CN114537548A - Adsorption type flying robot - Google Patents
Adsorption type flying robot Download PDFInfo
- Publication number
- CN114537548A CN114537548A CN202210210277.1A CN202210210277A CN114537548A CN 114537548 A CN114537548 A CN 114537548A CN 202210210277 A CN202210210277 A CN 202210210277A CN 114537548 A CN114537548 A CN 114537548A
- Authority
- CN
- China
- Prior art keywords
- negative pressure
- flying
- pressure cavity
- adsorption
- robot
- Prior art date
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an adsorption flying robot; the flying robot comprises a negative pressure cavity, and a flying adsorption power device, a walking device, a control device and a power supply device which are arranged in the negative pressure cavity; the negative pressure cavity is in a cavity structure with an open top, and the open end surface of the negative pressure cavity is an adsorption surface of the negative pressure cavity; the flying adsorption power device is arranged in the negative pressure cavity of the negative pressure cavity, an air inlet of the flying adsorption power device faces to the adsorption surface of the negative pressure cavity, and the end surface of the air inlet is lower than the adsorption surface of the negative pressure cavity; the flying adsorption power device rapidly extracts wind from the air inlet to the air outlet at the bottom of the negative pressure cavity, and the wind at the air outlet reversely provides thrust for the negative pressure cavity to provide rising flying power for the robot; the air of the air inlet is quickly extracted and flows to form negative pressure, so that the negative pressure of the robot is absorbed on the surface of an object needing to be operated, and the two functions of flying and negative pressure absorption of the robot are completed. The walking device is used for the robot to walk on the working surface.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an adsorption flying robot.
Background
In recent years, flying robots, particularly rotor-type unmanned planes, have also been applied to visual inspection tasks in complex fields. But unmanned aerial vehicle must keep certain safe distance when detecting, also receives the influence of natural wind, building wind easily. Often, only vision or radar can be used for long-distance non-contact detection tasks, and the detection tasks needing close-distance contact cannot be performed. For the detection task of close-distance contact, most of the detection tasks utilize an adsorption type robot to detect, and the principle of the adsorption type robot is that negative pressure adsorption is adopted, and the negative pressure adsorption has no special requirements on wall materials, but has higher requirements on the flatness of the wall; the existing negative pressure adsorption robot can basically only crawl on a continuous plane, the obstacle crossing capability is very weak, the negative pressure is reduced and the robot is unstable when encountering uneven obstacles, and the robot is difficult to flexibly move in a large range.
Therefore, in order to solve the above problems, there is an urgent need in the art for an adsorption flying robot.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide an adsorption type flying robot, and solves the technical problems that an existing unmanned aerial vehicle is difficult to adsorb a target object in a parked close range when performing task operation, and the existing adsorption robot is weak in obstacle crossing capability and difficult to move flexibly in a large range.
(II) technical scheme
In order to solve the technical problem, the invention provides an adsorption type flying robot which comprises a negative pressure cavity, a flying adsorption power device, a walking device, a control device and a power supply device, wherein the negative pressure cavity is provided with a negative pressure cavity;
the negative pressure cavity is of a cavity structure with an opening at the top, and the plane where the opening end face of the negative pressure cavity is located is the adsorption face of the negative pressure cavity;
the flying adsorption power device is arranged in the negative pressure cavity of the negative pressure cavity, an air inlet of the flying adsorption power device faces to the adsorption surface of the negative pressure cavity, and the end surface of the air inlet of the flying adsorption power device is lower than the adsorption surface of the negative pressure cavity; the air outlet of the flying adsorption power device is positioned at the bottom of the negative pressure cavity, and the air outlet of the flying adsorption power device penetrates through the bottom of the negative pressure cavity;
a walking device is arranged in the negative pressure cavity of the negative pressure cavity body so that the robot can move and walk on the operation surface during the adsorption operation;
the flying adsorption power device and the walking device are respectively connected with the control device, and the control device controls the operation of the flying adsorption power device and the walking device;
and the power supply device is connected with the control device and used for supplying power to the control device, the flying adsorption power device and the walking device.
Further, the flying adsorption power device is a ducted fan.
Furthermore, the ducted fans are arranged in the negative pressure cavity in a centrosymmetric mode.
Furthermore, the end face of the air inlet of the ducted fan is 10-30mm lower than the adsorption face of the negative pressure cavity.
