CN110920875A - Many rotors booster-type flight wall climbing robot - Google Patents
Many rotors booster-type flight wall climbing robot Download PDFInfo
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- CN110920875A CN110920875A CN201911117754.4A CN201911117754A CN110920875A CN 110920875 A CN110920875 A CN 110920875A CN 201911117754 A CN201911117754 A CN 201911117754A CN 110920875 A CN110920875 A CN 110920875A
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- 230000009194 climbing Effects 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 12
- 239000004917 carbon fiber Substances 0.000 claims description 12
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 7
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 3
- 229910001416 lithium ion Inorganic materials 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 230000004927 fusion Effects 0.000 abstract description 2
- 238000001179 sorption measurement Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
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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
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/08—Geodetic or other open-frame structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
A multi-rotor supercharged flying wall-climbing robot comprises a main body and a plurality of rotor wing devices arranged on the main body, wherein each rotor wing device comprises a top rotor wing mechanism and a side rotor wing mechanism, the main body is of a frame structure, the top surface of the main body is provided with the top rotor wing mechanism, the side surface of the main body is provided with the side rotor wing mechanisms, an equipment box is arranged in the main body, the top of the equipment box is provided with a flight controller, and the flight controller is electrically connected with the top rotor wing mechanisms and the side rotor wing mechanisms; the outer convex angle of the main body is connected with wall climbing wheels, the wall climbing wheels and the outer convex angles correspond to each other one by one, and the wall climbing wheels are electrically connected with the flight controller. The design has the advantages of strong adaptability, wide application range, high equipment fusion degree and high operation efficiency.
Description
Technical Field
The invention relates to a robot, belongs to the technical field of flight wall climbing devices, and particularly relates to a multi-rotor supercharged flight wall climbing robot.
Background
In recent years, with the continuous development of robot technology, a new type of robot, a wall-climbing robot, gradually enters the visual field of people and plays an important role in multiple fields of military affairs, security protection, cleaning, monitoring and the like. The wall climbing robot must have two basic capabilities: adsorption capacity and migration capacity on the wall surface. The wall-climbing robot is mainly divided into two forms of vacuum adsorption and magnetic adsorption according to an adsorption mode, the vacuum adsorption has the advantage of being not limited by wall materials, but when the wall is uneven, the sucker is easy to leak air, so that the adsorption force is reduced, and the falling risk is increased; the magnetic adsorption has strong adaptability to the convex-concave of the wall surface, the adsorption force is far greater than that of a vacuum adsorption mode, the problem of vacuum air leakage does not exist, but the wall surface is required to be made of a magnetic conductive material, and the application environment of the wall-climbing robot is severely limited.
The information disclosed in this background section is only for enhancement of understanding of the general background of the patent application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to overcome the defects and problems of weak adaptability and narrow application range in the prior art, and provides a multi-rotor supercharged flying wall-climbing robot with strong adaptability and wide application range.
In order to achieve the above purpose, the technical solution of the invention is as follows: a multi-rotor supercharged flying wall-climbing robot comprises a main body and a plurality of rotor wing devices arranged on the main body, wherein each rotor wing device comprises a top rotor wing mechanism and a side rotor wing mechanism;
the outer convex angle of the main body is connected with wall climbing wheels, the wall climbing wheels and the outer convex angles correspond to each other one by one, and the wall climbing wheels are electrically connected with the flight controller.
The flight controller is characterized in that a GPS module and a signal receiver are arranged on the top surface of the flight controller, a power supply cavity and a carrying cavity are arranged inside the equipment box, and two camera devices are arranged on two sides of the equipment box respectively.
The lithium ion storage battery is placed in the power supply cavity, and the camera device is a multi-angle rotary high-definition camera.
The main body comprises four top crossbeams, four middle vertical beams and four bottom crossbeams, the four top crossbeams are sequentially connected end to form a top beam frame, a top rotor wing mechanism is arranged in the middle of the top beam frame, two adjacent top crossbeams are connected to form a top beam angle, the four bottom crossbeams are sequentially connected end to form a bottom beam frame, two adjacent bottom crossbeams are connected to form a bottom beam angle, the top beam angle and the bottom beam angle are in one-to-one correspondence, a single top beam angle is connected with the corresponding bottom beam angle through one middle vertical beam, the bottom beam frame, the top beam frame and two adjacent middle vertical beams are jointly clamped to form a main side face, and a side rotor wing mechanism is arranged on the main side face;
the outer convex angle comprises a top angle end and a bottom angle end, the top beam angle is intersected with the top end of the middle vertical beam to form a top angle end, the bottom beam angle is intersected with the lower end of the middle vertical beam to form a bottom angle end, a wall climbing wheel is correspondingly connected to the single top angle end, and a wall climbing wheel is correspondingly connected to the single bottom angle end.
