CN115027191A

CN115027191A - Multi-purpose robot capable of climbing wall

Info

Publication number: CN115027191A
Application number: CN202210708005.4A
Authority: CN
Inventors: 徐林森; 祝健; 刘进福
Original assignee: Hohai University HHU
Current assignee: Hohai University HHU
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-09-09

Abstract

The invention discloses a multi-purpose robot capable of climbing walls, and belongs to the technical field of robots, aiming at solving the problems that the robot in the prior art is single in working mode and the like. The tilting rotor wing mechanism comprises a support frame and a tilting rotor wing movement mechanism; the rotary arm fixing supports on two sides of the support frame are movably connected with the tilting rotor wing movement mechanism; the tilting rotor motion mechanism comprises an arm support, a front/rear driving wheel and a double-shaft digital steering engine; the double-shaft digital steering engine is fixed on the spiral arm fixing support; the steering engine disc of the double-shaft digital steering engine drives the arm frame to rotate; the front/rear driving wheels are arranged at the front end and the rear end of the arm support; the front driving wheel is provided with a first propeller and a first motor for driving the first propeller to rotate; the invention is suitable for high-risk operation, and the multi-purpose robot can provide operation modes with various modes.

Description

Multi-purpose robot capable of climbing wall

Technical Field

The invention relates to a multi-purpose robot capable of climbing walls, and belongs to the technical field of robots.

Background

At present, various high-risk scenes exist in daily life and production and in the military field, which are not suitable for human operation. In industrial production, daily inspection, maintenance and repair of large equipment such as large boilers, pressure vessels, pipelines, elevators, hoisting machinery, etc. In daily life, the safety problems of workers who check large amusement facilities, work in skyscraper construction, cleaning and the like are always troubling. The danger degree of the high-altitude operation is high, workers do not want to work in the high-altitude operation, and the current human resource market often has a scene that high salary is not applied by people. The robot in the prior art has single function due to the limiting factors such as structural technology and the like, and can complete operation only under certain working conditions.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a multi-purpose robot capable of climbing walls, which can easily realize switching among four operation modes of water, ground, sky and walls, can assist workers in operation in different working environments, ensures the operation safety of the workers and improves the operation efficiency.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a multi-purpose robot capable of climbing walls, which comprises a support frame and a tilting rotor wing movement mechanism, wherein the support frame is connected with the tilting rotor wing movement mechanism; the rotary arm fixing supports on two sides of the support frame are movably connected with the tilting rotor wing movement mechanism; the tilt rotor wing motion mechanism comprises an arm support, a front/rear driving wheel and a double-shaft digital steering engine; the double-shaft digital steering engine is fixed on the spiral arm fixing support; a steering engine disc of the double-shaft digital steering engine drives a movable arm bracket to rotate; the front/rear driving wheels are arranged at the front end and the rear end of the arm support; the front driving wheel is provided with a first propeller and a first motor for driving the first propeller to rotate; the rear driving wheel is provided with a second propeller, a gear set and a second motor for driving the second propeller to rotate; the gear set is driven by the second motor; the second motor drives the gear set to drive the rear driving wheel to rotate;

when a steering engine disc of the double-shaft digital steering engine drives the arm support to rotate to be vertical to the ground, the second motor drives the gear set to drive the rear driving wheel to rotate, and therefore the multi-purpose robot moves forwards or backwards;

when a steering engine disc of the double-shaft digital steering engine drives the arm support to rotate to be parallel to the ground, the first motor drives the first propeller to rotate, and the second motor drives the second propeller to rotate, so that the multi-purpose robot is lifted or lowered;

when the steering wheel disc of the double-shaft digital steering engine drives the arm support to rotate to form an angle of 20-45 degrees with the wall surface of the wall, meanwhile, the first motor drives the first screw to rotate and the second motor drives the second screw to rotate, the effect of positive pressure thrust is generated, after the multi-dwelling robot is adsorbed on the wall, the second motor drives the gear set to drive the rear driving wheel to rotate, and the multi-dwelling robot moves forwards or backwards on the wall.

Furthermore, a first duct is arranged on the front/rear driving wheel.

Further, the arm support comprises an arm support section; the two arm support sections are butted through a butting folded plate. The arm support comprises an arm support section; the two arm support sections are butted through a butting folded plate.