Furthermore, the control device comprises a flight control unit and a remote control unit, wherein the flight control unit is used for controlling the adsorption flight of the adsorption flying robot, and the remote control unit is used for wirelessly controlling the adsorption flying robot.
Furthermore, the remote control unit comprises a remote control system and a remote controller, the remote control system is arranged in the negative pressure cavity of the negative pressure cavity, and the remote control system is connected with the flight control unit; the remote controller is wirelessly connected with the remote control system; the remote controller transmits an instruction to the controller through the remote control system, and the adsorption type flying robot is remotely controlled in a wireless mode.
Further, the walking device comprises a fixed seat, a walking motor and walking wheels;
the fixing base sets up in the position that is close to the chamber wall in the negative pressure cavity, and the fixing base has the installation cavity, and the link of walking motor sets up in the installation cavity, and the output of walking motor is connected the walking wheel.
Furthermore, the walking device also comprises a buffer structure, and the buffer structure is arranged in the installation cavity; one end of the buffer structure is abutted against the bottom surface of the mounting cavity, and the other end of the buffer structure is abutted against the traveling motor; the buffer is used for buffering when the walking motor and the walking wheels are attached to the working face.
Furthermore, the buffer structure comprises a first elastic buffer piece and a second elastic buffer piece which are connected up and down;
the upper end butt walking motor's of first elastomer bolster link, the bottom of the lower extreme butt installation cavity of second elastomer bolster.
Further, the first elastomeric dampener is a spring; the second elastomer buffer part is made of foaming material, or the second elastomer buffer part is made of elastomer made of one or more of rubber, latex, EVA, ACF (artificial cartilage material), ABR (plastic material), EPS and XRD (X-ray diffraction) material;
or the first elastomer buffer part is an elastomer made of a foaming material, or the first elastomer buffer part is an elastomer made of one or more of rubber, latex, EVA, ACF, ABR, EPS and XRD materials; the second elastomeric dampener is a spring.
(III) advantageous effects
The technical scheme of the invention has the following advantages:
according to the adsorption type flying robot, the negative pressure cavity is of a cavity structure with an opening at the top, and the plane where the opening end face of the negative pressure cavity is located is the adsorption face of the negative pressure cavity; the flying adsorption power device and the walking device are respectively connected with the control device; the flying adsorption power device is arranged in the negative pressure cavity of the negative pressure cavity, an air inlet of the flying adsorption power device faces to the adsorption surface of the negative pressure cavity, and the end surface of the air inlet of the flying adsorption power device is lower than the adsorption surface of the negative pressure cavity; the air outlet of the flying adsorption power device is positioned at the bottom of the negative pressure cavity, and the air outlet of the flying adsorption power device penetrates through the bottom of the negative pressure cavity. Under the control action of the control device, the flying adsorption power device rapidly extracts wind from the air inlet to the air outlet at the bottom of the negative pressure cavity, and the wind from the air outlet reversely provides thrust for the negative pressure cavity to provide ascending flying power for the robot; the air (airflow) at the air inlet is rapidly extracted and flows to form negative pressure of the suction surface of the negative pressure cavity, the negative pressure of the robot is absorbed on the surface of an object needing to be operated, the robot is enabled to closely contact and execute related tasks on the surface needing to be operated, and two functions of flying and negative pressure absorption of the robot are perfectly applied.
After the adsorption type flying robot disclosed by the invention is adsorbed, the control device can also control the power of the flying adsorption power device to maintain the negative pressure of the adsorption surface of the negative pressure cavity and keep the continuous adsorption capacity of the robot, when the robot is interfered and the negative pressure is reduced, the controller controls and improves the power of the flying adsorption power device, and can also accelerate the rapid flow of wind to improve the negative pressure of the adsorption surface of the negative pressure cavity, so that the original posture of the robot is kept unchanged, and the robot is ensured to be adsorbed on a plane required to operate stably as usual. The walking device is arranged in the negative pressure cavity of the negative pressure cavity body, so that the robot can move and walk on the operation surface during adsorption operation, and the walking device can accurately adjust the operation direction of the robot and control the robot to move to a position to be operated on the operation plane under the control of the control device, so as to perform operation tasks.
