CN204527388U - Self-adaptive flight adsorbed wall-climbing mechanism - Google Patents
Self-adaptive flight adsorbed wall-climbing mechanism Download PDFInfo
- Publication number
- CN204527388U CN204527388U CN201520092102.0U CN201520092102U CN204527388U CN 204527388 U CN204527388 U CN 204527388U CN 201520092102 U CN201520092102 U CN 201520092102U CN 204527388 U CN204527388 U CN 204527388U
- Authority
- CN
- China
- Prior art keywords
- adsorbing mechanism
- adsorbing
- wall
- self
- climbing
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of Self-adaptive flight adsorbed wall-climbing mechanism, comprise mounting bracket, multiple rotor mechanism and wireless control module, the below of each described rotor mechanism is provided with the first adsorbing mechanism, the lateral edges of described mounting bracket is also connected with the second adsorbing mechanism by bindiny mechanism, also rotating mechanism is provided with in described second adsorbing mechanism, this rotating mechanism for change the second adsorbing mechanism adsorption plane towards, described wireless control module is also connected with the second adsorbing mechanism with described first adsorbing mechanism and adsorbed state for controlling described first adsorbing mechanism and the second adsorbing mechanism respectively.Its remarkable result is: have can switch flexibly flight, climb wall, perch three kinds of states; Can adapt to different spaces wall, stability is high; Manoevreability is high, low in energy consumption, can press close to wall and move freely; Applied widely, there is good prospect of the application.
Description
Technical field
The utility model relates to self adaptation and climbs wall device technical field, specifically, is a kind of Self-adaptive flight adsorbed wall-climbing mechanism.
Background technology
In recent years, increasing along with skyscraper, amount of high-altitude operation is increasing.Meanwhile, the requirement of increasingly serious security situation to high-altitude investigation equipment is also more and more higher.Special equipment single at present cannot meet growing demand, and shortcoming manifests day by day.
In prior art, because four rotor low-latitude flyings are stablized, therefore there is people by adsorption plant make four rotor flying robots have ability that body surface aloft perches absorption, the mechanism achieving the flight of imitative flying creature and perch.Although this largely improves the cruise duration of robot, manoevreability is poor, controls more complicated, and the power dissipation ratio of flight is higher.
In addition, Chinese patent CN 201010147738.2 discloses a kind of crawler-type wall climbing robot, and this robot is equipped with two cover adsorption plants, is made up of sucked type electromagnet and vacuum cup, has adsorbability strong, the features such as load carrying ability is large.But there is the shortcomings such as moving velocity is slow, obstacle detouring is difficult, power consumption is high.
Utility model content
For the deficiencies in the prior art, the purpose of this utility model is to provide a kind of Self-adaptive flight adsorbed wall-climbing mechanism, and this robot has flight, climbs wall, perches three kinds of functions, and manoevreability is high, low in energy consumption, applied widely.
For achieving the above object, the utility model states a kind of Self-adaptive flight adsorbed wall-climbing mechanism, comprise mounting bracket, for providing multiple rotor mechanism of flying power and the wireless control module for realizing mode of operation adaptive control, its key is: the below of each described rotor mechanism is provided with the first adsorbing mechanism, and described first adsorbing mechanism adsorption plane towards contrary with the installation direction of described rotor mechanism, the lateral edges of described mounting bracket is also connected with the second adsorbing mechanism by bindiny mechanism, also rotating mechanism is provided with in described second adsorbing mechanism, this rotating mechanism for change the second adsorbing mechanism adsorption plane towards, described wireless control module is also connected with the second adsorbing mechanism with described first adsorbing mechanism and adsorbed state for controlling described first adsorbing mechanism and the second adsorbing mechanism respectively.
In use, this wall climbing mechanism has flight, climbs wall, perches three kinds of mode of operations: when being in state of flight, described first adsorbing mechanism and the second adsorbing mechanism are in non-mode of operation, the adsorption plane of the second adsorbing mechanism is consistent with the adsorption plane of the first adsorbing mechanism simultaneously, multiple rotor mechanism work provides flying power for wall climbing mechanism, realizes mobile on wall of wall climbing mechanism; When be in climb wall-like state time, the adsorption plane that first wireless control module controls the second adsorbing mechanism by rotating mechanism aims at wall, one end of wall climbing mechanism is made to be adsorbed on wall, simultaneously by controlling the mode of operation of multiple rotor mechanism, wall climbing mechanism is driven to realize climbing and decline on wall; When be in perch state time, wireless control module controls rotor mechanism and quits work, and make the adsorption plane of the second adsorbing mechanism consistent with the adsorption plane of the first adsorbing mechanism by rotating mechanism, then the first adsorbing mechanism work makes wall climbing mechanism be adsorbed on wall.