Further, the arm support section comprises an upper arm plate and a lower arm plate which are connected up and down; the lower arm plate is connected to the outer side of a hub of the front/rear driving wheel; the upper arm plate comprises a first section and a second section which are disconnected; the first segment is connected with the lower arm plate; the second section is disposed within the front/rear drive wheel.

Further, the gear set comprises a planetary gear reducer, a first belt table gear, a second belt table gear, a third belt table gear, a fourth belt table gear and a fixed plate; the second motor is fixed on the second section, and the planetary gear reducer penetrates through the second section and the fixing plate to be fixed; a supporting column is arranged between the second section and the fixing plate; the first belt table gear and the second belt table gear are arranged at two ends of the planetary gear reducer; the third belt table gear is fixedly connected between the second motor and the second propeller; one end of a shaft shoulder bolt is fixed on the fixing plate, and the other end of the shaft shoulder bolt penetrates through the fourth belt platform gear and a hub of the rear driving wheel and is fixed on the lower arm plate; the first belt table gear is meshed with the third belt table gear; the second belt platform gear is meshed with the fourth belt platform gear.

Further, the device also comprises a positive thrust module; the positive thrust modules are arranged at two ends of the support frame; the positive thrust module comprises a third propeller, a third motor, a bearing seat, a first single-shaft digital steering engine, a fixed folded plate and a second duct; the bearing seat and the first single-shaft digital steering engine are fixed on the support frame and are movably connected with a second duct; one end of the fixed folded plate is fixed on the second duct through the first single-shaft digital steering engine, the other end of the fixed folded plate is fixedly connected with the third motor, and the third motor is connected with the third propeller and used for driving the third propeller to rotate in the second duct.

Furthermore, the automatic lifting device also comprises an automatic lifting mechanism arranged at the bottom of the support frame; the automatic lifting mechanism comprises an undercarriage, a ball head buckle and a second single-shaft digital steering engine; the second single-shaft digital steering engine is arranged in the support frame; one end of the ball head buckle is connected with the undercarriage, and the other end of the ball head buckle is connected with the steering engine disk on the second single-shaft digital steering engine.

Furthermore, a hook is arranged on the undercarriage, and the buoyancy rod is fixed on the hook through a rubber ring.

Further, the system also comprises a GPS module and a receiver which are connected with the singlechip; the top of the frame is provided with a camera module which is also connected with the singlechip; the receiver is arranged in the support frame and used for receiving an instruction sent by the remote controller, receiving a signal, processing the signal through the single chip microcomputer and then generating PWM control drive with a specific duty ratio, and driving the first motor, the second motor, the third motor, the double-shaft digital steering engine, the first single-shaft digital steering engine and the second single-shaft digital steering engine.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides a multi-purpose robot capable of climbing walls, which can realize the switching among ground walking, wall walking, air flying and three operation modes through a tilting rotor wing motion mechanism, wherein a first propeller is arranged in a front driving wheel, and a second propeller is arranged in a rear driving wheel; the double-shaft digital steering engine is fixed on the support frame, a steering engine disc of the double-shaft digital steering engine rotates to drive the arm support to rotate, when the vehicle walks on the ground, the double-shaft digital steering engine controls the arm support to rotate to be vertical to the ground, the second propeller drives the gear set to drive the rear driving wheel to move forwards or retreat through the second motor, and simultaneously drives the front driving wheel to move forwards or retreat; when the multifunctional robot flies in the air, the double-shaft digital steering engine controls the arm support to rotate to be parallel to the ground, the first motor drives the first propeller to rotate, and the second motor drives the second propeller to rotate so as to drive the multifunctional robot to ascend or descend; when walking on the wall, biax digital steering engine control cantilever crane rotates and is the contained angle state with ground, and at this moment, first motor drives first screw and rotates and the second motor drives the second screw and rotates, and the malleation thrust of production adsorbs the robot that perchs more on the wall, and in addition, the second motor passes through gear train drive back drive wheel and rotates to drive the rotation of front drive wheel, can guarantee that the robot that perchs more moves ahead or retreat on the wall after adsorbing the wall.

The positive thrust module is arranged, and the third motor drives the third propeller to rotate, so that an auxiliary pushing effect is provided for the multi-purpose robot to walk on the wall, and the walking speed of the multi-purpose robot on the wall is improved.

