CN110171564B - Miniature robot that drags with multiple motion pattern - Google Patents
Miniature robot that drags with multiple motion pattern Download PDFInfo
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- CN110171564B CN110171564B CN201910409502.2A CN201910409502A CN110171564B CN 110171564 B CN110171564 B CN 110171564B CN 201910409502 A CN201910409502 A CN 201910409502A CN 110171564 B CN110171564 B CN 110171564B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 34
- 238000001179 sorption measurement Methods 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 25
- 230000009193 crawling Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 23
- 238000009434 installation Methods 0.000 claims description 17
- 238000005520 cutting process Methods 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 10
- 230000010354 integration Effects 0.000 claims description 7
- 238000000465 moulding Methods 0.000 claims description 4
- 238000010146 3D printing Methods 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 238000004026 adhesive bonding Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 229910052802 copper Inorganic materials 0.000 claims 1
- 239000010949 copper Substances 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003365 glass fiber Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a micro towing robot with multiple motion modes, which consists of four sub-modules, namely a control module, a flight module, a connecting module and a crawling module. The robot has multiple motion modes, can be freely switched between flying and crawling, has greatly expanded motion space and has great application prospect; the material has the capability of adsorption and dragging, and the dragging weight can reach more than 550 g; the motion stroke of the linear steering engine is controlled by the integrated module, so that the pitch angle of the rack is adjusted in the limited volume of the robot; working condition conversion from crawling to dragging, from dragging to crawling and the like is realized through an autonomously designed friction clutch structure; the flying capability of the robot is equivalent to that of a four-axis traversing machine, and the realization of the matching of the rack and other functions is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the field of unmanned aerial vehicles and gyroplanes, and particularly relates to a micro dragging robot with multiple motion modes.
[ background of the invention ]
In recent years, with the development of micro-electro-mechanical systems (i.e., MEMS) technology, micro aircrafts and micro robots entering narrow spaces show attractive application prospects and strategic significance for both military and civilian use. Recently, a large number of micro aircrafts and micro robots are developed rapidly. However, many micro-robots are still in the laboratory stage and are difficult to achieve. Compared with the foreign development situation, the development of domestic micro robots and micro aircrafts is more deficient. Meanwhile, the micro robot is large in multiple functions and single, is usually invented based on special technologies, such as bionic materials, flexible materials and the like, and only has one motion mode, such as crawling or flying only. Wherein, the micro-robot with multiple motion modes can finish tasks without being obstructed by terrain.
Meanwhile, among various types of micro robots, micro robots capable of adsorption have attracted much attention. The traditional negative pressure adsorption and strong magnetic adsorption are not suitable any more due to the limitation of the body type and power; the adsorption material with controllable capacity becomes the key for solving the adsorption problem of the micro robot. With the development of material science and the appearance of bionic gecko materials, the adsorption of a micro robot is realized. The bionic gecko material has the characteristics of easy tangential adsorption and easy normal separation, and the application of the novel material can ensure that the robot has considerable and controllable adsorption capacity.
In summary, at present, no micro robot can simultaneously satisfy the requirements of having multiple motion modes, having small size and light weight, and being suitable for multiple terrain scenes.
The robot has the advantages that the size is centimeter level, the weight is only 140g, at least 550g of objects can be dragged, meanwhile, the two motion modes of flying and crawling can be freely switched, the motion space is greatly expanded, and the robot has a great application prospect.
[ summary of the invention ]
The invention aims to provide a miniature dragging robot with multiple motion modes, which has multiple functions and can be used as a universal special operation robot. The universal special operation robot is characterized in that different special operation tasks can be completed by the robot by carrying different functional modules by utilizing the functions of crawling, flying and adsorption and dragging of the robot. The application scene of the task is mostly narrow space, such as a complex pipeline system.
A micro dragging robot with multiple motion modes comprises four sub modules, namely a control module, a flight module, a connecting module and a crawling module.