The top beam frame is internally provided with a first top beam and a second top beam which are intersected, the two ends of the first top beam are connected with the top beam frame, the two ends of the second top beam are connected with the top beam frame, and the joint of the first top beam and the second top beam is connected with the top rotor wing mechanism.
Top rotor mechanism includes that top blade, top protection ring, top brushless electricity are adjusted and top brushless motor, top brushless motor's bottom is connected with the handing-over department of a back timber, No. two back timbers, and top brushless motor's side wall is connected with the inner of top blade, and the outer end of top blade all is located the inside of top protection ring, and the bottom surface of top protection ring is connected with a back timber, No. two back timbers, and top brushless motor carries out the electricity through top brushless electricity is adjusted and is connected with flight controller.
The main side surface is internally provided with a first side beam and a second side beam which are intersected, the two ends of the first side beam are respectively connected with the middle parts of two adjacent middle vertical beams, the two ends of the second side beam are respectively connected with a bottom beam frame and a top beam frame, and the joint of the first side beam and the second side beam is connected with a side rotor mechanism.
The lateral rotor wing mechanism comprises a lateral blade, a lateral protection ring and a lateral brushless motor, wherein the lateral brushless motor is electrically adjusted, the bottom end of the lateral brushless motor is connected with the joint of a first lateral beam and a second lateral beam, the side wall of the lateral brushless motor is connected with the inner end of the lateral blade, the outer end of the lateral blade is located inside the lateral protection ring, the bottom surface of the lateral protection ring is connected with the first lateral beam and the second lateral beam, and the lateral brushless motor is electrically connected with the flight controller through the lateral brushless motor.
Climb the wall wheel including turning to steering wheel, gear motor, carbon fiber rim plate and rubber tire, the cover is equipped with rubber tire around the carbon fiber rim plate, and the middle part and the gear motor of carbon fiber rim plate are connected, and gear motor, steering wheel all carry out the electricity with flight controller and are connected.
The number of the top rotor wing mechanisms is four, and the top rotor wing mechanisms are uniformly arranged on the top beam frame; the main side surface comprises a front side surface and a back side surface which are opposite to each other, and two side rotor wing mechanisms are respectively arranged in the front side surface and the back side surface.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a multi-rotor supercharged flying wall-climbing robot which comprises a main body, and a top rotor mechanism and a side rotor mechanism which are arranged on the main body, wherein the top rotor mechanism is distributed on the top surface of the main body, the side rotor mechanism is distributed on the side surface of the main body, and meanwhile, a wall-climbing wheel is connected to an outer convex angle of the main body. Therefore, the invention not only has stronger adaptability, but also has wider application range.
2. In the multi-rotor supercharged flying wall-climbing robot, when the robot climbs, the top rotor mechanism and the side rotor mechanisms provide force for the robot, so that the effects of buoyancy, pressure and the like can be generated, the leveling condition or the material of a climbing surface is not considered, other adsorption structures are not required to be installed, and the application range of the design is further expanded. Therefore, the invention has wider application range.
3. In the multi-rotor supercharged flying wall-climbing robot, an equipment box is arranged inside a main body, a flying controller is arranged on the top of the equipment box, the flying controller is electrically connected with a top rotor mechanism and a side rotor mechanism, a GPS module and a signal receiver are arranged on the top surface of the flying controller, a power supply cavity and a carrying cavity are arranged inside the equipment box, two sides of the equipment box are respectively provided with a camera device, when the multi-rotor supercharged flying wall-climbing robot is applied, the power supply cavity is used for placing a battery to provide power, the GPS module and the signal receiver are used for operating and controlling the robot, the flying controller is used for adjusting the direction and wind power of the rotor mechanisms, and the camera devices are used for shooting. Therefore, the device has high fusion degree and wide application prospect.
