CN111591095A - Multi-rotor flying wall-climbing robot capable of perching - Google Patents

Multi-rotor flying wall-climbing robot capable of perching Download PDF

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Publication number
CN111591095A
CN111591095A CN202010312381.2A CN202010312381A CN111591095A CN 111591095 A CN111591095 A CN 111591095A CN 202010312381 A CN202010312381 A CN 202010312381A CN 111591095 A CN111591095 A CN 111591095A
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CN
China
Prior art keywords
robot
wall
function
propeller
driving device
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010312381.2A
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Chinese (zh)
Inventor
付国强
马梦
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Beijing Jiaotong University
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Beijing Jiaotong University
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Application filed by Beijing Jiaotong University filed Critical Beijing Jiaotong University
Priority to CN202010312381.2A priority Critical patent/CN111591095A/en
Publication of CN111591095A publication Critical patent/CN111591095A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F5/00Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
    • B60F5/02Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00Type of UAV
    • B64U10/10Rotorcrafts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00UAVs specially adapted for particular uses or applications

Abstract

The invention discloses a multi-rotor flying wall-climbing robot capable of perching, which comprises a robot body, a rotor mechanism, a wheel mechanism, an adsorption mechanism and a transmission mechanism, wherein the wheel mechanism comprises a travelling wheel and a first driving device, and the first driving device drives the travelling wheel to rotate so as to realize the travelling function of the robot; the rotor wing mechanism comprises a propeller and a second driving device, and the second driving device drives the propeller to rotate so as to realize the flying function of the robot; the transmission mechanism is used for driving the propeller to tilt, and when the propeller tilts to be parallel to the wall, the wall climbing function of the robot can be realized; the suction mechanism comprises a suction disc and a third driving device, the third driving device drives the suction disc to tilt, and when the suction disc tilts to be perpendicular to a wall or a ceiling, the inhabitation function of the robot can be realized. The flying wall-climbing robot can realize the wall-climbing function and the flying function, can perform quick conversion between the wall-climbing function and the flying function, and has high reliability and strong stability.