The control module comprises: the system comprises an F3 flying tower, a receiver, a GY-85 three-axis IMU sensor module and an integrated module; the F3 fly tower is bolted with the rack through screws, and the receiver and the GY-85 three-axis IMU sensor module are connected with the rack through gluing; the integrated module is integrated together by Arduino nano, TB6612FNG motor drive module and voltage stabilizing module, specifically is that each submodule connecting circuit is integrated to be the copper wire of imbedding in the PCB board, has saved the glass fiber board volume that does not add the utilization simultaneously for the module is further integrated, and the volume is further released.
The flight module mainly includes: frame, brushless motor, rotor. The brushless motors are bolted with the frame through screws, and each robot is provided with four brushless motors; the rotor passes through the screw and the brushless motor bolt joint, and rotor of every brushless motor cooperation. The frame is an integrally formed plate-shaped structure, four frame arms extend out of positions corresponding to the positions for mounting the brushless motors, brushless motor mounting holes are formed in the frame arms, connecting module mounting holes and flying tower mounting holes are formed in the main body of the plate-shaped structure, and meanwhile, a plurality of lightening holes are formed in the main body of the plate-shaped structure in order to lighten the dead weight of the whole robot and ensure the rigidity of the frame;
the connection module mainly includes: revolute pair, connecting strut, straight line steering wheel. The top end of the revolute pair is connected with the rack through a screw, the revolute pair is connected with the chassis and the connecting support rod through hole matching, the connecting support rod is connected with the linear steering engine through hole matching, and the linear steering engine is installed on the chassis through a rotating shaft.
The module of crawling mainly includes: the chassis, the motor arm, driving motor, the drive wheel, friction clutch drags the steering wheel, fastening screw, adsorbing material, power steering spindle. The driving wheel, the driving motor and the motor arm are matched through holes and connected with each other, the motor arm is connected with the friction clutch through fastening screws, the friction clutch is matched through holes and fixedly connected with the dragging steering engine, the dragging steering engine is connected with the integration module in a splicing mode, the integration module is installed in a groove in the top face of the chassis, and the adsorption material is also installed in a corresponding groove in the bottom face of the chassis.
The chassis is a plate-shaped structure main body, one end of the top surface of the plate-shaped structure main body is provided with a connecting support, and the top end of the connecting support is provided with a connecting module revolute pair mounting hole; two notches are formed in one end, opposite to the connecting column, of the plate-shaped structure main body, and a force steering shaft mounting hole and a linear steering engine rotating shaft mounting hole are correspondingly formed in the plate-shaped structure main body; the top surface of this platelike structure main part is provided with the collection moulding piece mounting groove, and the bottom surface is provided with adsorption material mounting groove, cooperates installation collection moulding piece and bionical gecko material respectively, and the connecting strut of chassis front end plays the effect that two parts of flight crawl are connected for the position of installation connecting module, and the rear end is sharp steering wheel mounted position, plays the effect of adjusting the frame levelness.
The motor arm is a 3D printing integrated plate-shaped structure, the front end of the motor arm is provided with a driving motor mounting position, and the side end of the motor arm is provided with a friction clutch mounting hole.
The friction clutch mainly includes: cutting the rubber ring, the clutch plate, the spring and the transmission shaft; the inner ring of the clutch plate is provided with rotation resisting teeth; the outer ring of the transmission shaft is provided with a groove matched with the rotation resisting teeth, the inner ring is provided with a fastening screw thread, and the transmission shaft is also provided with a small hole for dragging a thin rope mounting hole. The spring and the cutting rubber ring are sleeved on the transmission shaft, the clutch plate is matched with the transmission shaft through the rotation resisting teeth, and the thin rope is dragged to be installed in the corresponding installation hole and simultaneously arranged between the motor arm and the cutting rubber ring.
