, land and water CD-ROM drive motor, flight motor, flight screw propeller, pendulum-type seal cargo hold and the safe balanced system of gravity, control cabinet and control convenience, transparent floater shot, floating wing, mechanical arm, lamp, camera, storage battery, fuel tank, sheet parachute and support, described perpendicular rib rubber ring wheel is arranged on outside high resiliency protective cover, to be arranged on inside high resiliency protective cover on horizontal center line for hollow in the middle of described center shaft, described transparent floater shot adopts transparent waterproof materials to make and is arranged on the two ends of high resiliency protective cover outer side center axle, described land and water CD-ROM drive motor is arranged in floater shot, also can install on center shaft after water-proofing treatment, described flight motor and flight screw propeller are by being arranged on center shaft upper end from symmetrical balance frame, flight motor is through water-proofing treatment, described sealing cargo hold and weight balancing system are fixed on center shaft lower end, described control cabinet and control convenience are arranged on center shaft upper end, described floating wing is arranged on sealing cargo hold both sides, fuel tank is arranged on floating wing inside, described storage battery is arranged on sealing tank top, it is inner that described lamp and camera are arranged on transparent floater shot, described mechanical arm is arranged on outside transparent floater shot and is connected with center shaft, described sheet parachute and support installing are at control cabinet top, between described high resiliency protective cover and center shaft, bearing is installed, can rotates around center shaft under the driving of land and water CD-ROM drive motor, described sealing cargo hold is used to load the goods and materials that will transport, its basis rest battery pack is also furnished with 2 times that weight that weight balancing system makes it when zero load exceedes center shaft above all devices weight sum, during bringing onto load the ratio of its weight should remain on 2-10 doubly between, described control cabinet and control convenience comprise conputer controlled center, flight travel controller, direction controller, signal lamp camera controller, twoway radio, speed and height detecting equipment, described sheet parachute will be opened more than during 80km/h automatically at robot vertical descending speed, with ensure robot when just in case air crash can not more than the impact resistant speed of 100km/h.

2. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: what described safe impact resistant protective cover used the light-duty alloy material of high resiliency or high strength plastic materials to make intersects by cross rib and perpendicular rib the spherical cover body formed, described cross rib is to extraradial arcuation rib centered by one end of horizontal middle spindle, and focus on the other end of horizontal middle spindle, described perpendicular rib is the round shape rib with cross rib square crossing, described cross rib can be round shape or ellipticity rib, the number of described perpendicular rib and cross rib determines the density of protective cover, can according to the situation being suitable for road surface, the size of robot, the purposes of robot, collision resistance requirement and flight resistance set the density of protective cover, the higher collision resistance of density is stronger, but flight resistance is also larger, distance generally between both sides of the chest is relatively suitable for general use at 10CM-50CM, between described protective cover and horizontal middle spindle, bearing is installed, can rotate around center shaft, the outside of perpendicular rib is provided with perpendicular rib rubber ring wheel, for with road surface or earth surface, anti-skidding, wear-resisting, antidetonation, and the elastic performance that make use of protective cover decreases three dwells robot when travelling on land due to vibrations that Uneven road produces.

3. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: described slight drag anti-safety collision protective cover is that the cross rib of protective cover is become flat-shaped aerodynamic force stream line pattern with the profile design of perpendicular rib, the one side of setting protective cover be flying surface and the angle adjusting all cross ribs of protective cover makes protective cover fly towards flying surface direction time air resistance be minimum, cover in flight like this and do not reduce in elastomeric situation farthest to reduce the skyborne flight airflow resistance of the aircraft wearing this protective cover, ensure enough drying power when can enjoy a trip in water simultaneously.

4. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: sealing cargo hold is arranged on below center shaft by described pendulum-type sealing cargo hold and weight balancing system, the battery pack that its basis rest is heavier, and the weight that make use of the transport goods and materials that sealing cargo hold delivers comes together to carry out weight balancing; This weight balancing system ensures that the situation lower seal cargo hold at protective cover High Rotation Speed is positioned at the below of center shaft always, thus utilize the weight of institute's cargo self to carry out gravitational equilibrium, under the driving of land and water motor, ensure that three machines of dwelling are run at high speed on land with on the water surface; Described sealing cargo hold is designed to air when not affecting content volume popular with the air resistance reduced when running at high speed and fly.

5. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: described transparent floater shot be arranged on center shaft two ends and outside safe impact resistant protective cover, described transparent floater shot adopts sealed transparent material to make, inside can Vehicle clamp mounting and camera, but the total weight that the interior equipment installed of ball comprises the mechanical arm installed outside ball is less than the buoyancy of ball, meanwhile, the buoyancy of each transparent sealing floater shot should be greater than whole three and to dwell 1/2nd of robot total weight; When three dwell and to play floating and that left and right is stable effect when robot is roamed in water, both left and right upset can not have been produced, also water logging can not be allowed to cross more than axis, even if when high sea whole three dwell also to automatically revert to robot is thrown sealing cargo hold under, control cabinet and flight screw propeller are in the upper normal condition spilling the water surface; Under the land and water drive motor on both sides, protective cover rotates around center shaft, and cross rib drying produces powered three robot of dwelling and navigates by water in water; Three dwell, and speed that robot roams in water can reach more than 40km/h, and meanwhile, owing to ensure that flight screw propeller is always more than the water surface, three robots of dwelling can also start flight motor at any time and rolling takeoff from waterborne.

6. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: described floating wing is arranged on sealing cargo hold both sides, this floating wing adopts airflow design to play the effect of wing aloft, lift can be provided in-flight to three robots of dwelling, and in water, play floating effect, also play prevent three to dwell effect that robot turns on one's side in water simultaneously, described floating wing sealing the both sides of cargo hold and highly can adjusting, makes the first half of sealing cargo hold remain on above water by support installing; The inside of described floating wing is provided with fuel tank, do not need fuel oil or load carrying ability lighter three dwell on robot and the floating wing not with fuel tank can be installed or floating wing be installed.

7. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: described protective cover is divided into left and right two halves along the perpendicular rib of centre, perpendicular rib rubber ring wheel is all installed from the every half of protective cover of the safty shield of middle dimidiation, and every half of protective cover adopts independently land and water drive motor, can rotate around center shaft separately; Adopt and be fixed on pendulum-type sealing cargo hold below center shaft and weight balancing system technical scheme and rotate around center shaft to the perpendicular rib rubber ring wheel ensureing land and water CD-ROM drive motor protective cover and outside can be driven to install, thus make three dwell robot in water and land can advance, retreat, and, when land and water, one side CD-ROM drive motor rotate and another side motionless time three dwell robot can on land with turn in water, and when rotating forward another side reverse time three dwell robot can on land with flipper turn in water; Described land and water CD-ROM drive motor can be electro-motor, also can be fuel engines, can be arranged in the transparent floater shot at center shaft two ends, also can install on center shaft; Described land and water CD-ROM drive motor three can be driven to dwell moving velocity is more than 300km/h on land for robot, and road pavement is less demanding, on highway, field, meadow, hills, can run at high speed in ground, can also climb, stair activity.

8. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: described flight motor is arranged on the top of center shaft and adopts symmetrical balance frame to realize ALB.

9. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: described sheet parachute and support installing thereof are above impact resistant protective cover internal piloting cabin, after the special sheet parachute of protective cover is opened, mesh above protective cover covers by sheet parachute under wind action, the first half of whole protective cover becomes a parachute, make three dwell robot under any circumstance can both safe landing; Described parachute system will be opened to ensure flight safety more than during 80km/h at robot vertical descending speed automatically.

10. dwell impact resistant robot in land, water and air three according to claim 1, it is characterized in that: described mechanical arm system is arranged on outside the impact resistant protective cover at the two ends of center shaft, three dwell robot flight, waterborne enjoy a trip to or run at high speed in land time can be convenient to use this mechanical arm system, such as win the article that veer away, put in sealing cargo hold or pulling items, enabling, rescue, put out a fire, send express delivery, hold and rob aimed fire, aircraft and robot are organically combined, forms three and to dwell robot system.