4. In the multi-rotor supercharged flying wall-climbing robot, the main body is of a frame structure and is composed of a plurality of beams, the beams are preferably made of carbon fiber materials, the weight is light, the strength is high, meanwhile, the rotor mechanism comprises the blades, the protection rings, the brushless electric regulator and the brushless motor, the structure is clear, the weight is light, and the mounting on the main body is convenient, so that the rotor mechanism can drive the robot conveniently, the robot can quickly reach a target position through flying, can quickly enter a wall-climbing state, and the efficiency of wall-climbing operation is greatly improved. Therefore, the invention not only has lighter weight, but also has higher operation efficiency.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a left side view of fig. 1.
Fig. 4 is a cross-sectional view of the equipment cabinet of fig. 1.
In the figure: the device comprises an equipment box 1, a power supply cavity 11, a carrying cavity 12, a camera device 13, a flight controller 2, a GPS module 21, a signal receiver 22, a main body 3, a top cross beam 31, a top beam corner 311, a middle vertical beam 32, a bottom cross beam 33, a bottom beam corner 331, an outer convex corner 34, a top corner end 341, a bottom corner end 342, a top beam frame 35, a first top beam 351, a second top beam 352, a bottom beam frame 36, a main side surface 37, a first side beam 371, a second side beam 372, a front side surface 38, a rear side surface 39, a top rotor mechanism 4, a top blade 41, a top protection ring 42, a top brushless electric regulator 43, a top rotor motor 44, a rotor side mechanism 5, a side blade 51, a side protection ring 52, a side brushless electric regulator 53, a side brushless electric regulator 54, a climbing wheel 6, a steering engine 61, a speed reduction motor 62, a carbon fiber wheel disc 63.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1-4, a multi-rotor supercharged flying wall-climbing robot includes a main body 3 and a plurality of rotor devices 7 disposed thereon, where the rotor devices 7 include a top rotor mechanism 4 and a side rotor mechanism 5, the main body 3 is of a frame structure, the top surface of the main body 3 is provided with the top rotor mechanism 4 for providing vertical power, the side surface of the main body 3 is provided with the side rotor mechanism 5 for providing transverse power, an equipment box 1 is disposed inside the main body 3, the top of the equipment box 1 is provided with a flight controller 2, and the flight controller 2 is electrically connected to the top rotor mechanism 4 and the side rotor mechanism 5;
the outer convex angle 34 of the main body 3 is connected with the wall climbing wheels 6, the wall climbing wheels 6 and the outer convex angle 34 correspond to each other one by one, and the wall climbing wheels 6 are electrically connected with the flight controller 2.
The flight controller 2 is provided with a GPS module 21 and a signal receiver 22 on the top surface, the equipment box 1 is provided with a power supply cavity 11 and a carrying cavity 12 inside, and two sides of the equipment box 1 are respectively provided with a camera device 13.
The lithium ion storage battery is placed in the power supply cavity 11, and the camera device 13 is a multi-angle rotary high-definition camera.
The main body 3 comprises four top cross beams 31, four middle vertical beams 32 and four bottom cross beams 33, the four top cross beams 31 are sequentially connected end to form a top beam frame 35, the middle part of the top beam frame 35 is provided with a top rotor mechanism 4, two adjacent top cross beams 31 are connected to form a top beam angle 311, the four bottom cross beams 33 are sequentially connected end to form a bottom beam frame 36, two adjacent bottom cross beams 33 are connected to form a bottom beam angle 331, the top beam angle 311 and the bottom beam angle 331 are in one-to-one correspondence, a single top beam angle 311 is connected with the corresponding bottom beam angle 331 through one middle vertical beam 32, the bottom beam frame 36, the top beam frame 35 and two adjacent middle vertical beams 32 are jointly clamped to form a main side surface 37, and the main side surface 37 is provided with a side rotor mechanism 5;
the outer lobe 34 includes a top corner end 341 and a bottom corner end 342, the top beam corner 311 is connected with the top end of the middle vertical beam 32 to form the top corner end 341, the bottom beam corner 331 is connected with the lower end of the middle vertical beam 32 to form the bottom corner end 342, a wall climbing wheel 6 is correspondingly connected to a single top corner end 341, and a wall climbing wheel 6 is correspondingly connected to a single bottom corner end 342.