Description

Multi-rotor flying wall-climbing robot capable of perching
Technical Field
The invention relates to the field of robots, in particular to a multi-rotor flying wall-climbing robot capable of perching.
Background
In modern military, with the small-scale integration development of modern war, the urban battle is more and more common. The urban area has complex geographic environment, dense, tall and firm buildings, and the characteristics of the urban area environment make reconnaissance tasks difficult and dangerous. The flying wall-climbing robot has good moving, obstacle-crossing and operating functions and certain load capacity, so that the flying wall-climbing robot is widely applied to modern military.
However, the existing flying wall-climbing robot still has the following disadvantages:
(1) the existing flying wall-climbing robot has high requirement on control precision, and the smooth wall-climbing and flying switching function is not easy to realize.
(2) The existing flying wall-climbing robot has insufficient adaptability to the wall surface or can only inhabit on a specific object, for example, the wall-climbing robot depending on magnetic adsorption can only be adsorbed on the steel wall surface.
(3) Conventional flying platforms cannot collide with obstacles because the disturbance generated by the collision disturbs the rotation of the propeller and may even cause amphibious direct falls of the flying wall.
In view of the disadvantages of the prior art, a technical problem to be solved by those skilled in the art is how to design and develop a flying wall-climbing robot that can fly in a free space and climb a wall surface and can switch between a flying mode and a wall surface adsorption mode.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a perching multi-rotor flying wall-climbing robot.
The technical scheme adopted by the invention for solving the problems is as follows:
the utility model provides a many rotors that can perch flight wall climbing robot, includes the fuselage and sets up rotor mechanism, wheel mechanism, adsorption apparatus construct and drive mechanism on the fuselage, wherein:
the wheel mechanism comprises a travelling wheel and a first driving device, and the first driving device drives the travelling wheel to rotate so as to realize the travelling function of the robot;
the rotor wing mechanism comprises a propeller and a second driving device, and the second driving device drives the propeller to rotate so as to realize the flight function of the robot;
the transmission mechanism is used for driving the propeller to tilt, and when the propeller tilts to be parallel to the wall, the wall climbing function of the robot can be realized.
Adsorption equipment includes sucking disc and third drive arrangement, the drive of third drive arrangement the sucking disc verts, works as the sucking disc is inclined to when perpendicular with wall or ceiling, can realize the function of perching of robot.
According to the flying wall-climbing robot, the flying function of the robot can be realized by arranging the rotor wing mechanism; by arranging the transmission mechanism, when the propeller inclines to be parallel to the wall, the aerodynamic force generated by the rotation of the propeller can generate a certain adsorption effect on the wall or a ceiling, so that the wall climbing function of the robot is realized, and the flight function and the wall climbing function can be quickly and freely switched; in addition, through setting up adsorption apparatus structure, when the robot crawled on vertical wall or ceiling, accessible adsorption apparatus structure adsorbs and stops on corresponding wall to produced energy consumption when having practiced thrift the robot flight.
Furthermore, the wheel mechanism comprises at least two symmetrically arranged running wheels and two first driving devices, and the rotating speed of one driving device when driving one running wheel to rotate is different from the rotating speed of the other driving device when driving the other running wheel to rotate, so that the steering function of the robot is realized.
Therefore, the two traveling wheels are driven to generate differential speed, so that the robot can steer in the wall climbing process and the ground walking process, and the flexibility is good.
Further, the height dimension of the road wheels is larger than the height dimension of the propeller.
From this, set the height dimension of driving wheel to being greater than the height dimension of screw, can play certain parcel effect to the fuselage to lead to the damage of spare part when reducing the robot and external the emergence collision.
Further, the rotor mechanism further includes a protective cover for covering the propeller.
Therefore, the protective cover can protect the robot when the robot collides with the outside.
Further, the transmission mechanism comprises a first connecting rod connected with the propeller and a belt transmission device for driving the first connecting rod to rotate.
Further, the third driving device comprises a second connecting rod connected with the sucker and a gear transmission device for driving the second connecting rod to rotate.
Furthermore, the sucking disc is vacuum chuck, be equipped with on the fuselage and be used for providing vacuum chuck provides the vacuum pump of adsorption affinity.
Further, the fuselage includes the bottom plate and connects the fuselage connecting piece of bottom plate both sides, the driving wheel is installed on the fuselage connecting piece.
Furthermore, a camera is arranged on the bottom plate to realize the exploration function of the robot.
Furthermore, a lithium battery and a lithium battery fixing band used for fixing the lithium battery are further arranged on the bottom plate.
Therefore, the lithium battery supplies power to the driving device in the robot, and normal work of the robot is guaranteed.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the flying wall-climbing robot, the flying function of the robot can be realized by arranging the rotor wing mechanism; through setting up drive mechanism, when the screw incline to when parallel with the wall, the aerodynamic force of the rotatory production through the screw can produce certain adsorption to wall or ceiling to realize the wall climbing function of robot, and this flight function can freely switch over fast with the wall climbing function, the reliability is high, stability is strong. In addition, through setting up adsorption apparatus structure, when the robot crawled on vertical wall or ceiling, accessible adsorption apparatus structure adsorbs and stops on corresponding wall to produced energy consumption when having practiced thrift the robot flight.
(2) The flying wall-climbing robot provided by the invention has the advantages that the two traveling wheels are driven to generate differential speed, so that the robot can steer in the wall-climbing process and the ground walking process, and the flexibility is good.