Drawings
FIG. 1 is a schematic view of a structural axis of an adsorption type flying robot according to the present invention;
FIG. 2 is a schematic top view of the structure of the adsorption flying robot in FIG. 1;
FIG. 3 is a schematic view of the traveling apparatus of FIG. 1;
in the figure: 1. ducted fan, 2, power supply unit, 3, running gear, 3.1, fixing base, 3.2, second elastomer bolster, 3.3, first elastomer bolster, 3.4, walking motor, 3.5, walking wheel, 4, flight control unit, 5, negative pressure cavity, 5.1, negative pressure cavity, 6, remote control unit, 7, sealed guard ring.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 3, the invention provides an adsorption type flying robot, which comprises a negative pressure cavity 5, a flying adsorption power device, a walking device 3, a control device and a power supply device 2; the flying adsorption power device and the walking device are respectively connected with the control device, and the control device controls the operation of the flying adsorption power device and the walking device; and the power supply device is connected with the control device and used for supplying power to the control device, the flying adsorption power device and the walking device.
The negative pressure cavity is of a cavity structure with an opening at the top, and the plane where the opening end face of the negative pressure cavity is located is the adsorption face of the negative pressure cavity; the flying adsorption power device is arranged in a negative pressure cavity 5.1 of the negative pressure cavity 5, an air inlet of the flying adsorption power device faces to an adsorption surface of the negative pressure cavity, and the end surface of the air inlet of the flying adsorption power device is lower than the adsorption surface of the negative pressure cavity; the air outlet of the flying adsorption power device is positioned at the bottom of the negative pressure cavity, and the air outlet of the flying adsorption power device penetrates through the bottom of the negative pressure cavity.
Under the control action of the control device, the flying adsorption power device rapidly extracts wind from the air inlet to the air outlet at the bottom of the negative pressure cavity, and the wind from the air outlet reversely provides thrust for the negative pressure cavity to provide ascending flying power for the robot; wind (airflow) at the air inlet is rapidly extracted and flows to form negative pressure of the suction surface of the negative pressure cavity, so that the negative pressure of the robot is absorbed on the surface of an object needing to be operated, and the robot can closely contact and execute related tasks on the surface needing to be operated; the robot has two functions of flying and negative pressure adsorption.
After the adsorption type flying robot disclosed by the invention is adsorbed, the control device can also control the power of the flying adsorption power device to maintain the negative pressure of the adsorption surface of the negative pressure cavity and keep the continuous adsorption capacity of the robot, when the robot is interfered and the negative pressure is reduced, the controller controls and improves the power of the flying adsorption power device, and can also accelerate the rapid flow of wind to improve the negative pressure of the adsorption surface of the negative pressure cavity, so that the original posture of the robot is kept unchanged, and the robot is ensured to be adsorbed on a plane required to operate stably as usual. A walking device is arranged in the negative pressure cavity of the negative pressure cavity body so that the robot can move and walk on the operation surface during the adsorption operation; the walking device can accurately adjust the working direction of the robot and control the robot to move to a position to be operated on a working plane under the control of the control device so as to carry out a working task.
As some alternative embodiments, the flying adsorption power device is a ducted fan 1. The plurality of ducted fans are arranged in the negative pressure cavity in a centrosymmetric mode. The central symmetry arrangement mode enables the ducted fans to be uniformly distributed in the negative pressure cavity, so that the weight of the robot is well balanced, and meanwhile, the ducted fans can not cause the unbalance of the ascending power of the robot and the unbalance of the negative pressure of the suction surface of the negative pressure cavity when operating together; guarantee that the robot can fly steadily and have stable negative pressure and adsorb.
Preferably, the negative pressure cavity is of an open square cavity structure, the number of the ducted fans is four, and the four ducted fans are respectively arranged at four corners of the square cavity. The ducted fans at the four corners well meet the symmetrical arrangement, and meanwhile, the power source of the ducted fan is far away from the center of the negative pressure cavity, so that the rotational inertia of the robot is reduced.