The multifunctional robot is additionally provided with an automatic lifting device, the undercarriage is driven to rotate by the second single-shaft digital steering engine to lift, the floating rod tied on the undercarriage through a rubber ring can float on the water surface, the arm support is driven to rotate to form an angle of 20 degrees with the horizontal plane by the steering engine disc of the double-shaft digital steering engine, steering is realized by the difference of lifting force generated by the first propeller and the second propeller on the front wheel and the rear wheel respectively, and the multi-dwelling robot is driven to run on the water surface by the rotation of the third propeller.

Drawings

Fig. 1 is a schematic structural diagram of a multi-purpose robot capable of climbing a wall provided by the invention;

figure 2 is a schematic diagram of a tiltrotor motion mechanism;

FIG. 3 is an enlarged view taken at A in FIG. 2;

FIG. 4 is a schematic structural view of a gear set;

FIG. 5 is a schematic structural view of a positive thrust module;

FIG. 6 is a schematic structural view of the automatic lifting mechanism;

FIG. 7 is a detail block diagram of FIG. 6;

FIG. 8 is a schematic view of a ground mode of a multi-purpose robot capable of climbing walls according to the present invention;

FIG. 9 is a schematic view of a flight mode of the multi-purpose robot capable of climbing a wall according to the present invention;

FIG. 10 is a schematic view of a water surface model of a multi-purpose robot capable of climbing walls according to the present invention;

FIG. 11 is a schematic view of a wall climbing mode of the multi-purpose robot according to the present invention;

FIG. 12 is a schematic control diagram of a multi-purpose robot capable of climbing walls according to the present invention;

in the figure: 1. a support frame; 2. a tiltrotor motion mechanism; 3. a gear set; 4. a first duct; 5. a positive thrust module; 6. an automatic lifting mechanism; 7. a receiver; 8. a single chip microcomputer; 9. a GPS module; 10. a swing arm fixing bracket; 11. a boom; 12. a front drive wheel; 13. a rear drive wheel; 14. a double-shaft digital steering engine; 15. a planetary gear reducer; 16. a first pulley gear; 17. a second belt table gear; 18. a third belt table gear; 19. a fourth belt table gear; 20. a fixing plate; 21. a support column; 22. a shoulder bolt; 23. a third propeller; 24. a third motor; 25. a bearing seat; 26. a first single-shaft digital steering engine; 27. fixing the folded plate; 28. a second duct; 29. a landing gear; 30. a ball head buckle; 31. a second single-shaft digital steering engine; 32. hooking; 33. a buoyancy bar; 34. a first propeller; 35. a first motor; 36. a second propeller; 37. a second motor; 38. a boom section; 39. an upper arm plate; 40. a lower arm plate; 41. butting folded plates; 42. a connecting member; 43. a linear steering engine disc.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

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 and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

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 meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The first embodiment is as follows:

referring to fig. 1 to 4, the present embodiment provides a multi-purpose robot capable of climbing a wall, which includes a support frame 1 and a tilt rotor movement mechanism 2. The tiltrotor motion mechanism 2 comprises an arm support 11, a front driving wheel 12, a rear driving wheel 13, a first propeller 34, a second digital steering engine 14 and a double-shaft digital steering engine 14. The support frame 1 is a housing composed of left and right side plates, front and rear fenders, and upper and lower top plates. The upper top plates on two sides of the support frame 1 are provided with the radial arm fixing supports 10, each radial arm fixing support 10 comprises a connecting plate and two cylindrical supports, and two ends of each connecting plate are fixedly connected with the two cylindrical ducts respectively. The outside of cylindric support is equipped with first pilot hole, and the bolt is fixed in two spiral arm fixed bolsters 10 respectively through first pilot hole and is connected in the both sides that support frame 1. The double-shaft digital steering engine 14 is fixedly connected with the U-shaped fixing frame, and the double-shaft digital steering engine 14 is fixed on the spiral arm fixing support 10 through a second assembling hole and the U-shaped fixing frame which are formed in the connecting plate by bolts. The steering engine disk on the double-shaft digital steering engine 14 is connected with the arm support 11 to drive the arm support 11 to rotate. The top of supporting frame 1 still has the camera module, can guarantee that the robot that lives more explores the wall environment and detects building outer wall defect etc. and the cooperative work personnel can pass through camera information and accomplish the task better.

