CN106184453A - A kind of four rotor Climbing Robot crossing normal plane - Google Patents
A kind of four rotor Climbing Robot crossing normal plane Download PDFInfo
- Publication number
- CN106184453A CN106184453A CN201610760979.1A CN201610760979A CN106184453A CN 106184453 A CN106184453 A CN 106184453A CN 201610760979 A CN201610760979 A CN 201610760979A CN 106184453 A CN106184453 A CN 106184453A
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- rotor
- wheel
- supporter
- semiaxis
- climbing robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of four rotor Climbing Robot crossing normal plane, including a bracer, wheel, rotor, supporter, semiaxis, motor, battery case and control element.This device is provided with four rotors, need to be placed on the shortcoming of metope when solving startup, it is suspended in the air by four rotors, both common aerial mission can have been met, flight angle can be adjusted again thus directly land on metope, and the wind-force utilizing 4 rotors to produce also is far longer than the wind-force that common 2 rotor Climbing Robot produce；This device uses split design, 4 supporters and rotor independent operating, it is achieved crossing in Different Plane, meets particular demands；In this device wheel use semiaxis drive so that wheel can bob, can travel in rough plane, turn to use differential steering method, it is achieved minimum turn to space, can be with pivot stud, using effect is good.
Description
Technical field
The present invention relates to a kind of robot, a kind of four rotor Climbing Robot crossing normal plane.
Background technology
Along with the development of science and technology, people have developed various instrument to facilitate commercial production and life, and robot is exactly it
Middle one.Robot is the installations automatically performing work.It both can accept mankind commander, can run again layout in advance
Program, it is also possible to according to formulate with artificial intelligence technology principle guiding principle action.Its task is to assist or replace mankind's work
The work made, such as, produce the work of industry, building industry or danger.Climbing Robot is exactly one of which, in the market institute
The Climbing Robot existed is mainly bionical and two kinds of forms of rotor, and ultimate principle is the adsorption by specific part and dependence
Rotor reversely rotates the buffer brake produced makes frictional force increase, and makes robot rest on metope.Wherein both mainly ask
Topic has 2 points: the first, start requirement harshness, needs to be placed on metope to ensure the properly functioning of machine before startup；The second, difficult
To cross normal plane, can only in one plane run.This just brings inconvenience for user.
Summary of the invention
It is an object of the invention to provide a kind of four rotor Climbing Robot crossing normal plane, to solve above-mentioned background
The problem proposed in technology.
For achieving the above object, the present invention provides following technical scheme:
A kind of four rotor Climbing Robot crossing normal plane, including bracer, wheel, rotor, supporter, semiaxis, motor,
Battery case and control element, the quantity of described bracer and supporter is in the middle of four and each supporter and is provided with one
Propping up bracer, be connected by rotary connector between supporter, the side of supporter is provided with wheel stand, and wheel is arranged on wheel
In support, one jiao of supporter is provided with rotor wing support bracket, and rotor is arranged on rotor wing support bracket by motor casing, and rotor upper end is installed
Having rotor cover, the lower end of each bracer are mounted on motor and control element, one end of semiaxis is connected with motor, semiaxis another
One end is connected with wheel, controls to be additionally provided with on element battery case, and wheel uses flexible material to make, and wheel stand uses elasticity
Material makes, and rotor wing support bracket is additionally provided with pressure transducer.
As the further scheme of the present invention: the other end of semiaxis is connected with wheel, on supporter by semiaxis shaft coupling
It is provided with supporter contiguous block.
As the further scheme of the present invention: supporter and bracer all use ABS material to make, battery case employing lithium from
Sub-battery case.
Compared with prior art, the invention has the beneficial effects as follows: this device is provided with four rotors, needs when solving startup
The shortcoming being placed on metope, is suspended in the air by four rotors, both can meet common aerial mission, can adjust again flight
Angle thus directly land on metope, and the wind-force utilizing 4 rotors to produce also is far longer than common 2 rotor wall-climbing machine devices
The wind-force that people produces；This device uses split to design, 4 supporters and rotor independent operating, it is achieved crossing in Different Plane,
Meet particular demands；In this device wheel use semiaxis drive so that wheel can bob, can be in rough plane
Upper traveling, turns to the method using differential steering, it is achieved minimum turns to space, can be with pivot stud, and using effect is good.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the four rotor Climbing Robot that can cross normal plane.
Fig. 2 is the front view of the four rotor Climbing Robot that can cross normal plane.
Fig. 3 is the side view of the four rotor Climbing Robot that can cross normal plane.
Fig. 4 is can to cross four rotor Climbing Robot of normal plane to cross the schematic diagram of normal plane.
Wherein: 1-props up bracer, 2-wheel, 3-rotor wing support bracket, 4-motor casing, 5-rotor, 6-rotor cover, 7-supporter, 8-
Supporter contiguous block, 9-rotary connector, 10-wheel stand, 11-semiaxis shaft coupling, 12-semiaxis, 13-motor, 14-controls unit
Part.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the technical scheme of this patent is described in more detail.