The top beam frame 35 is internally provided with a first top beam 351 and a second top beam 352 which are intersected, two ends of the first top beam 351 are connected with the top beam frame 35, two ends of the second top beam 352 are connected with the top beam frame 35, and the joint of the first top beam 351 and the second top beam 352 is connected with the top rotor wing mechanism 4.
The top rotor wing mechanism 4 comprises a top blade 41, a top protection ring 42, a top brushless electric regulator 43 and a top brushless motor 44, the bottom end of the top brushless motor 44 is connected with the joint of a first top beam 351 and a second top beam 352, the side wall of the top brushless motor 44 is connected with the inner end of the top blade 41, the outer end of the top blade 41 is located inside the top protection ring 42, the bottom surface of the top protection ring 42 is connected with the first top beam 351 and the second top beam 352, and the top brushless motor 44 is electrically connected with the flight controller 2 through the top brushless electric regulator 43.
The main side surface 37 is internally provided with a first side beam 371 and a second side beam 372 which are intersected, two ends of the first side beam 371 are respectively connected with the middle parts of two adjacent middle vertical beams 32, two ends of the second side beam 372 are respectively connected with a bottom beam frame 36 and a top beam frame 35, and the joint of the first side beam 371 and the second side beam 372 is connected with a side rotor mechanism 5.
The side rotor wing mechanism 5 comprises a side blade 51, a side protection ring 52, a side brushless electric regulator 53 and a side brushless motor 54, the bottom end of the side brushless motor 54 is connected with the joint of a first side beam 371 and a second side beam 372, the side wall of the side brushless motor 54 is connected with the inner end of the side blade 51, the outer end of the side blade 51 is located inside the side protection ring 52, the bottom surface of the side protection ring 52 is connected with the first side beam 371 and the second side beam 372, and the side brushless motor 54 is electrically connected with the flight controller 2 through the side brushless electric regulator 53.
The wall climbing wheel 6 comprises a steering engine 61, a speed reducing motor 62, a carbon fiber wheel disc 63 and rubber tires 64, the rubber tires 64 are sleeved on the periphery of the carbon fiber wheel disc 63, the middle of the carbon fiber wheel disc 63 is connected with the speed reducing motor 62, and the speed reducing motor 62 and the steering engine 61 are electrically connected with the flight controller 2.
The number of the top rotor wing mechanisms 4 is four, and the top rotor wing mechanisms are uniformly arranged on the top beam frame 35; the main side surface 37 includes a front side surface 38 and a rear side surface 39 which are oppositely arranged, and two side rotor mechanisms 5 are respectively arranged in the front side surface 38 and the rear side surface 39.
The principle of the invention is illustrated as follows:
a main body 3: the top cross beam 31, the middle vertical beam 32 and the bottom cross beam 33 are preferably carbon fiber rods.
Rotor device 7: it includes top rotor mechanism 4 and lateral part rotor mechanism 5, and when this robot attached the wall and moved in ceiling or pontic below, top rotor mechanism 4 provided sufficient lift and adsorption affinity for the robot, and the robot climbed the wall and moves under the drive of climbing wheel 6. When the robot climbs the wall along the vertical wall, the side rotor wing mechanisms 5 start to rotate to provide pressure perpendicular to the wall surface for the robot, so that the robot maintains balance under the action of the friction force given by the wall surface and the lifting force of the top rotor wing mechanism 4 and climbs the wall under the driving of the climbing wheels 6.
The equipment box 1: the inside of main part 3 is provided with equipment box 1, and the both sides of equipment box 1 respectively are provided with a camera device 13 (through camera device 13, and ground staff can accomplish the detection or investigation work to the target), and the inside of equipment box 1 is provided with power supply chamber 11 and carries chamber 12, is provided with flight controller 2 on the top of equipment box 1, is provided with GPS module 21 and signal receiver 22 on flight controller 2's the top surface. Ground staff sends control signals to the signal receiver 22 through a remote control terminal, the signal receiver 22 decodes the signals and sends the decoded signals to the flight controller 2, and the flight controller 2 adjusts the rotating speed and rotating direction of blades in the top rotor wing mechanism 4 and the side rotor wing mechanism 5 according to instructions so as to control the flying state or wall climbing moving state of the robot.