The front end of the arm support 11 is provided with a front driving wheel 12, and the rear end of the arm support 11 is provided with a rear driving wheel 13. A first propeller 34 and a first motor 35 are disposed in the front driving wheel 12, and the first motor 35 drives the first propeller 34 to rotate. A second propeller 36, a second motor 37 and a gear set 3 are arranged in the rear driving wheel 13. The second motor 37 drives the second propeller 36 to rotate, the second motor 37 also drives the gear set 3 to drive the rear driving wheel 13 to rotate, and the front driving wheel 12 rotates along with the rear driving wheel 13 under the rotation action of the rear driving wheel 13. A first duct 4 is arranged between the front driving wheel 12 and the first propeller 34, so as to ensure that the first propeller 34 runs in the first duct 4; a second duct 28 is also provided between the rear drive wheel 13 and the second propeller 36 in order to be able to ensure that the second propeller 36 operates in the second duct 28.

As shown in fig. 8, when the multi-purpose robot needs to work on the ground, the dual-axis digital steering engine 14 is controlled to drive the steering wheel disc of the dual-axis digital steering engine 14 to rotate, the steering wheel disc drives the arm support 11 to rotate to be perpendicular to the ground, the front driving wheel 12 and the rear driving wheel 13 are erected on the ground, meanwhile, the second motor 37 drives the gear set 3 to drive the rear driving wheel 13 to rotate, the front driving wheel 12 is driven to rotate, and therefore the multi-purpose robot can move forward or backward on the ground.

As shown in fig. 9, when the multi-purpose robot needs to work in the air, the dual-axis digital steering engine 14 is controlled to drive the steering engine disk of the dual-axis digital steering engine 14, the steering engine disk drives the boom 11 to rotate to be parallel to the ground, the front driving wheels 12 and the rear driving wheels 13 are parallel to the ground, meanwhile, the first motor 35 drives the first propeller 34 to rotate, and the second propeller 36 drives the second propeller 36 to rotate, so that the multi-purpose robot can rise or lower in the air to fly.

As shown in fig. 11, when the multi-purpose robot needs to work on a wall, the dual-axis digital steering engine 14 is controlled to drive the steering engine disc, so that the steering engine disc of the dual-axis digital steering engine 14 drives the arm support 11 to rotate. When the arm support 11 rotates to the wall surface of the wall to form an angle of 20-45 degrees, the first motor 35 drives the first propeller 34 to rotate and the second motor 37 drives the second propeller 36 to rotate, and the generated vacuum negative pressure can adsorb the multi-purpose robot on the wall surface of the wall. The second motor 37 drives the gear set 3 to rotate, and is used for driving the rear driving wheel 13 to rotate and driving the front driving wheel 12 to rotate, so that the multi-purpose robot can walk forwards or backwards on the wall.

Optionally, the arm supports 11 arranged on both sides of the support frame 1 include two arm support sections 38; the two arm support sections 38 on one side are respectively abutted and fixed by a butt folded plate 41 at the position where the two arm support sections 38 of the swing arm fixing support 10 are close to each other. The arm support 11 supporting the other side of the frame 1 is also connected with the radial arm fixing bracket 10 at the side according to the installation mode. The docking flap 41 is formed by a straight panel and two L-shaped securing flaps 27. Two steering wheel disks of the double-shaft digital steering engine 14 are respectively fixed on two L-shaped fixed folding plates 27 of the butt joint folding plate 41, and when the steering wheel disks of the double-shaft digital steering engine 14 rotate, the butt joint folding plate 41 is driven to drive the two arm support sections 38 to rotate. The arm support 11 is limited to operate in the spiral arm fixing support 10, so that the swing amplitude of the arm support 11 is effectively prevented when the movement vibration is too large, and the stability of the multi-purpose robot during operation is controlled.

Optionally, the arm support section 38 comprises an upper arm plate 39 and a lower arm plate 40 connected up and down. Two lower arm plates 40 on one side are respectively connected to the outer side of the hub of the front driving wheel 12 and the outer side of the hub of the rear driving wheel 13, and play a role in fixing the front driving wheel 12 and the rear driving wheel 13. The upper arm plate 39 of the boom section 38 comprises two broken sections. A first section and a second section, respectively, the first section and the lower arm plate 40 are fixed into a whole by a butt folded plate 41 and a connecting column between the two. The second sections are respectively arranged in the front driving wheel 12 and the rear driving wheel 13, and the first motor 35 and the second motor 37 are respectively and correspondingly fixed on the respective second sections. The gear set 3 in the rear driving wheel 13 also drives the rear driving wheel 13 to rotate through the action of the second section in the rear driving wheel 13 and the second motor 37.