The invention relates to a micro dragging robot with multiple motion modes, which has the advantages and the effects that: the robot has multiple motion modes, can be freely switched between flying and crawling, has greatly expanded motion space and has great application prospect; the material has the capability of adsorption and dragging, and the dragging weight can reach more than 550 g; the motion stroke of the linear steering engine is controlled by the integrated module, so that the pitch angle of the rack is adjusted in the limited volume of the robot; working condition conversion from crawling to dragging, from dragging to crawling and the like is realized through an autonomously designed friction clutch structure; the flying capability of the robot is equivalent to that of a four-axis traversing machine, and the realization of the matching of the rack and other functions is improved.
[ description of the drawings ]
Fig. 1 is an exploded side view of the present invention.
Fig. 2 is an exploded top view of the present invention.
Fig. 3 is an exploded front view of the present invention.
Fig. 4 is an exploded view isometric view of the present invention.
Fig. 5 is a structural view of the housing of the present invention.
Fig. 6 is a top view of the chassis of the present invention.
Fig. 7 is a bottom view of the chassis of the present invention.
Fig. 8 is a structural view of the motor arm.
Fig. 9 is an exploded view of the friction clutch.
FIG. 10 is a clutch plate structure view.
Fig. 11 is a structural view of a propeller shaft.
FIG. 12 is an installation view of the friction clutch structure.
FIG. 13 is a flowchart of an adsorption drag process according to an embodiment of the present invention.
FIG. 14 is a flowchart of a normal movement process according to an embodiment of the present invention.
Fig. 15 is a first schematic view of adjusting the pitch angle of the rack according to the embodiment of the invention.
Fig. 16 is a schematic diagram of adjusting the pitch angle of the rack according to the embodiment of the invention.
[ detailed description ] embodiments
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, 2, 3, and 4, a micro towing robot with multiple motion modes according to an embodiment of the present invention includes four sub-modules, which are a control module 1, a flight module 2, a connection module 3, and a crawling module 4.
The control module 1 includes: f3 flying tower 11, receiver 12, GY-85 three-axis IMU sensor module 13, integrated module 14; the F3 flying tower 11 is bolted with the frame through screws, and the receiver 12 and the GY-85 three-axis IMU sensor module 13 are connected with the frame through gluing; the integrated module is integrated together by Arduino nano, TB6612FNG motor drive module and voltage stabilizing module, specifically is that each submodule connecting circuit is integrated to be the copper wire of imbedding in the PCB board, has saved the glass fiber board volume that does not add the utilization simultaneously for the module is further integrated, and the volume is further released.
The flight module 2 mainly comprises: frame 21, brushless motor 22, rotor 23. Wherein the frame is for independently designing, and brushless motor and rotor are current commodity. The brushless motors are bolted with the frame through screws, and each robot is provided with four brushless motors; the rotor passes through the screw and the brushless motor bolt joint, and rotor of every brushless motor cooperation. As shown in fig. 5, the frame is an integrally formed plate-shaped structure, four frame arms extend out from positions corresponding to positions where the brushless motors are installed, the frame arms are provided with brushless motor installation holes 211, a main body of the plate-shaped structure is provided with connection module installation holes 213 and flying tower installation holes 214, and a plurality of weight reduction holes 212 are provided for reducing the self weight of the whole robot and ensuring the rigidity of the frame; and corresponding modules are installed through the installation holes to realize corresponding functions.
The connection module 3 mainly comprises: revolute pair 31, connecting strut 32 and linear steering engine 33. The top end of the revolute pair is connected with the rack through a screw, the revolute pair is connected with the chassis and the connecting support rod through hole matching, the connecting support rod is connected with the linear steering engine through hole matching, and the linear steering engine is installed on the chassis through a rotating shaft.