Example 1:
vertical wall: the top blade 41 in the top rotor mechanism 4 rotates at a high speed to provide enough lift force for the robot to stably fly to the position near a wall climbing wall, the flight controller 2 adjusts the posture of the robot to enable the side blades 51 in the side rotor mechanisms 5 to be parallel to a vertical wall surface, the flight controller 2 controls the side blades 51 to rotate to provide pressure perpendicular to the wall surface for the robot to stably climb on the wall surface, and finally the robot is driven by the four wall climbing wheels 6 attached to the wall surface to climb the wall surface.
Example 2:
ceiling type wall: the top blade 41 in the top rotor mechanism 4 rotates at a high speed to provide enough lift force for the robot, so that the top of the robot is tightly attached to the ceiling type wall, and the four wall climbing wheels 6 attached to the wall at the top of the robot climb the wall to move.
Example 3:
moving the ground: the top rotor mechanism 4 and the side rotor mechanism 5 do not work, and the ground walking is carried out only by the driving of the four climbing wheels 6 with the bottoms attached to the ground.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.
Claims (10)
1. The utility model provides a many rotors booster-type flight wall climbing robot, includes main part (3) and a plurality of rotor device (7) that set up on it, its characterized in that: the rotor wing device (7) comprises a top rotor wing mechanism (4) and a side rotor wing mechanism (5), the main body (3) is of a frame structure, the top surface of the main body (3) is provided with the top rotor wing mechanism (4) used for providing vertical power, the side surface of the main body (3) is provided with the side rotor wing mechanism (5) used for providing transverse power, an equipment box (1) is arranged inside the main body (3), the top of the equipment box (1) is provided with a flight controller (2), and the flight controller (2) is electrically connected with the top rotor wing mechanism (4) and the side rotor wing mechanism (5);
the outer convex angle (34) of the main body (3) is connected with a wall climbing wheel (6), the wall climbing wheel (6) and the outer convex angle (34) are in one-to-one correspondence, and the wall climbing wheel (6) is electrically connected with the flight controller (2).
2. The multi-rotor supercharged flying wall-climbing robot according to claim 1, characterized in that: the flight control system is characterized in that a GPS module (21) and a signal receiver (22) are arranged on the top surface of the flight controller (2), a power supply cavity (11) and a carrying cavity (12) are arranged inside the equipment box (1), and two camera devices (13) are arranged on two sides of the equipment box (1) respectively.
3. The multi-rotor supercharged flying wall-climbing robot according to claim 2, characterized in that: the lithium ion storage battery is placed in the power supply cavity (11), and the camera device (13) is a multi-angle rotary high-definition camera.
4. A multi-rotor supercharged flying wall-climbing robot according to claim 1, 2 or 3, characterized in that: the main body (3) comprises four top cross beams (31), four middle vertical beams (32) and four bottom cross beams (33), the four top cross beams (31) are sequentially connected end to form a top beam frame (35), the middle part of the top beam frame (35) is provided with a top rotor wing mechanism (4), two adjacent top cross beams (31) are connected to form a top beam angle (311), the four bottom cross beams (33) are sequentially connected end to form a bottom beam frame (36), two adjacent bottom cross beams (33) are connected to form a bottom beam angle (331), the top beam angles (311) and the bottom beam angles (331) are in one-to-one correspondence, a single top beam angle (311) is connected with the corresponding bottom beam angle (331) through one middle vertical beam (32), the bottom beam frame (36), the top beam frame (35) and two adjacent middle vertical beams (32) are clamped together to form a main side surface (37), and the main side surface (37) is provided with a side rotor mechanism (5);
the outer convex angle (34) comprises a top angle end (341) and a bottom angle end (342), the top beam angle (311) is intersected with the top end of the middle vertical beam (32) to form the top angle end (341), the bottom beam angle (331) is intersected with the lower end of the middle vertical beam (32) to form the bottom angle end (342), a single top angle end (341) is correspondingly connected with a wall climbing wheel (6), and a single bottom angle end (342) is correspondingly connected with a wall climbing wheel (6).
5. The multi-rotor supercharged flying wall-climbing robot according to claim 4, characterized in that: the top beam frame (35) is internally provided with a first top beam (351) and a second top beam (352) which are intersected, the two ends of the first top beam (351) are connected with the top beam frame (35), the two ends of the second top beam (352) are connected with the top beam frame (35), and the joint of the first top beam (351) and the second top beam (352) is connected with the top rotor wing mechanism (4).