Optionally, the gear set 3 includes a planetary gear reducer 15, a first stage gear 16, a second stage gear 17, a third stage gear 18, a fourth stage gear 19, and a fixed plate 20. A second motor 37 is fixed above the second section, a second propeller 36 is connected to the second motor 37, and a third belt table gear 18 is arranged between the second propeller 36 and the second motor 37. The planetary gear reducer 15 is inserted through the second segment and the fitting hole of the fixing plate 20, and fixed to the second segment and the fixing plate 20. A support column 21 is arranged between the second section and the fixing plate 20 to fixedly connect the second section and the fixing plate. The top end of the planetary gear reducer 15 is provided with a first stage gear 16, and the bottom end of the planetary gear reducer 15 is provided with a second stage gear 17. Specifically, a connecting plate on the planetary gear reducer 15 is connected to a first pulley gear 16, and the rotation of the connecting plate is reduced by the planetary gear reducer 15 and then output by an output shaft of the planetary gear reducer 15. One end of the shaft shoulder bolt 22 is fixedly connected with the deep groove ball bearing on the fixing plate 20; the other end of the shoulder bolt 22 passes through the fourth stage gear 19 and the hub of the rear drive wheel 13 in order, and is fixed to a deep groove ball bearing on the lower arm plate 40 outside the hub. The fourth belt pulley gear 19 and the hub of the rear driving wheel 13 are respectively fixedly connected with the shoulder bolt 22 by a set screw to ensure rotation along with the shaft, and a spring retainer ring is arranged between the hub of the rear driving wheel 13 and the fourth belt pulley gear 19 to axially fix the fourth belt pulley gear 19. When the second motor 37 rotates, the third belt table gear 18 is driven to rotate. The first stage gear 16 engaged with the third stage gear 18 rotates, and the planetary gear reducer 15 adjusts the torque of the first stage gear 16 to rotate the second stage gear 17. The second belt table gear 17 is meshed with the fourth belt table gear 19, and the second belt table gear 17 rotates to drive the fourth belt table gear 19 to rotate. The fourth pulley gear 19 transmits the torque to the shoulder bolts 22 by rotating, and the shoulder bolts 22 rotate the hub of the rear driving wheel 13, thereby rotating the rear driving wheel 13.

Specifically, a first motor 35 is disposed on a second segment in the front driving wheel 12, and a first propeller 34 is connected to the first motor 35. A first segment is provided outside the hub of the front drive wheel 12. The first motor 35 and the second motor 37 can adopt brushless motors, and the multi-purpose robot can adopt a differential driving mode to avoid obstacles and turn in a right-angle area.

Example two:

referring to fig. 5, the present embodiment provides a positive thrust module 5, and the positive thrust module 5 may be disposed at each of the front and rear ends of the support frame 1 of the multi-purpose robot described in the first embodiment. The positive thrust module 5 comprises a third propeller 23, a third motor 24, a bearing seat 25, a first single-shaft digital steering engine 26, a fixed folded plate 27 and a second duct 28. The third propeller 23 is disposed within the second duct 28 and is connected to the third motor 24. One end of the fixing flap 27 is fixedly connected with the third propeller 23 through the third motor 24, and the other end of the fixing flap 27 is fixed on the outer wall of the second duct 28. On one hand, the second duct 28 is fixed with the support frame 1 through a bearing seat 25, on the other hand, the first single-shaft digital steering engine 26 is fixed on the support frame 1 through a steering engine connecting plate, and a steering engine disc of the first single-shaft digital steering engine 26 is connected with one end of a fixing folded plate 27 fixed on the outer wall of the second duct 28. When the first single-shaft digital steering engine 26 rotates, the second duct 28 and the third propeller 23 in the second duct 28 are driven to rotate, and the rotating direction of the propeller can be controlled. During operation, when the first single-circle digital steering engine in the positive thrust module 5 acts, the second duct 28 and the propeller are driven to rotate along the axial direction of the fixed folded plate 27. The third motor 24 rotates the third propeller 23 to provide a force in a specific direction required for the robot to move from the ground to the wall and for the robot to attach to the wall. Secondly, when the multi-purpose robot walks on the wall, the first single-shaft digital steering engine 26 is controlled to rotate to drive the propeller shaft of the third propeller 23 to be parallel to the wall surface. The third propeller 23 rotates to drive the multi-purpose robot to advance or retreat on the wall surface at an accelerated speed.

