US 11,999,475 B2
Robot with adjustable rotary wing angle
Long Ma, Beijing (CN); Wenzhen Wu, Beijing (CN); Weizhen Zhang, Beijing (CN); Qingyong Meng, Beijing (CN); Ying Feng, Beijing (CN); Desheng Zhang, Beijing (CN); Weijian Xu, Beijing (CN); Qingfeng Rong, Beijing (CN); Yuliang Ma, Beijing (CN); and Jie Zheng, Beijing (CN)
Assigned to CCTEG China Coal Research Institute, Beijing (CN)
Filed by CCTEG CHINA COAL RESEARCH INSTITUTE, Beijing (CN)
Filed on Jul. 26, 2023, as Appl. No. 18/359,631.
Claims priority of application No. 202210918291.7 (CN), filed on Aug. 1, 2022.
Prior Publication US 2024/0083575 A1, Mar. 14, 2024
Int. Cl. B64C 35/00 (2006.01)
CPC B64C 35/008 (2013.01) 8 Claims
OG exemplary drawing
 
1. A robot with an adjustable rotary wing angle, comprising:
a housing comprising a first shell and a second shell and having a first configuration and a second configuration, wherein 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;
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, wherein the telescopic assembly is telescopic to switch the housing to the first configuration or the second configuration;
a rotary wing assembly disposed on the rack and having a folded configuration and a flight configuration, the rotary wing assembly including a folding arm, a tilting arm and a rotary wing, wherein;
a first 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 is rotatable relative to the folding arm to adjust a rotation direction of the rotary wing; and
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, wherein;
the pendulum assembly includes a first assembly, a second assembly and a counterweight,
the first assembly is disposed on the rack,
a first end of the second assembly is rotatably assembled with the first assembly,
the counterweight is disposed at a second 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.