The end surface of the air inlet of the ducted fan is 10-30mm lower than the adsorption surface of the negative pressure cavity; preferably 20 mm; the end surface of the air inlet is slightly lower than the adsorption surface of the negative pressure cavity, air inlet of the ducted fan is not influenced, airflow on the open end surface of the negative pressure cavity is sucked to the air outlet of the ducted fan at the bottom of the negative pressure cavity through the air inlet of the ducted fan and is extracted out, and the air at the air outlet reversely provides thrust for the negative pressure cavity to provide ascending flying power for the robot; the air at the air inlet flows rapidly to form negative pressure of the adsorption surface of the negative pressure cavity, so that the negative pressure of the robot is adsorbed on the surface of an object to be operated; make the absorption formula robot of this application perfect under the operation of duct fan accomplish two functions of flight and negative pressure absorption.
As some possible embodiments, the control device includes a flight control unit 4 and a remote control unit 6, the flight control unit is used for controlling the adsorption flight of the adsorption flying robot, and the remote control unit is used for wireless remote control of the adsorption flying robot. Preferably, the remote control unit comprises a remote control system and a remote controller, the remote control system is arranged in the negative pressure cavity of the negative pressure cavity, and the remote control system is connected with the flight control unit; the remote controller is wirelessly connected with the remote control system; the remote controller transmits an instruction to the controller through the remote control system, and the adsorption type flying robot is remotely controlled in a wireless mode.
The adsorption type flying robot is controlled to operate by an operator through the flying control unit, and the adsorption type flying robot is wirelessly remotely controlled by the operator through a handheld remote controller, so that the control operation is simple and convenient; and meanwhile, the multi-mode control flight of the robot is realized.
Further, the power supply device comprises a battery pack power supply, and the battery pack power supply is connected with the controller; the battery pack power supply is a lithium battery pack power supply or a storage battery pack power supply. The flight control unit is a PLC programmable controller or a single chip controller or other chip controllers, and a flight control system is arranged in each controller.
The power supply device is arranged at the center of the bottom of the negative pressure cavity; the flight control unit and the remote control unit are symmetrically arranged on two sides of the power supply device and are positioned at the bottom of the negative pressure cavity; the power supply with heavy weight of the power supply device is arranged in the center and all the parts in the negative pressure cavity are symmetrically and uniformly arranged, so that the rotary inertia of the robot is effectively reduced, the difficulty in controlling the robot to turn and turn in the air is reduced, and meanwhile, the robot can fly stably in the air and can fly in the air.
As some possible embodiments, the walking device comprises a fixed seat 3.1, a walking motor 3.4 and walking wheels 3.5; the fixing base sets up in the position that is close to the chamber wall in the negative pressure cavity, and the fixing base has the installation cavity, and the link of walking motor sets up in the installation cavity, and the output of walking motor is connected the walking wheel. The walking motor drives the walking wheels to rotate so as to enable the robot to move and walk on the operation surface during the adsorption operation; under a normal state, the highest point of the outer edge of a walking wheel of the walking device is 1-5mm, preferably 3mm higher than the adsorption surface of the negative pressure cavity; the height gap is slightly higher than the adsorption surface of the negative pressure cavity, so that the adsorption capacity of the adsorption surface of the negative pressure cavity is not influenced greatly (the adsorption surface leaks air due to the overlarge gap and the difficulty in maintaining the negative pressure state of the adsorption surface is increased); meanwhile, the robot can move and walk on the surface needing to operate, the operation direction of the robot is accurately adjusted, and the robot is controlled to move to a position to be operated to perform an operation task; further, the work can be moved (while moving).
As some optional embodiments, the walking device further comprises a buffer structure, and the buffer structure is arranged in the installation cavity; one end of the buffer structure is abutted against the bottom surface of the mounting cavity, and the other end of the buffer structure is abutted against the traveling motor; the buffer is used for buffering when the walking motor and the walking wheels are attached to the working face.
Further, the buffering structure comprises a first elastomer buffering part 3.3 and a second elastomer buffering part 3.2 which are connected up and down; the upper end butt walking motor's of first elastomer bolster link, the bottom of the lower extreme butt installation cavity of second elastomer bolster.
Preferably, the first elastomeric dampener is a spring; the second elastic buffer is made of foaming material. The foaming material is any one or more of foaming nitrile, foaming silica gel or foaming ethylene propylene diene monomer.