(3) According to the flying wall-climbing robot, the height of the travelling wheel is set to be larger than that of the propeller, so that a certain wrapping effect on the robot body can be achieved, and damage to parts caused by collision between the robot and the outside is reduced.
Drawings
FIG. 1 is a top view of the flying wall-climbing robot of the present invention;
FIG. 2 is a schematic structural diagram of the flying wall-climbing robot of the present invention;
FIG. 3 is a schematic structural view of the flying wall-climbing robot of the present invention with the top plate removed;
fig. 4 is a schematic view of the structure of the rotor mechanism and the transmission mechanism.
Wherein the reference numerals have the following meanings:
1. a body; 11. a base plate; 12. a fuselage connection; 2. a rotor mechanism; 21. a propeller; 22. a second driving device; 23. a protective cover; 3. a wheel mechanism; 31. a road wheel; 32. a first driving device; 4. an adsorption mechanism; 41. a suction cup; 42. a second link; 43. a second connecting rod fixing band; 44. a first gear; 45. a second gear; 46. a second motor; 47. a second motor fixing band; 48. a vacuum pump; 5. a transmission mechanism; 51. a first link; 52. a first pulley; 53. a second pulley; 54. a conveyor belt; 55. a first motor; 56. a first motor fixing band; 6. a camera; 71. a lithium battery; 72. fixing bands of lithium batteries; 81. a top pillar; 82. a top plate.
Detailed Description
For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1-4, the invention provides a perching multi-rotor flying wall-climbing robot, comprising a body 1, wherein the body 1 comprises a bottom plate 11 and body connecting pieces 12 connected to the front side and the rear side of the bottom plate 11. Be equipped with four fore-set 81 that are square and arrange on this bottom plate 11, be equipped with roof 82 on this fore-set 81, one side of this roof 82 is equipped with camera 6, can realize the exploration function of robot through setting up camera 6.
The robot also comprises a wheel mechanism 3, wherein the wheel mechanism 3 comprises a row wheel 31 arranged on the body connecting piece 12 and a first driving device 32 for driving the row wheel 31 to rotate, and the first driving device 32 drives the row wheel 31 to rotate so as to realize the walking function of the robot.
In this embodiment, the traveling wheels 31 are four and are symmetrically disposed two by two on the body connecting member 12. The first driving device 32 is a wheel motor, and has two. The two wheel motors drive two rows of wheels 31 arranged in a diagonal line, respectively.
In addition, the rotation speed of the wheel motor driving the running wheel 31 is different from the rotation speed of the other wheel motor driving the other running wheel 31, thereby realizing the steering function of the robot.
In addition, the robot further comprises a rotor mechanism 2, wherein the rotor mechanism 2 comprises a propeller 21 and a second driving device 22 for driving the propeller 21 to rotate, and the second driving device 22 drives the propeller 21 to rotate so as to realize the flying function of the robot.
In the present embodiment, there are four propellers 21, and two propellers are symmetrically arranged. The second drive means 22 is a rotor motor.
In addition, the height dimension of the travelling wheel 31 in the robot is larger than that of the propeller 21, so that a certain wrapping effect on the body 1 can be achieved, and damage to parts caused by collision of the robot with the outside is reduced.
In addition, the rotor mechanism 2 includes a protective cover 23 for covering the propeller 21. Thus, the protective cover 23 can protect the robot from collision with the outside.
In addition, the robot further comprises a transmission mechanism 5, the transmission mechanism 5 comprises a first connecting rod 51 connected with the propeller 21 and a belt transmission device for driving the first connecting rod 51 to rotate, the belt transmission device comprises a first belt wheel 52, a second belt wheel 53, a conveying belt 54 for connecting the first belt wheel 52 with the second belt wheel 53, a first motor 55 for driving the first belt wheel 52 to rotate and a first motor fixing belt 56 for fixing the first motor 55, and the second belt wheel 53 is sleeved on the first connecting rod 51.
In this embodiment, the first motor 55 is mounted on the base plate 11.
Therefore, when the belt transmission device drives the propeller 21 to incline to be parallel to the wall, the aerodynamic force generated by the rotation of the propeller 21 can generate a certain adsorption effect on the wall or the ceiling, thereby realizing the wall climbing function of the robot.
In addition, the robot further includes a suction mechanism 4, the suction mechanism 4 includes a suction cup 41 and a third driving device, the third driving device includes a second link 42 connected to the suction cup 41 and a gear transmission device for driving the second link 42 to rotate, the gear transmission device includes a second link fixing belt 43 for fixing the second link 42, a first gear 44, a second gear 45 engaged with the first gear 44, a second motor 46 for driving the first gear 44 to rotate, and a second motor fixing belt 47 for fixing the second motor 46. The second gear 45 is fitted to the second link 42.
Thus, when the third driving device drives the suction cup 41 to tilt and the suction cup 41 is tilted to be perpendicular to the wall or the ceiling, the robot can be perched by the suction of the suction cup 41.
In this embodiment, the second link 42 is mounted on the base plate 11. The two suckers 41 are symmetrically arranged at the front side and the rear side of the bottom plate 11. The suction cup 41 is a vacuum cup, and a vacuum pump 48 for providing suction force to the vacuum cup is mounted on the base plate 11.
In addition, the robot further comprises a lithium battery 71 arranged on the bottom plate 11 and a lithium battery fixing belt 72 used for fixing the lithium battery 71, and the lithium battery 71 can supply power to a driving device inside the robot, so that the normal work of the robot is guaranteed.
In conclusion, the flying wall-climbing robot can realize the flying function of the robot by arranging the rotor wing mechanism 2; through setting up drive mechanism 5, when screw 21 inclines to parallel with the wall, the aerodynamic force through the rotatory production of screw can produce certain adsorption to wall or ceiling to realize the wall climbing function of robot, and this flight function and wall climbing function can be fast freely switched over, the reliability is high, stability is strong. In addition, through setting up adsorption apparatus 4, when the robot crawled on vertical wall or ceiling, accessible adsorption apparatus adsorbs and stops on corresponding wall to produced energy consumption when having practiced thrift the robot flight.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.