6. The multi-rotor supercharged flying wall-climbing robot of claim 5, wherein: top rotor mechanism (4) are including top blade (41), top protection ring (42), top brushless electricity accent (43) and top brushless motor (44), the bottom of top brushless motor (44) is connected with handing-over department of a back timber (351), No. two back timbers (352), the side wall of top brushless motor (44) is connected with the inner of top blade (41), the outer end of top blade (41) all is located the inside of top protection ring (42), the bottom surface and a back timber (351), No. two back timbers (352) of top protection ring (42) are connected, and top brushless motor (44) are connected with flight controller (2) through top brushless electricity accent (43).
7. The multi-rotor supercharged flying wall-climbing robot according to claim 4, characterized in that: be provided with crossing first curb girder (371), No. two curb girders (372) in leading flank (37), the both ends of first curb girder (371) are connected with the middle part of two adjacent well vertical beams (32) respectively, and the both ends of No. two curb girders (372) are connected with sill frame (36), back timber frame (35) respectively, and the handing-over department of first curb girder (371), No. two curb girder (372) is connected with lateral part rotor mechanism (5).
8. The multi-rotor supercharged flying wall-climbing robot of claim 7, wherein: the side rotor wing mechanism (5) comprises side blades (51), a side protection ring (52), a side brushless electric regulator (53) and a side brushless motor (54), the bottom end of the side brushless motor (54) is connected with the joint of a first side beam (371) and a second side beam (372), the side wall of the side brushless motor (54) is connected with the inner end of the side blades (51), the outer end of the side blades (51) is located inside the side protection ring (52), the bottom surface of the side protection ring (52) is connected with the first side beam (371) and the second side beam (372), and the side brushless motor (54) is electrically connected with the flight controller (2) through the side brushless electric regulator (53).
9. The multi-rotor supercharged flying wall-climbing robot according to claim 4, characterized in that: climb wall wheel (6) including turning to steering wheel (61), gear motor (62), carbon fiber rim plate (63) and rubber tire (64), the cover is equipped with rubber tire (64) around carbon fiber rim plate (63), and the middle part of carbon fiber rim plate (63) is connected with gear motor (62), and gear motor (62), steering wheel (61) all carry out the electricity with flight controller (2) and are connected.
10. The multi-rotor supercharged flying wall-climbing robot according to claim 4, characterized in that: the number of the top rotor wing mechanisms (4) is four, and the top rotor wing mechanisms are uniformly arranged on the top beam frame (35); the main side surface (37) comprises a front side surface (38) and a rear side surface (39) which are oppositely arranged, and two side rotor wing mechanisms (5) are respectively arranged in the front side surface (38) and the rear side surface (39).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911117754.4A CN110920875A (en) | 2019-11-15 | 2019-11-15 | Many rotors booster-type flight wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911117754.4A CN110920875A (en) | 2019-11-15 | 2019-11-15 | Many rotors booster-type flight wall climbing robot |
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| CN110920875A true CN110920875A (en) | 2020-03-27 |
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| CN201911117754.4A Pending CN110920875A (en) | 2019-11-15 | 2019-11-15 | Many rotors booster-type flight wall climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112917483A (en) * | 2021-01-19 | 2021-06-08 | 山东大学 | Wall-climbing robot system and method for rapid nondestructive testing of concealed defects of culvert gate |
| CN114103571A (en) * | 2021-12-17 | 2022-03-01 | 江苏大亿智能科技有限公司 | Health detection and maintenance robot for bridge pier tower |
| WO2023236237A1 (en) * | 2022-06-07 | 2023-12-14 | 长沙理工大学 | Bridge detection device based on impact echo audio frequency method having wall climbing function and detection method |
| US12072298B2 (en) | 2021-01-19 | 2024-08-27 | Shandong University | Wall-climbing robot system and method for rapid nondestructive inspection of hidden defects in culverts and sluices |
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| CN114103571A (en) * | 2021-12-17 | 2022-03-01 | 江苏大亿智能科技有限公司 | Health detection and maintenance robot for bridge pier tower |
| WO2023236237A1 (en) * | 2022-06-07 | 2023-12-14 | 长沙理工大学 | Bridge detection device based on impact echo audio frequency method having wall climbing function and detection method |
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