When the adsorption type flying machine needs to be adsorbed and parked on the operation plane, the impact force generated on the operation plane directly acts on the walking device firstly. The impact force is transmitted to the first elastic body buffer piece-spring through the traveling wheel, the spring buffers the high-frequency impact force of the robot, but the impact kinetic energy of the robot cannot be absorbed; but when the spring compressed to certain extent, second elastomer bolster ~ foam elastomer can continue to cushion the low frequency impact force of robot, and this elastomer is made by foam, absorbs robot impact kinetic energy when the compression to reduce the vibration that produces after the robot receives the impact force, increase adsorption stability, make the robot can be reliable and stable adsorb on the operation plane.
As some possible embodiments, a limiting step is arranged in the mounting cavity, the limiting step is of an annular structure, and the limiting part is used for limiting the movement of the walking motor; the limiting step divides the mounting cavity into a first mounting cavity and a second mounting cavity; the diameter of the first mounting cavity is larger than that of the connecting end of the walking motor, and the diameter of the connecting end of the walking motor is larger than that of the second mounting cavity; the connecting end of the walking motor is slidably inserted into the first mounting cavity, and the connecting end of the walking motor is abutted with the first elastomer buffer piece-spring; the free end of the second elastic body buffer piece-foaming material elastic body is arranged on the bottom surface in the second mounting cavity and is abutted against the bottom of the second mounting cavity.
The walking wheel receives to drive the walking motor and together follow first installation cavity compression removal after assaulting, and the robot is received to the same buffering of spring and expanded material elastomer and assaults, and spacing step restriction walking wheel and walking motor's removal stroke prevents the excessive compression of spring and expanded material elastomer, further cushions the impact force that reduces the robot, the gesture of fast and stable robot.
Preferably, the connecting end of the walking motor is also provided with a connecting block, the connecting block is arranged at the central part of the bottom of the connecting end of the walking motor, the connecting block is a cylindrical block, the cylindrical block is inserted in the spring, and the cylindrical block is stably compressed and buffered along with the spring and the foaming material elastomer; meanwhile, due to the existence of the cylindrical block, a second step matched with the limiting step is formed at the bottom of the connecting end of the walking motor, and when the walking motor slides to the limiting step in a buffering mode, the second step is in clamping contact with the limiting step, and the second step is matched with the limiting step in a satisfactory limiting buffering mode.
Further, first elastic buffer can also select rubber spring etc. and the second elastic buffer still can adopt: including but not limited to elastomers made from one or more of rubber, latex, EVA, ACF (artificial cartilage material), ABR (plastic material), EPS, and XRD materials.
In another embodiment, the first elastomer buffer is an elastomer made of a foam material, or the first elastomer buffer is an elastomer made of one or more of rubber, latex, EVA, ACF, ABR, EPS and XRD materials; the second elastomeric dampener is a spring. The damping performance of this embodiment is less than that of the first elastomer damper which is a spring, but is better than that of the conventional spring-only damper.
As some possible embodiments, the walking device is multiple pieces, and the multiple pieces of walking devices are arranged close to the side wall of the negative pressure cavity in a centrosymmetric mode. Preferably, the number of the walking devices is four, the four walking devices are respectively arranged on four sides of the square cavity in a centrosymmetric mode, and the fixed seat of each walking device is connected to the bottom of the square cavity. According to the device, all functional components are uniformly distributed at the bottom of the negative pressure cavity, so that the space is greatly saved, and the overall dimension of the robot is reduced; meanwhile, all functional components in the negative pressure cavity are symmetrically and uniformly arranged, so that the gravity center balance of the robot is satisfied, the rotational inertia of the robot can be reduced, and the robot can realize complicated flying operations such as air overturning.
Preferably, this application device still includes sealed guard ring 7, and sealed guard ring sets up on the uncovered terminal surface of negative pressure cavity, and the height that sealed guard ring is located the uncovered terminal surface profile of negative pressure cavity is slightly lower or equals than the height of walking wheel outward flange peak, and sealed guard ring can strengthen negative pressure chamber adsorption face sealing effect on the one hand, maintains the negative pressure state of negative pressure chamber adsorption face, and on the other hand, when the operation plane is parked in the negative pressure absorption, can cushion protection negative pressure cavity, prevents that negative pressure cavity terminal surface collision is impaired.