Referring to Fig. 1-4, a kind of four rotor Climbing Robot crossing normal plane, including bracer 1, wheel 2, a rotor
5, supporter 7, semiaxis 12, motor 13, battery case and control element 14, the quantity of described bracer 1 and supporter 7 is four
And one bracer 1 is installed in the middle of each supporter 7, is connected by rotary connector 9 between supporter 7, supporter 7
Side is provided with wheel stand 10, and wheel 2 is arranged in wheel stand 10, and a jiao of supporter 7 is provided with rotor wing support bracket 3, rotation
The wing 5 is arranged on rotor wing support bracket 3 by motor casing 4, and rotor 5 upper end is provided with rotor cover 6, and the lower end of each bracer 1 is all pacified
Equipped with motor 13 and control element 14, one end of semiaxis 12 is connected with motor 13, and the other end of semiaxis 12 is connected with wheel 2, control
Being additionally provided with battery case on element 14 processed, wheel 2 uses flexible material to make, and wheel stand 10 uses elastomeric material to make, rotation
It is additionally provided with pressure transducer on wing bracket 3.The other end of semiaxis 12 is connected with wheel 2 by semiaxis shaft coupling 11, supporter 7
On be provided with supporter contiguous block 8.Supporter 7 and a bracer 1 all use ABS material to make, and battery case uses lithium ion battery
Box.
The operation principle of the present invention is: this aircraft has the repertoire of common quadrotor, can be as just
Often aircraft uses, and when running into the wall needing climbing, four rotors 5 enter a constant power-mode, provides foot to robot
Enough compaction force, it is ensured that robot will not fall down from wall, it is only necessary to by device pressure on metope, rotor wing support bracket 3
When sensor checks contact pressure, the rotor 5 of contact jaw slows down inverted running, and then the rotor 5 of the other end also begins to slow down
Inverted running, until four wheels 2 completely attach to metope, hereafter can select to climb wall mode constant rotor power, start behaviour
Make device, controlled the flying height of Climbing Robot by the power of remote controller control rotor 5, by changing 4 rotors 5
Rotating speed difference realizes elevating movement, tumbling motion, yawing rotation, seesaws, is inclined to motion etc., easy to learn, crosses normal direction
A good angle can be obtained by pivot stud during face, slow transit through.This device overall structure is simple, this framework
Light solid, meet the independent fortune of basic working strength, aircraft and walking mechanism independent work, 4 supporters 7 and rotor 5
Make, interrelated the most non-interference, modular designs can carefree replacing main parts size, 4 supporters 7 and rotor
5 is independently-powered, and each supporter 7 and rotor 5 have the power supply of oneself, are greatly improved the flying power of device；This device uses
Semiaxis 12 drives so that when device is walked on rough metope, wheel 2 energy bob, is adapted to different roads
Condition, soft wheel 2 and elastic wheel stand 10 are effectively guaranteed aircraft and beat in earth-grasping force and the elasticity of metope.
This device is provided with four rotors 5, needs to be placed on the shortcoming of metope when solving startup, is suspended by four rotors 5
Aloft, both can meet common aerial mission, and flight angle can have been adjusted again thus directly land on metope, Er Qieli
The wind-force produced with 4 rotors 5 is also far longer than the wind-force that common 2 rotor 5 Climbing Robot produce；This device uses split to set
Meter, 4 supporters 7 and rotor 5 independent operating, it is achieved crossing in Different Plane, meet particular demands；Wheel 2 in this device
Use semiaxis 12 drive so that wheel 2 can bob, can travel in rough plane, turn to use differential turn
To method, it is achieved minimum turns to space, can be with pivot stud, and using effect is good.
Above the better embodiment of this patent is explained in detail, but this patent is not limited to above-mentioned embodiment party
Formula, in the ken that one skilled in the relevant art is possessed, it is also possible on the premise of without departing from this patent objective
Various changes can be made.
Claims (3)
1. the four rotor Climbing Robot that can cross normal plane, it is characterised in that include bracer, wheel, rotor, a support
Body, semiaxis, motor, battery case and control element, the quantity of described bracer and supporter is four and each supporter
Centre is provided with one bracer, is connected by rotary connector between supporter, and the side of supporter is provided with wheel stand,
Wheel is arranged in wheel stand, and one jiao of supporter is provided with rotor wing support bracket, and rotor is arranged on rotor wing support bracket by motor casing
On, rotor upper end is provided with rotor cover, and the lower end of each bracer is mounted on motor and controls element, one end of semiaxis and electricity
Machine is connected, and the other end of semiaxis is connected with wheel, controls to be additionally provided with on element battery case, and wheel uses flexible material to make,
Wheel stand uses elastomeric material to make, and rotor wing support bracket is additionally provided with pressure transducer.
The four rotor Climbing Robot crossing normal plane the most according to claim 1, it is characterised in that described semiaxis
The other end is connected with wheel by semiaxis shaft coupling, and supporter is provided with supporter contiguous block.