The crawling module 4 mainly includes: the device comprises a chassis 41, a motor arm 42, a driving motor 43, a driving wheel 44, a friction clutch 45, a dragging steering gear 46, a fastening screw 47, an adsorbing material 48 and a force steering shaft 49. The driving wheel, the driving motor and the motor arm are matched through holes and connected with each other, the motor arm is connected with the friction clutch through fastening screws, the friction clutch is matched through holes and fixedly connected with the dragging steering engine, the dragging steering engine is connected with the integration module in a splicing mode, the integration module is installed in a groove in the top face of the chassis, and the adsorption material is also installed in a corresponding groove in the bottom face of the chassis.
As shown in fig. 6 and 7, the chassis is a plate-shaped structure body, one end of the top surface of the plate-shaped structure body is provided with a connecting pillar, and the top end of the connecting pillar is provided with a connecting module revolute pair mounting hole 411; two notches are formed in one end, opposite to the connecting column, of the plate-shaped structure main body, and a force steering shaft mounting hole 412 and a linear steering engine rotating shaft mounting hole 413 are correspondingly formed in the end; the top surface of this platelike structure main part is provided with integrated module mounting groove 414, and the bottom surface is provided with adsorption material mounting groove 415, cooperates installation integrated module and bionical gecko material respectively, and the connecting strut of chassis front end is the position of installation connecting module, plays the effect that two parts of flight crawl are connected, and the rear end is sharp steering wheel mounted position, plays the effect of adjusting the frame levelness.
As shown in fig. 8, the motor arm 42 has a 3D printing integral plate structure, and the front end is designed with a driving motor mounting position 422 and the side end is designed with a friction clutch mounting hole 421.
As shown in fig. 9, the friction clutch mainly includes: cutting rubber ring 451, clutch plate 452, spring 453 and transmission shaft 454; as shown in fig. 10, the inner ring of the clutch plate is provided with anti-rotation teeth 4521; as shown in fig. 11, the outer ring of the transmission shaft is provided with a groove 4541 matched with the anti-rotation teeth, the inner ring is provided with a fastening screw mounting thread 4542, and the transmission shaft is further provided with a small hole 4543 as a dragging string mounting hole. The spring and the cutting rubber ring are sleeved on the transmission shaft, the clutch plate is matched with the transmission shaft through the rotation resisting teeth, and the thin rope is dragged to be installed in the corresponding installation hole and simultaneously arranged between the motor arm and the cutting rubber ring. The friction clutch structure is installed as shown in fig. 12.
The friction clutch mainly solves the problems that: during normal movement, enough rotation resisting torque is ensured, so that the movement is flexible; when the rope is sucked and dragged, a weaker rotation resisting moment is needed, namely, the motor arm does not move along with the rotation resisting moment when the transmission shaft is continuously rotated and the rope is taken up, and the motor arm is in a separated state.
The towing of the string has two functions: firstly, dragging the weight by winding; and secondly, the motor arm and the cutting rubber ring are separated after winding, so that the friction coefficient is reduced, and the transmission effect is weakened. The cutting rubber ring is mainly used for increasing friction force and improving transmission effect. The clutch plate rotates synchronously with the transmission shaft through the rotation resisting teeth. The spring acts to increase the normal pressure because both the coefficient of friction and the normal pressure are not acceptable because of the desire to increase the friction. The operation of the friction clutch will be described in detail below by dividing the two processes of the adsorption drag and the normal motion.
The flow chart of the adsorption and towing process is shown in fig. 13, when in adsorption and towing, the towing steering engine firstly rotates reversely, at the moment, the motor arm is lifted, the driving wheel is separated from the ground, and the adsorption material contacts the ground and successfully adsorbs the ground; meanwhile, the dragging string can be wound on the transmission shaft, and the pulling force of the heavy object acting on the robot is resisted by the adsorption force, so that the heavy object is dragged. Along with the continuous coiling of rope, cutting rubber ring is separated by the rope with the motor arm, and coefficient of friction further descends, and the transmission shaft turnover can not exert an influence to the motor arm this moment, and each structural strength and reliability obtain guaranteeing.