Example three:

referring to fig. 6 and 7, the present embodiment provides an automatic lifting mechanism 6 provided on the lower ceiling of the support frame 1 of the multi-dwelling robot described in the first and/or second embodiment for adjusting the landing gear 29 in the automatic lifting mechanism 6. The automatic lifting mechanism 6 comprises a landing gear 29, a connecting piece 42 and a second single-shaft digital steering engine 31. A second single-shaft digital steering engine 31 is arranged in the shell of the support frame 1, namely in the cavity of the shell. The two sides of the supporting frame 1 are respectively provided with a landing gear 29. Two connecting ends are arranged on a linear steering engine disc 43 of the second single-shaft digital steering engine 31. One end of a ball button 30 is connected with a connecting end on a straight steering wheel disc 43, and the other end is fixedly connected with the landing gear 29 through a connecting piece 42.

Specifically, the connecting piece 42 is fixed on the undercarriage 29 through a fixing piece fixed on the undercarriage 29 by an inner hexagon bolt, one end of the ball button 30 is fixedly connected with the linear steering wheel disc 43, and the other end of the ball button is fixed with the connecting piece 42 through an inner hexagon bolt and a locknut. When the second single-shaft digital steering engine 31 drives the linear steering engine disc 43 to rotate, the connecting piece 42 can be pulled to turn over the undercarriage 29, so that the efficiency of completing a plurality of mode conversion tasks of the multi-purpose robot under the condition of no manual intervention is improved. The setting of undercarriage 29 also can prevent that the direct rigid collision of the organism of the robot that perches from leading to the robot that perches to damage or drop, has effectively guaranteed the safety and stability that the robot that perches moved.

Preferably, as shown in fig. 10, in order to lift the multi-purpose robot according to the first or second embodiment to be operated in water, a hook 32 is provided on the undercarriage 29, and a buoyancy rod 33 is fixed to the hook 32 of the undercarriage 29 by a rubber ring. The buoyancy rod 33 can be made of polyvinyl chloride material, has good tearing resistance and impact resistance, and is added with ultraviolet-proof material, so that the buoyancy rod can be exposed to sunlight for a long time without deformation or cracking and air leakage. When the robot needs to work on the water surface, the landing gear 29 can be controlled to turn to a certain posture, the multi-purpose robot floats on the water surface through the buoyancy of the buoyancy rod 33, the first motor 35 is controlled to drive the first propeller 34 and the second motor 37 to drive the second propeller 36 or the third motor 24 to drive the third propeller 23, and the multi-purpose robot can walk on the water surface. When the buoyancy rod 33 contacts the water surface, the buffering effect is good, and the direct collision between the body of the multi-dwelling robot and the obstacles on the water surface can be effectively avoided.

Example four:

referring to fig. 12, the multi-purpose robot in the first embodiment or the third embodiment is provided with a receiver 7, a GPS module 9, and a single chip microcomputer. The camera module is arranged on an upper top plate of the support frame 1, and the receiver 7, the GPS module 9 and the camera module are all connected with the single chip microcomputer. The receiver 7 is arranged in the shell of the support frame 1 and used for receiving an instruction sent by an operator to control the remote controller and transmitting the instruction to the single chip microcomputer to regulate and control the operation of the corresponding first motor 35, the second motor 37, the third motor 24, the double-shaft digital steering engine 14, the first single-shaft digital steering engine 26 and the second single-shaft digital steering engine 31 through each electric regulation. The receiver 7 receives the control signal and transmits the control signal to the singlechip to control the first motor 35 to drive the first propeller 34 to rotate; the receiver 7 receives the control signal and transmits the control signal to the singlechip to control the second motor 37 to drive the second propeller 36 to rotate, and the second motor 37 drives the rear driving wheel 13 to rotate; the receiver 7 receives the control signal and transmits the control signal to the singlechip to control the third motor 24 to drive the third propeller 23 to rotate; the receiver 7 receives the control signal and transmits the control signal to the single chip microcomputer control double-shaft digital steering engine 14 to drive the tilting rotor wing motion mechanism 2 to rotate; the receiver 7 receives the control signal and transmits the control signal to the single chip microcomputer to control the first single-shaft digital steering engine 26 to rotate and control the direction of the third propeller 23; the receiver 7 receives the control signal and transmits the control signal to the single chip microcomputer to control the second single-shaft digital steering engine 31 to rotate so as to drive the undercarriage 29 to overturn.