Claims (10)

1. The utility model provides a many rotors flight wall climbing robot that can perch which characterized in that: including fuselage (1) and setting be in rotor mechanism (2), wheel mechanism (3), adsorption apparatus structure (4) and drive mechanism (5) on fuselage (1), wherein:
the wheel mechanism (3) comprises a travelling wheel (31) and a first driving device (32), and the first driving device (32) drives the travelling wheel (31) to rotate so as to realize the travelling function of the robot;
the rotor wing mechanism (2) comprises a propeller (21) and a second driving device (22), and the second driving device (22) drives the propeller (21) to rotate so as to realize the flying function of the robot;
the transmission mechanism (5) is used for driving the propeller (21) to tilt, and when the propeller (21) tilts to be parallel to the wall, the wall climbing function of the robot can be realized;
adsorption equipment constructs (4) including sucking disc (41) and third drive arrangement, the drive of third drive arrangement sucking disc (41) vert, works as sucking disc (41) incline to when perpendicular with wall or ceiling, can realize the function of perching of robot.
2. The robot according to claim 1, characterized in that the wheel mechanism (3) comprises at least two symmetrically arranged row wheels (31) and two first driving devices (32), and the rotation speed of one row wheel (31) driven by one first driving device (32) is different from the rotation speed of the other row wheel (31) driven by the other first driving device (32) to realize the steering function of the robot.
3. Robot according to claim 1, characterized in that the height dimension of the road wheels (31) is greater than the height dimension of the propeller (21).
4. Robot according to claim 1, characterized in that the rotor mechanism (2) further comprises a protective cover (23) for covering the propeller (21).
5. Robot according to claim 1, characterized in that the transmission mechanism (5) comprises a first link (51) connected to the propeller (21) and a belt transmission driving the first link (51) in rotation.
6. Robot according to claim 1, characterized in that the third drive means comprise a second link (42) connected to the suction cup (41) and a gear transmission driving the second link (42) in rotation.
7. Robot according to claim 6, characterized in that the suction cup (41) is a vacuum cup, and the body (1) is provided with a vacuum pump (48) for providing suction to the vacuum cup.
8. Robot according to claim 1, characterized in that the fuselage (1) comprises a base plate (11) and fuselage attachments (12) connected on both sides of the base plate (11), the road wheels (31) being mounted on the fuselage attachments (12).
9. A robot according to claim 8, characterized in that a camera (6) is arranged on the bottom plate (11) to realize the exploration function of the robot.
10. The robot according to claim 8, characterized in that a lithium battery (71) and a lithium battery fixing band (72) for fixing the lithium battery (71) are further provided on the bottom plate (11).
CN202010312381.2A 2020-04-20 2020-04-20 Multi-rotor flying wall-climbing robot capable of perching Pending CN111591095A (en)

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Application Number Priority Date Filing Date Title
CN202010312381.2A CN111591095A (en) 2020-04-20 2020-04-20 Multi-rotor flying wall-climbing robot capable of perching

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010312381.2A CN111591095A (en) 2020-04-20 2020-04-20 Multi-rotor flying wall-climbing robot capable of perching

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN115648871A (en) * 2022-11-15 2023-01-31 江苏集萃智能制造技术研究所有限公司 Rotor wing type robot for climbing in air on land

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CN105799805A (en) * 2016-05-06 2016-07-27 吉林大学 Modular flight wall-climbing robot
CN106628154A (en) * 2017-02-21 2017-05-10 云南高科新农科技有限公司 Multiple-rotor-wing unmanned aerial vehicle with double rotor wing systems
US20170275014A1 (en) * 2014-10-01 2017-09-28 Sikorsky Aircraft Corporation Rotorcraft rotor and propeller speed
CN107215389A (en) * 2017-07-20 2017-09-29 浙江国自机器人技术有限公司 A kind of mobile chassis and moving method of place crusing robot
US20180222583A1 (en) * 2017-02-07 2018-08-09 Aurora Flight Sciences Corporation UAV Booster Aircraft for Takeoff and Climb Assist
CN108974376A (en) * 2018-08-13 2018-12-11 河南师范大学 A kind of environmental improvement Real-time Feedback device
CN110614891A (en) * 2019-10-08 2019-12-27 潘佳义 Method for cross-dimension movement of flying robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170275014A1 (en) * 2014-10-01 2017-09-28 Sikorsky Aircraft Corporation Rotorcraft rotor and propeller speed
CN105799805A (en) * 2016-05-06 2016-07-27 吉林大学 Modular flight wall-climbing robot
US20180222583A1 (en) * 2017-02-07 2018-08-09 Aurora Flight Sciences Corporation UAV Booster Aircraft for Takeoff and Climb Assist
CN106628154A (en) * 2017-02-21 2017-05-10 云南高科新农科技有限公司 Multiple-rotor-wing unmanned aerial vehicle with double rotor wing systems
CN107215389A (en) * 2017-07-20 2017-09-29 浙江国自机器人技术有限公司 A kind of mobile chassis and moving method of place crusing robot
CN108974376A (en) * 2018-08-13 2018-12-11 河南师范大学 A kind of environmental improvement Real-time Feedback device
CN110614891A (en) * 2019-10-08 2019-12-27 潘佳义 Method for cross-dimension movement of flying robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN115648871A (en) * 2022-11-15 2023-01-31 江苏集萃智能制造技术研究所有限公司 Rotor wing type robot for climbing in air on land
CN115648871B (en) * 2022-11-15 2023-10-13 江苏集萃智能制造技术研究所有限公司 Rotor wing type land-air wall climbing robot

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Application publication date: 20200828