Normal movement flow diagram as shown in fig. 14, the robot is first separated from the ground, i.e. the adsorbing material is separated from the ground, in order to make a normal movement. Firstly, dragging the steering engine to rotate in the positive direction, wherein the motor arm can move downwards by taking a fastening screw as an axial direction under the influence of gravity and weak friction force (from a friction clutch), a driving wheel is contacted with the ground, a chassis is lifted, and an adsorption material is separated from the ground; simultaneously along with the continuous rotation of dragging the steering wheel, the string of coiling on the transmission shaft also constantly breaks away from, and the friction coefficient between cutting rubber ring and the motor arm further increases this moment, hinders the increase of commentaries on classics moment, and when the string breaks away from completely, it is the biggest to hinder commentaries on classics moment, drags the steering wheel stall this moment, and the robot can carry out nimble motion.
The robot moves by means of two driving motors installed at the front end, the driving motors are installed in an inclined manner, and the driving motors are installed at the driving motor installation positions 422 on the motor arms, as shown in fig. 8. The double-motor inclined installation has the effect that the installation distance is increased on the premise of not influencing movement, namely the chassis is lifted. The arrangement of the motor is not a special design point, but mounting the motor on the motor arm and cooperating with the above-mentioned functions is a major innovation of the invention.
The pitch angle adjusting schematic diagram of the robot frame is shown in fig. 15 and 16, and the adjusting process is as follows: the integrated module firstly reads the attitude angle of the GY-85 module, and judges whether the rack is horizontal or not after acquiring the attitude angle information: if not, the stroke of the linear steering engine is adjusted in a circulating way, and the linear steering engine moves for 10 mu s each time until the rack is judged to be in a horizontal state again and then stops. The rotating pair and the linear steering engine form a four-bar linkage structure, and the pitch angle of the rack can be adjusted by the linear motion of the linear steering engine, so that the rack can be kept horizontal within a +/-5-degree range.
The embodiment of the invention has various motion modes for the robot, and can freely switch between flying and crawling; the material has the capability of adsorption and dragging, and the dragging weight can reach more than 550 g; the linear steering engine is controlled by the integrated module to move, and the pitch angle of the rack is adjusted in the limited volume of the robot. The friction clutch structure plays a vital role in realizing the conversion of working conditions from crawling to dragging, from dragging to crawling and the like, the flying capacity of the robot is equivalent to that of a four-axis traversing machine, but the frame is improved so as to be matched with the realization of other functions. The invention has carried on the simulation pipeline experiment, the robot can finish the pipeline movement well, can carry on the position conversion among the pipelines of different altitudes through flying at the same time.
Claims (4)
1. A miniature robot that drags with multiple mode of motion which characterized in that: the robot consists of four sub-modules, namely a control module, a flight module, a connecting module and a crawling module;
the control module comprises: the system comprises an F3 flying tower, a receiver, a GY-85 three-axis IMU sensor module and an integrated module; the F3 fly tower is bolted with the rack through screws, and the receiver and the GY-85 three-axis IMU sensor module are connected with the rack through gluing;
the flight module includes: the device comprises a frame, a brushless motor and a rotor wing; the brushless motor is bolted with the frame; the rotor wings are bolted with the brushless motors, and each brushless motor is matched with one rotor wing; the frame is an integrally formed plate-shaped structure, four frame arms extend out of positions corresponding to the positions for mounting the brushless motors, brushless motor mounting holes are formed in the frame arms, and connecting module mounting holes, flying tower mounting holes and lightening holes are formed in the main body of the plate-shaped structure;
the connection module includes: the revolute pair is connected with the support rod and the linear steering engine; the top end of the revolute pair is connected with the rack, the revolute pair is connected with the chassis and the connecting strut, the connecting strut is connected with the linear steering engine in a matching way, and the linear steering engine is arranged on the chassis through the rotating shaft;