This wall climbing mechanism combines the feature of rotor craft and climbing robot, has flight, climbs wall, perches three kinds of states; Can switch flexibly, fast under three kinds of states, can adapt to different spaces wall, stability is high; Overcome that climbing robot moves slowly, power consumption is high and quadrotor flying power is poor simultaneously, the shortcoming that wall moves freely cannot be pressed close to; Applied widely, there is good prospect of the application.
Further description, described mounting bracket is provided with criss cross connecting arm, described wireless control module is fixed at the center of this criss cross connecting arm, in the end of every root connecting arm, described rotor mechanism and the first adsorbing mechanism are installed respectively, connect described second adsorbing mechanism at close wherein any one rotor mechanism place by bindiny mechanism.
Adopt four rotor structures, can not only provide sufficient flying power for wall climbing mechanism, manoevreability is higher, and controls simple, and power consumption is lower.
Further, above described wireless control module, camera is provided with.
There is provided camera can real-time Transmission image, investigation, monitoring information are provided, contribute to carrying out adaptive control according to wall structure to wall climbing mechanism better.
Further, described first adsorbing mechanism and the second adsorbing mechanism all adopt negative pressure of vacuum to adsorb, each adsorbing mechanism is provided with vacuum cup, described mounting bracket is also provided with negative pressure of vacuum chamber, this negative pressure of vacuum chamber is connected respectively by the vacuum cup of aspirating air pipe with each adsorbing mechanism, and the aspirating air pipe of each adsorbing mechanism is also provided with electric control valve.
Adopt said structure, by a negative pressure of vacuum chamber, negative pressure is passed through to each adsorbing mechanism, can contribute to carrying out unified management, contribute to the space layout optimizing this wall climbing mechanism simultaneously.
Further, vacuum diaphragm pump or low-speed centrifugal fan is provided with in described negative pressure of vacuum chamber.
Remarkable result of the present utility model is: the feature 1, combining quadrotor and climbing robot, has flight, climbs wall, perches three kinds of states; 2, can switch flexibly, fast under three kinds of states, can adapt to different spaces wall, stability is high; 3, can fly between wall slit, have relatively big difference with common quadrotor; 4, overcome that climbing robot moves slowly, power consumption is high and quadrotor flying power is poor simultaneously, the shortcoming that wall moves freely cannot be pressed close to; 5, manoevreability is high, low in energy consumption, applied widely, has the function of aircraft and climbing robot concurrently, has good prospect of the application.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 of the present utility modelly climbs wall view;
Fig. 3 is the force analysis figure that the utility model climbs wall-like state;
Fig. 4 of the present utility modelly perches view.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model and principle of work are described in further detail.
As Figure 1-Figure 2, a kind of Self-adaptive flight adsorbed wall-climbing mechanism, comprise the mounting bracket 1 being provided with criss-cross connecting arm, for providing multiple rotor mechanisms 2 of flying power and the wireless control module 3 for realizing mode of operation adaptive control, described wireless control module 3 is fixed on the center of described criss-cross connecting arm, camera 8 is provided with above described wireless control module 3, multiple described rotor mechanism 2 is arranged on the end of every root connecting arm respectively, the below of each described rotor mechanism 2 is provided with the first adsorbing mechanism 4, and described first adsorbing mechanism 4 adsorption plane towards contrary with the installation direction of described rotor mechanism 2, the lateral edges place of close wherein any one rotor mechanism 2 is also connected with the second adsorbing mechanism 6 by bindiny mechanism 5, rotating mechanism 7 is also provided with in described second adsorbing mechanism 6, this rotating mechanism 7 for change the second adsorbing mechanism 6 adsorption plane towards, described wireless control module 3 is also connected with the second adsorbing mechanism 6 with described first adsorbing mechanism 4 and adsorbed state for controlling described first adsorbing mechanism 4 and the second adsorbing mechanism 6 respectively.
In the present embodiment, preferably described first adsorbing mechanism 4 and the second adsorbing mechanism 6 all adopt negative pressure of vacuum to adsorb, each adsorbing mechanism is provided with vacuum cup, described mounting bracket 1 is also provided with negative pressure of vacuum chamber, this negative pressure of vacuum chamber is connected respectively by the vacuum cup of aspirating air pipe with each adsorbing mechanism, the aspirating air pipe of each adsorbing mechanism is also provided with electric control valve, be provided with vacuum diaphragm pump in described negative pressure of vacuum chamber, described wireless control module 3 controls the adsorbed state of each adsorbing mechanism by control vacuum diaphragm pump and electric control valve.