The four rotor Climbing Robot crossing normal plane the most according to claim 1 and 2, it is characterised in that described
Support body and a bracer all use ABS material to make, and battery case uses lithium ion battery box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610760979.1A CN106184453B (en) | 2016-08-31 | 2016-08-31 | A kind of four rotor Climbing Robots for crossing normal plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610760979.1A CN106184453B (en) | 2016-08-31 | 2016-08-31 | A kind of four rotor Climbing Robots for crossing normal plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184453A true CN106184453A (en) | 2016-12-07 |
| CN106184453B CN106184453B (en) | 2018-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610760979.1A Expired - Fee Related CN106184453B (en) | 2016-08-31 | 2016-08-31 | A kind of four rotor Climbing Robots for crossing normal plane |
Country Status (1)
| Country | Link |
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| CN (1) | CN106184453B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215406A (en) * | 2017-06-26 | 2017-09-29 | 洪幼芬 | One kind building municipal administration robot |
| CN108639176A (en) * | 2018-03-26 | 2018-10-12 | 浙江大学 | A kind of suspension push-press type climbing robot |
| WO2020173098A1 (en) * | 2019-02-26 | 2020-09-03 | 浙江大学 | Mechanism of one-legged robot enabling jumping on wall surface, and control method |
| CN112829846A (en) * | 2021-03-03 | 2021-05-25 | 广东省科学院智能制造研究所 | Wall-climbing robot and wall surface transition method thereof |
| CN113126088A (en) * | 2021-03-13 | 2021-07-16 | 中铁十二局集团有限公司 | Tunnel detection robot and tunnel detection method |
| US12024245B2 (en) | 2019-02-26 | 2024-07-02 | Zhejiang University | Single-leg robot mechanism for jumping on a wall and method for controlling the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201431424Y (en) * | 2009-04-13 | 2010-03-31 | 南昌大学 | High-rise external wall surface cleaning device |
| CN102167101A (en) * | 2010-12-27 | 2011-08-31 | 华东理工大学 | Polydisc non-contact-absorption type climbing robot |
| CN204605990U (en) * | 2015-01-16 | 2015-09-02 | 中国计量学院 | Magnetic force variable duct boosting climbing robot |
| CN105816108A (en) * | 2016-05-25 | 2016-08-03 | 江苏工程职业技术学院 | Wall climbing and cleaning robot |
| CN205930983U (en) * | 2016-08-31 | 2017-02-08 | 王照涵 | Four rotors of normal direction face can be crossed and wall robot is climbed |
-
2016
- 2016-08-31 CN CN201610760979.1A patent/CN106184453B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201431424Y (en) * | 2009-04-13 | 2010-03-31 | 南昌大学 | High-rise external wall surface cleaning device |
| CN102167101A (en) * | 2010-12-27 | 2011-08-31 | 华东理工大学 | Polydisc non-contact-absorption type climbing robot |
| CN204605990U (en) * | 2015-01-16 | 2015-09-02 | 中国计量学院 | Magnetic force variable duct boosting climbing robot |
| CN105816108A (en) * | 2016-05-25 | 2016-08-03 | 江苏工程职业技术学院 | Wall climbing and cleaning robot |
| CN205930983U (en) * | 2016-08-31 | 2017-02-08 | 王照涵 | Four rotors of normal direction face can be crossed and wall robot is climbed |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107215406A (en) * | 2017-06-26 | 2017-09-29 | 洪幼芬 | One kind building municipal administration robot |
| CN108639176A (en) * | 2018-03-26 | 2018-10-12 | 浙江大学 | A kind of suspension push-press type climbing robot |
| WO2020173098A1 (en) * | 2019-02-26 | 2020-09-03 | 浙江大学 | Mechanism of one-legged robot enabling jumping on wall surface, and control method |
| JP2021516639A (en) * | 2019-02-26 | 2021-07-08 | 浙江大学Ｚｈｅｊｉａｎｇ Ｕｎｉｖｅｒｓｉｔｙ | One-legged robot mechanism and control method that jumps on the wall |
| JP7025830B2 (en) | 2019-02-26 | 2022-02-25 | 浙江大学 | One-legged robot mechanism and control method that jumps on the wall |
| US12024245B2 (en) | 2019-02-26 | 2024-07-02 | Zhejiang University | Single-leg robot mechanism for jumping on a wall and method for controlling the same |
| CN112829846A (en) * | 2021-03-03 | 2021-05-25 | 广东省科学院智能制造研究所 | Wall-climbing robot and wall surface transition method thereof |
| CN112829846B (en) * | 2021-03-03 | 2024-01-30 | 广东省科学院智能制造研究所 | Wall climbing robot and wall transition method thereof |
| CN113126088A (en) * | 2021-03-13 | 2021-07-16 | 中铁十二局集团有限公司 | Tunnel detection robot and tunnel detection method |
| CN113126088B (en) * | 2021-03-13 | 2022-06-10 | 中铁十二局集团有限公司 | Tunnel detection robot and tunnel detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106184453B (en) | 2018-02-09 |
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