the module of crawling includes: the device comprises a chassis, a motor arm, a driving motor, a driving wheel, a friction clutch, a dragging steering engine, a fastening screw, an adsorption material and a power steering shaft; the driving wheel, the driving motor and the motor arm are all connected with each other in a matched mode through holes, the motor arm is connected with the friction clutch, the friction clutch is fixedly connected with the dragging steering engine in a matched mode through holes, the dragging steering engine is connected with the integration module in an adhesive mode, the integration module is installed in a groove in the top face of the chassis, and the adsorption material is also installed in a corresponding groove in the bottom face of the chassis;
the friction clutch includes: cutting the rubber ring, the clutch plate, the spring and the transmission shaft; the inner ring of the clutch plate is provided with rotation resisting teeth; the outer ring of the transmission shaft is provided with a groove matched with the rotation resisting teeth, the inner ring of the transmission shaft is provided with a fastening screw mounting thread, and the transmission shaft is also provided with a small hole which is a mounting hole for dragging a thin rope; the spring and the cutting rubber ring are sleeved on the transmission shaft, the clutch plate is matched with the transmission shaft through the rotation resisting teeth, and the thin rope is dragged to be installed in the corresponding installation hole and simultaneously arranged between the motor arm and the cutting rubber ring.
2. The micro towing robot with multiple motion modes according to claim 1, wherein: the integrated module is integrated together by Arduino nano, TB6612FNG motor drive module and voltage stabilizing module, specifically buries the copper line in each submodule piece connecting circuit integration PCB board.
3. The micro towing robot with multiple motion modes according to claim 1, wherein: the chassis is a plate-shaped structure main body, one end of the top surface of the plate-shaped structure main body is provided with a connecting support, and the top end of the connecting support is provided with a connecting module revolute pair mounting hole; two notches are formed in one end, opposite to the connecting column, of the plate-shaped structure main body, and a force steering shaft mounting hole and a linear steering engine rotating shaft mounting hole are correspondingly formed in the plate-shaped structure main body; the top surface of this platelike structure main part is provided with the collection moulding piece mounting groove, and the bottom surface is provided with adsorption material mounting groove, cooperates installation collection moulding piece and bionical gecko material respectively, and the connecting strut of chassis front end plays the effect that two parts of flight module and the module of crawling are connected for the position of installation connecting module, and the rear end is sharp steering wheel mounted position, plays the effect of adjusting the frame levelness.
4. The micro towing robot with multiple motion modes according to claim 1, wherein: the motor arm is of a 3D printing integrated plate-shaped structure, the front end of the motor arm is provided with a driving motor mounting position, and the side end of the motor arm is provided with a friction clutch mounting hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910409502.2A CN110171564B (en) | 2019-05-17 | 2019-05-17 | Miniature robot that drags with multiple motion pattern |
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| CN201910409502.2A CN110171564B (en) | 2019-05-17 | 2019-05-17 | Miniature robot that drags with multiple motion pattern |
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| CN110171564B true CN110171564B (en) | 2020-10-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9764839B2 (en) * | 2014-07-08 | 2017-09-19 | Todd Michael Whitaker | Tethered unmanned aerial vehicle fire fighting system |
| US9969494B1 (en) * | 2015-09-28 | 2018-05-15 | Amazon Technologies, Inc. | Delivery drop platforms, tethers, and stabilization |
| CN105799805B (en) * | 2016-05-06 | 2019-04-09 | 吉林大学 | A kind of modularization flight climbing robot |
| CN106741900A (en) * | 2017-01-04 | 2017-05-31 | 上海量明科技发展有限公司 | It is used to realize the unmanned plane and its implementation of kiteflying function |
| US10569872B2 (en) * | 2017-01-05 | 2020-02-25 | International Business Machines Corporation | Maintenance of a machine |
| CN106828901A (en) * | 2017-01-19 | 2017-06-13 | 张万民 | Towing power lead formula multiaxis rotor wing unmanned aerial vehicle extinguishing device and extinguishing method |
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