This wall climbing mechanism has flight in the course of the work, perches, climbs wall three kinds of states:
When being in state of flight, as shown in Figure 1, described first adsorbing mechanism 4 and the second adsorbing mechanism 6 are all in non-mode of operation, and the adsorption plane of the second adsorbing mechanism 6 parallels with the adsorption plane of the first adsorbing mechanism 4, four rotor mechanisms 2 work as wall climbing mechanism provides flying power simultaneously, and wireless control module 3 realizes the mobile of wall climbing mechanism by the mode of operation of control four rotor mechanisms 2.
When wall climbing mechanism be in climb wall-like state time, see accompanying drawing 2, the adsorption plane that first wireless control module 3 controls the second adsorbing mechanism 6 by rotating mechanism 7 aims at wall, one end of wall climbing mechanism is made to be adsorbed on wall, simultaneously by the mode of operation of control four rotor mechanisms 2, wall climbing mechanism is driven to realize lifting on wall or sway.Now, the stressing conditions of wall climbing mechanism as shown in Figure 3, in figure F1 represent that four rotor mechanisms 2 produce perpendicular to described mounting bracket 1 place plane making a concerted effort upwards, F2 represents the antagonistic force of described second adsorbing mechanism 6 pairs of wall adsorption affinitys, and G represents the gravity suffered by wall climbing mechanism.
When needs move up and down, force analysis is carried out to wall climbing mechanism, then power F1 and power F2 make a concerted effort be expressed as F; From mechanical knowledge, by controlling multiple rotor mechanism 2 and the second adsorbing mechanism 6, can change the size of F with joint efforts, when making a concerted effort, F is greater than gravity G, then wall climbing mechanism upward movement, and when making a concerted effort, F is less than gravity G, then wall climbing mechanism moves downward.
When needs sway, the rotor mechanism 2 controlling to be positioned at wireless control module 3 left and right sides produces speed discrepancy and can realize.To move right, rotor mechanism 2 rotating speed being positioned at left side only need be made to be greater than right side, and namely wall climbing mechanism moves to the right.
When wall climbing mechanism be in perch state time, as shown in Figure 4, second adsorbing mechanism 6 is adsorbed on wall, wireless control module 3 controls each rotor mechanism 2 and quits work, and control the second adsorbing mechanism 6 by rotating mechanism 7 and rotate, make the adsorption plane of the adsorption plane of the first adsorbing mechanism 4 and the second adsorbing mechanism 6 coplanar, namely the first adsorbing mechanism 4 work makes wall climbing mechanism be adsorbed on completely on wall.
Claims (5)
1. a Self-adaptive flight adsorbed wall-climbing mechanism, comprise mounting bracket (1), for providing multiple rotor mechanisms (2) of flying power and the wireless control module (3) for realizing mode of operation adaptive control, it is characterized in that: the below of each described rotor mechanism (2) is provided with the first adsorbing mechanism (4), and described first adsorbing mechanism (4) adsorption plane towards contrary with the installation direction of described rotor mechanism (2), the lateral edges of described mounting bracket (1) is also connected with the second adsorbing mechanism (6) by bindiny mechanism (5), rotating mechanism (7) is also provided with in described second adsorbing mechanism (6), this rotating mechanism (7) for change the second adsorbing mechanism (6) adsorption plane towards, described wireless control module (3) is also connected with the second adsorbing mechanism (6) with described first adsorbing mechanism (4) and adsorbed state for controlling described first adsorbing mechanism (4) and the second adsorbing mechanism (6) respectively.
2. Self-adaptive flight adsorbed wall-climbing mechanism according to claim 1, it is characterized in that: described mounting bracket (1) is provided with criss cross connecting arm, described wireless control module (3) is fixed at the center of this criss cross connecting arm, described rotor mechanism (2) and the first adsorbing mechanism (4) are installed respectively in the end of every root connecting arm, connect described second adsorbing mechanism (6) at close wherein any one rotor mechanism (2) place by bindiny mechanism (5).
3. Self-adaptive flight adsorbed wall-climbing mechanism according to claim 1 and 2, is characterized in that: described wireless control module (3) top is provided with camera (8).
4. Self-adaptive flight adsorbed wall-climbing mechanism according to claim 1, it is characterized in that: described first adsorbing mechanism (4) and the second adsorbing mechanism (6) all adopt negative pressure of vacuum to adsorb, each adsorbing mechanism is provided with vacuum cup, described mounting bracket (1) is also provided with negative pressure of vacuum chamber, this negative pressure of vacuum chamber is connected respectively by the vacuum cup of aspirating air pipe with each adsorbing mechanism, and the aspirating air pipe of each adsorbing mechanism is also provided with electric control valve.