The single chip microcomputer 8 and the motors are respectively and correspondingly provided with an electric controller, the multi-purpose robot is provided with a lithium battery, but the voltage of the lithium battery cannot be enough to directly drive the first motor, the second motor and the third motor, and the corresponding voltage suitable for driving the corresponding motors needs to be converted through the corresponding electric controller. The MPU-inertia measuring unit in the single chip microcomputer and the GPS module 9 cooperate to measure the attitude and the position information of the multi-purpose robot under control, and the camera module can coordinate with the GPS module 9 for positioning the detected wall surface environment, the detected operation information of the defects of the outer wall of the building and the like and report the information to the specific position and the site condition of the staff. The receiver 7 reads the signal that comes from the operator remote controller and sends, through singlechip 8 handle on passing to six electricity accents (two first motors 35, two second motors 37 and two third motors 24) and steering wheel (two biax digital steering wheel 14, two first unipolar digital steering wheel 26, two second unipolar digital steering wheel 31), what the electricity was transferred has two groups of lines, a set of connection is on the lithium cell, a set of connection is on singlechip 8, wherein contain VCC (the supply voltage of circuit), GND (electric wire earthing terminal) and signal line, receive the PWM signal that spreads on the singlechip 8 on the signal line. Note: and pulse width modulation, namely, controlling the rotating speed of the motor by adjusting the time occupied by the high level, namely the duty ratio. The first motor 35, the second motor 37 and the third motor 24 may be brushless dc motors.

Specifically, a first motor 35 and a second motor 37 are respectively arranged on the two front driving wheels and the two rear driving wheels, a third motor 24, a first single-shaft digital steering engine 26, a second single-shaft digital steering engine 31 and a double-shaft digital steering engine 14 are respectively arranged in the positive thrust modules at the two ends of the support frame, and the operation is realized by controlling a pulse width modulation signal (PWM); an operator only needs to toggle the corresponding switch on the multi-channel remote controller, and the receiver 7 receives corresponding operating signals to realize the rotation of the steering engines (the double-shaft digital steering engine 14, the first single-shaft digital steering engine 26 and the second single-shaft digital steering engine 31) and the corresponding rotation speed of the brushless direct current motor. The robot is controlled by high-frequency radio waves between the remote controller and the receiver 7, the receiver 7 receives a PPM signal (the PPM combines a plurality of PWMs into one signal) from the remote controller, decomposes the PPM signal into a plurality of PWM signals and transmits the PWM signals to the control panel, and the signals are settled by a control program of a singlechip in the multi-dwelling robot to obtain reasonable PWM signals which are then output to corresponding electric regulators and steering engines.

The flight state of the multi-purpose robot is basically similar to that of a common four-rotor unmanned aerial vehicle, the only difference lies in the control of a steering engine, most of the four-rotor unmanned undercarriages and rotors are fixed, for the multi-purpose robot, firstly, the undercarriages 29 are put down, the arm frames 11 on two sides are rotated to be parallel to a top plate of the supporting frame 1, and then the rolling, pitching, yawing, hovering and the like of the multi-purpose robot in the air are realized by controlling the rotating speeds of the first motor, the second motor and the third motor. The attitude of the robot in the flying state is the most concerned, and the robot can be better controlled to move to the assumed position through a program only by grasping the attitude information. The robot air attitude is resolved through an MPU (inertial measurement unit) and a GPS (global positioning system) module 9 in a single chip microcomputer, and relatively accurate attitude and position information is resolved through a Kalman filtering algorithm.