The application discloses adsorption type robot can carry the platform as special type robot, can carry on sensor and other actuating mechanism on it, realizes that sensor and other actuating mechanism carry out corresponding operation in the environment that the people is difficult to reach. The sensors include visual sensors including but not limited to cameras and measurement sensors including but not limited to laser sensors, displacement sensors, pressure sensors, temperature sensors, infrared sensors and radar sensors; other actuators include, but are not limited to, a measuring device for performing a task by the robot, a spraying device for performing a spraying operation by the robot, and a cleaning device for performing a cleaning operation by the robot.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An adsorption type flying robot is characterized by comprising a negative pressure cavity, a flying adsorption power device, a walking device, a control device and a power supply device;
the negative pressure cavity is of a cavity structure with an opening at the top, and the plane where the opening end face of the negative pressure cavity is located is the adsorption face of the negative pressure cavity;
the flying adsorption power device is arranged in the negative pressure cavity of the negative pressure cavity, an air inlet of the flying adsorption power device faces to the adsorption surface of the negative pressure cavity, and the end surface of the air inlet of the flying adsorption power device is lower than the adsorption surface of the negative pressure cavity; the air outlet of the flying adsorption power device is positioned at the bottom of the negative pressure cavity, and the air outlet of the flying adsorption power device penetrates through the bottom of the negative pressure cavity;
a walking device is arranged in the negative pressure cavity of the negative pressure cavity body so that the robot can move and walk on the operation surface during the adsorption operation;
the flying adsorption power device and the walking device are respectively connected with the control device, and the control device controls the operation of the flying adsorption power device and the walking device;
and the power supply device is connected with the control device and used for supplying power to the control device, the flying adsorption power device and the walking device.
2. The absorption flying robot of claim 1, wherein said flying absorption power device is a ducted fan.
3. The absorption flying robot of claim 2, wherein a plurality of ducted fans are arranged in the negative pressure cavity in a centrosymmetric manner.
4. The absorption flying robot of claim 3, wherein the end surface of the air inlet of the ducted fan is 10-30mm lower than the absorption surface of the negative pressure cavity.
5. The absorption flying robot according to any one of claims 1 to 4, wherein the control device comprises a flight control unit and a remote control unit, the flight control unit is used for controlling the absorption flying of the absorption flying robot, and the remote control unit is used for wirelessly controlling the absorption flying robot.
6. The adsorption flying robot of claim 5, wherein the remote control unit comprises a remote control system and a remote controller, the remote control system is arranged in the negative pressure cavity of the negative pressure cavity, and the remote control system is connected with the flying control unit; the remote controller is wirelessly connected with the remote control system; the remote controller transmits an instruction to the controller through the remote control system, and the adsorption type flying robot is remotely controlled in a wireless mode.
7. The absorption flying robot of claim 1, wherein the walking device comprises a fixed seat, a walking motor and walking wheels;
the fixing base sets up in the position that is close to the chamber wall in the negative pressure cavity, and the fixing base has the installation cavity, and the link of walking motor sets up in the installation cavity, and the output of walking motor is connected the walking wheel.
8. The absorption flying robot of claim 7, wherein the walking device further comprises a buffer structure, and the buffer structure is arranged in the installation cavity; buffer structure one end butt installation cavity bottom surface, the buffer structure other end butt walking motor.
9. The suction type flying robot of claim 8, wherein the buffer structure comprises a first elastomer buffer and a second elastomer buffer which are connected up and down;
the upper end butt walking motor's of first elastomer bolster link, the bottom of the lower extreme butt installation cavity of second elastomer bolster.