5. Self-adaptive flight adsorbed wall-climbing mechanism according to claim 4, is characterized in that: be provided with vacuum diaphragm pump or low-speed centrifugal fan in described negative pressure of vacuum chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520092102.0U CN204527388U (en) | 2015-02-09 | 2015-02-09 | Self-adaptive flight adsorbed wall-climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520092102.0U CN204527388U (en) | 2015-02-09 | 2015-02-09 | Self-adaptive flight adsorbed wall-climbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204527388U true CN204527388U (en) | 2015-08-05 |
Family
ID=53741426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520092102.0U Expired - Fee Related CN204527388U (en) | 2015-02-09 | 2015-02-09 | Self-adaptive flight adsorbed wall-climbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204527388U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648516A (en) * | 2015-02-09 | 2015-05-27 | 重庆大学 | Self-adaptive flight adsorption-type wall-climbing robot |
| CN105539825A (en) * | 2015-12-30 | 2016-05-04 | 天津皓新艺科技有限公司 | Monitoring air vehicle |
| CN105667779A (en) * | 2016-04-11 | 2016-06-15 | 吉林大学 | Intelligent flying robot capable of perching on walls at different inclination angles |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN110920877A (en) * | 2019-11-30 | 2020-03-27 | 徐江奎 | Wall climbing robot based on vector flight |
| CN112550710A (en) * | 2021-02-20 | 2021-03-26 | 建研建材有限公司 | Heavy-load wall climbing robot and system for building outer wall inspection |
-
2015
- 2015-02-09 CN CN201520092102.0U patent/CN204527388U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648516A (en) * | 2015-02-09 | 2015-05-27 | 重庆大学 | Self-adaptive flight adsorption-type wall-climbing robot |
| CN105539825A (en) * | 2015-12-30 | 2016-05-04 | 天津皓新艺科技有限公司 | Monitoring air vehicle |
| CN105667779A (en) * | 2016-04-11 | 2016-06-15 | 吉林大学 | Intelligent flying robot capable of perching on walls at different inclination angles |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN105799805B (en) * | 2016-05-06 | 2019-04-09 | 吉林大学 | A kind of modularization flight climbing robot |
| CN110920877A (en) * | 2019-11-30 | 2020-03-27 | 徐江奎 | Wall climbing robot based on vector flight |
| CN110920877B (en) * | 2019-11-30 | 2020-12-18 | 彭娜 | Wall climbing robot based on vector flight |
| CN112550710A (en) * | 2021-02-20 | 2021-03-26 | 建研建材有限公司 | Heavy-load wall climbing robot and system for building outer wall inspection |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204527388U (en) | Self-adaptive flight adsorbed wall-climbing mechanism | |
| CN103192987B (en) | Amphibious robot capable of flying and climbing wall and control method of amphibious robot | |
| CN104648516A (en) | Self-adaptive flight adsorption-type wall-climbing robot | |
| CN202505274U (en) | Height glass wipe robot | |
| CN203246588U (en) | Four-rotor aircraft | |
| CN105799923A (en) | Four-rotor aircraft-based carrying manipulator | |
| CN106363650A (en) | Unmanned aerial vehicle grabbing device | |
| CN204840828U (en) | Pneumatic pole -climbing robot | |
| CN204688427U (en) | A kind of shooting unmanned plane with vacuum cup | |
| CN201643710U (en) | Butterfly directional aircraft | |
| CN104443391B (en) | Adsorbable multifunction micro flight instruments | |
| CN206125401U (en) | Many rotors of pipe support formula plant protection unmanned aerial vehicle | |
| CN103303383B (en) | A kind of sliding type multicup wall-lcimbing robot | |
| CN206107555U (en) | Adopt novel agricultural watering unmanned aerial vehicle of wireless remote control technique | |
| CN202710954U (en) | Fire-fighting robot system for collaborative operation | |
| CN202128907U (en) | Multifunctional intelligent kite | |
| CN108674644A (en) | A kind of multi-rotor aerocraft with slave | |
| CN208746242U (en) | A kind of combined type multi-rotor aerocraft | |
| CN208979112U (en) | A kind of winged control double-layer shock-absorbing high current section board device of plant protection drone band | |
| CN203425515U (en) | Toy aircraft with catching structures | |
| CN208070009U (en) | A kind of plant protection drone undercarriage | |
| CN102745277A (en) | Wall climbing machine | |
| CN208119424U (en) | A kind of multi-rotor unmanned aerial vehicle | |
| CN208198624U (en) | A kind of robot running gear | |
| CN2774605Y (en) | Tie-up type toy aeroplane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20170209 |