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

1. A multi-purpose robot capable of climbing walls is characterized by comprising a support frame and a tilting rotor wing motion mechanism; the rotary arm fixing supports on two sides of the support frame are movably connected with the tilting rotor wing movement mechanism; the tilting rotor motion mechanism comprises an arm support, a front/rear driving wheel and a double-shaft digital steering engine; the double-shaft digital steering engine is fixed on the spiral arm fixing support; the steering engine disc of the double-shaft digital steering engine drives the arm frame to rotate; the front/rear driving wheels are arranged at the front end and the rear end of the arm support; the front driving wheel is provided with a first propeller and a first motor for driving the first propeller to rotate; the rear driving wheel is provided with a second propeller, a gear set and a second motor for driving the second propeller to rotate; the gear set is driven by the second motor; the second motor drives the gear set to drive the rear driving wheel to rotate;

when a steering engine disc of the double-shaft digital steering engine drives the arm support to rotate to be parallel to the ground, the first motor drives the first propeller to rotate, and the second motor drives the second propeller to rotate, so that the multi-purpose robot is lifted or descended;

when a steering engine disc of the double-shaft digital steering engine drives the arm support to rotate to form an angle of 20-45 degrees with the wall surface of the wall, the first motor drives the first screw to rotate, the second motor drives the second screw to rotate, the effect of positive pressure thrust is generated, after the multi-purpose robot is adsorbed on the wall, the second motor drives the gear set to drive the rear driving wheel to rotate, and the multi-purpose robot moves forwards or backwards on the wall.

2. The multi-purpose robot of claim 1, wherein the front/rear driving wheels are provided with a first duct.

3. The multi-purpose robot of claim 1, wherein the boom comprises a boom section; the two arm support sections are butted through a butting folded plate.

4. The multi-purpose robot capable of climbing walls according to claim 3, wherein the arm support section comprises an upper arm plate and a lower arm plate which are connected up and down; the lower arm plate is connected to the outer side of the hub of the front/rear driving wheel; the upper arm plate comprises a first section and a second section which are disconnected; the first segment is connected with the lower arm plate; the second section is disposed within the front/rear drive wheel.

5. The wall-climbing multi-purpose robot as claimed in claim 4, wherein the gear set includes a planetary gear reducer, a first stage gear, a second stage gear, a third stage gear, a fourth stage gear and a fixed plate; the second motor is fixed on the second section, and the planetary gear reducer penetrates through the second section and the fixing plate to be fixed; a supporting column is arranged between the second section and the fixing plate; the first belt table gear and the second belt table gear are arranged at two ends of the planetary gear reducer; the third belt table gear is fixedly connected between the second motor and the second propeller; one end of a shaft shoulder bolt is fixed on the fixing plate, and the other end of the shaft shoulder bolt penetrates through the fourth belt platform gear and a hub of the rear driving wheel and is fixed on the lower arm plate; the first belt platform gear is meshed with the third belt platform gear; the second belt platform gear is meshed with the fourth belt platform gear.

6. The wall-climbing multi-dwelling robot of claim 1, further comprising a positive thrust module; the positive thrust modules are arranged at two ends of the support frame; the positive thrust module comprises a third propeller, a third motor, a bearing seat, a first single-shaft digital steering engine, a fixed folded plate and a second duct; the bearing seat and the first single-shaft digital steering engine are fixed on the support frame and are movably connected with a second duct; one end of the fixed folding plate is fixed on the second duct through the first single-shaft digital steering engine, the other end of the fixed folding plate is fixedly connected with the third motor, and the third motor is connected with the third propeller and used for driving the third propeller to rotate in the second duct.

7. The multi-purpose robot as claimed in claim 1, further comprising an automatic lifting mechanism disposed at the bottom of the supporting frame; the automatic lifting mechanism comprises an undercarriage, a ball head buckle and a second single-shaft digital steering engine; the second single-shaft digital steering engine is arranged in the support frame; one end of the ball head buckle is connected with the undercarriage, and the other end of the ball head buckle is connected with the steering engine disk on the second single-shaft digital steering engine.

8. A multi-purpose robot capable of climbing walls according to claim 7, wherein the undercarriage is provided with a hook, and the buoyancy rod is fixed on the hook through a rubber ring.

9. The multi-purpose robot capable of climbing walls according to any one of claims 1 to 8, characterized by further comprising a GPS module and a receiver connected with the single chip microcomputer; the top of the frame is provided with a camera module which is also connected with the singlechip; the receiver is arranged in the support frame and used for receiving an instruction sent by the remote controller, receiving a signal, processing the signal through the single chip microcomputer and then generating PWM control drive with a specific duty ratio, and driving the first motor, the second motor, the third motor, the double-shaft digital steering engine, the first single-shaft digital steering engine and the second single-shaft digital steering engine.