10. The suction flying robot of claim 9, wherein the first elastomeric bumper is a spring; the second elastomer buffer part is made of foaming material, or the second elastomer buffer part is made of elastomer made of one or more of rubber, latex, EVA, ACF (artificial cartilage material), ABR (plastic material), EPS and XRD (X-ray diffraction) material;
or the first elastomer buffer part is an elastomer made of a foaming material, or the first elastomer buffer part is an elastomer made of one or more of rubber, latex, EVA, ACF, ABR, EPS and XRD materials; the second elastomeric dampener is a spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210210277.1A CN114537548A (en) | 2022-03-04 | 2022-03-04 | Adsorption type flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210210277.1A CN114537548A (en) | 2022-03-04 | 2022-03-04 | Adsorption type flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114537548A true CN114537548A (en) | 2022-05-27 |
Family
ID=81661125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210210277.1A Pending CN114537548A (en) | 2022-03-04 | 2022-03-04 | Adsorption type flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114537548A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115402439A (en) * | 2022-09-15 | 2022-11-29 | 哈尔滨工业大学重庆研究院 | L-shaped adsorption type flying robot and adsorption method thereof |
| CN115402438A (en) * | 2022-09-15 | 2022-11-29 | 哈尔滨工业大学重庆研究院 | Self-regulation adsorption type flying robot and adsorption method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480317A (en) * | 2016-01-18 | 2016-04-13 | 重庆交通大学 | Robot for working on vertical surface of building |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN106945739A (en) * | 2017-02-13 | 2017-07-14 | 上海大学 | A kind of barrier-crossing wall-climbing robot with wall translation function |
| JP6178949B1 (en) * | 2016-04-19 | 2017-08-09 | 株式会社プロドローン | Unmanned aerial vehicle |
| CN214930212U (en) * | 2021-07-21 | 2021-11-30 | 南昌航空大学 | Carry on wall climbing device on wall climbing robot |
| CN113844221A (en) * | 2021-09-26 | 2021-12-28 | 西北工业大学 | Amphibious three-modal flying adsorption wall-climbing robot and control method |
-
2022
- 2022-03-04 CN CN202210210277.1A patent/CN114537548A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480317A (en) * | 2016-01-18 | 2016-04-13 | 重庆交通大学 | Robot for working on vertical surface of building |
| JP6178949B1 (en) * | 2016-04-19 | 2017-08-09 | 株式会社プロドローン | Unmanned aerial vehicle |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN106945739A (en) * | 2017-02-13 | 2017-07-14 | 上海大学 | A kind of barrier-crossing wall-climbing robot with wall translation function |
| CN214930212U (en) * | 2021-07-21 | 2021-11-30 | 南昌航空大学 | Carry on wall climbing device on wall climbing robot |
| CN113844221A (en) * | 2021-09-26 | 2021-12-28 | 西北工业大学 | Amphibious three-modal flying adsorption wall-climbing robot and control method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115402439A (en) * | 2022-09-15 | 2022-11-29 | 哈尔滨工业大学重庆研究院 | L-shaped adsorption type flying robot and adsorption method thereof |
| CN115402438A (en) * | 2022-09-15 | 2022-11-29 | 哈尔滨工业大学重庆研究院 | Self-regulation adsorption type flying robot and adsorption method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114537548A (en) | Adsorption type flying robot | |
| CN103192987B (en) | Amphibious robot capable of flying and climbing wall and control method of amphibious robot | |
| CN114379775B (en) | Anticollision buffering adherence flying robot | |
| CN114313052B (en) | Leg and foot module capable of self-locking and robot | |
| CN110901938A (en) | Unmanned aerial vehicle charging base station | |
| CN112937713A (en) | Composite wall-climbing robot and control method thereof | |
| CN110758042A (en) | Self-balancing moving platform and self-balancing moving method | |
| CN112357047A (en) | Unmanned aerial vehicle with telescopic arm variable rotor wing | |
| CN113232848A (en) | Unmanned aerial vehicle with damping device | |
| CN203324818U (en) | Intelligent automatically-wall-switching robot based on multisensor fusion technology | |
| CN217074792U (en) | High stability flying robot | |
| CN218703581U (en) | Self-regulation adsorption type flying robot | |
| CN209305826U (en) | A kind of culvert vertical take-off and landing unmanned aerial vehicle | |
| CN109176459B (en) | Multifunctional adsorption type mobile platform | |
| CN111959742A (en) | Wheel and duct shared air-ground unmanned vehicle | |
| CN218877433U (en) | Novel adsorption type flying robot | |
| CN213768964U (en) | Obstacle avoidance unmanned aerial vehicle | |
| CN212447843U (en) | Multi-cavity rotational flow adsorption type wall climbing vehicle | |
| CN109606025A (en) | A kind of robot chassis | |
| CN105144989B (en) | The damping tea picking machine of processor module control and the method for work of the amortisseur of employing thereof | |
| CN108927810B (en) | Vacuum adsorption type substation indoor detection robot and method | |
| CN218806211U (en) | L-shaped adsorption type flying robot walking mechanism | |
| CN216833091U (en) | Buffer device of flying robot walking mechanism | |
| CN217753930U (en) | Traveling mechanism | |
| CN216994617U (en) | Negative pressure adsorption structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |