WO2025020161A1 - 一种飞行和爬行跨域多模机器人 - Google Patents

一种飞行和爬行跨域多模机器人 Download PDF

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Publication number
WO2025020161A1
WO2025020161A1 PCT/CN2023/109488 CN2023109488W WO2025020161A1 WO 2025020161 A1 WO2025020161 A1 WO 2025020161A1 CN 2023109488 W CN2023109488 W CN 2023109488W WO 2025020161 A1 WO2025020161 A1 WO 2025020161A1
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WIPO (PCT)
Prior art keywords
module
magnetic
tail wheel
rotor
wheel
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
Application number
PCT/CN2023/109488
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English (en)
French (fr)
Inventor
朱海飞
黎浩然
卜永健
卜永忠
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Guangdong University of Technology
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Guangdong University of Technology
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Publication of WO2025020161A1 publication Critical patent/WO2025020161A1/zh
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; VEHICLES CAPABLE OF TRAVELLING IN OR ON DIFFERENT MEDIA, e.g. AMPHIBIOUS VEHICLES
    • B60F5/00—Other vehicles capable of travelling in or on different media
    • B60F5/02—Other vehicles capable of travelling in or on different media convertible into aircraft
    • 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
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs

Definitions

  • the present invention relates to the field of robotics, and more specifically, to a flying and crawling cross-domain multi-mode robot.
  • Crawling robots can better meet the requirements of contact inspection and close-range inspection, but due to the limitations of their crawling method, crawling robots can only crawl on specific surfaces and find it difficult to cross discontinuous planes and complex surfaces, and their ability to transition between different planes is limited.
  • Chinese patent CN113978761B discloses an aircraft fuselage inspection robot, whose structure includes a multi-rotor drone, a suction cup wall climbing robot, a flexible transmission device, and an analysis pad.
  • a suction cup wall climbing robot is installed under the multi-rotor drone, and a flexible transmission device is provided on the suction cup wall climbing robot.
  • the camera installed on the drone is loaded with infrared, video and three-dimensional scanning cameras, it can perform overall rapid fuselage scanning inspection under different ambient light conditions to ensure the quality of video information collection, play a role in pre-positioning, and achieve the purpose of close-range non-contact non-destructive testing.
  • the above scheme can realize the robot sliding on the surface to be tested, the sliding process still requires the rotor to provide adhesion for the robot, and the robot consumes a lot of energy.
  • the rotor direction of the robot in the above scheme is fixed, and it is difficult for the robot to land on vertical surfaces and surfaces such as the bottom surface of the structure.
  • the present invention provides a flying and crawling cross-domain multi-mode robot, which can flexibly and quickly switch the robot's crawling mode and flying mode, so that the robot can move in working planes at various angles.
  • the technical solution adopted by the present invention is:
  • a flying and crawling cross-domain multi-mode robot comprises a base, a vector rotor module, a vector magnetic module, a wheel-track drive module, a tail wheel module, a battery module, a controller module, a mechanical and electrical integration interface module, and a landing gear module;
  • the flying and crawling cross-domain multi-mode robot is centered on the base, and the left and right sides of the base are coaxially installed with three modules: a vector rotor module, a vector magnetic module, and a wheel-track drive module;
  • the tail wheel module is fixed to the rear side of the base;
  • the battery module, the controller module, the mechanical and electrical integration interface module, and the landing gear module are fixed to the base; more specifically, the tilt mechanism of the vector rotor module is fixed to the base, and the folding and unfolding mechanism passes through the rotating shafts on both sides of the base and is connected to the tilt mechanism;
  • the magnetic attraction module rotating mechanism of the vector magnetic module is installed on the base;
  • the tail wheel swing motor of the tail wheel module is fixed on the base; the battery module, the controller module, the mechanical and electrical integration interface module, and the landing gear module are fixed on the base; in the present invention, the vector rotor module provides vector controllable lift and directional flight power for the robot flight; the vector magnetic module provides the robot with controllable adsorption force in direction and size for crawling, and can be used as a momentum swing arm in the flight mode to assist flight stability or to adjust the posture when falling and performing rescue operations; the wheel-crawler drive module provides traction for the robot crawling; the tail wheel module can be used as a momentum swing arm in the flight mode and as an adsorption support in the crawling mode; multiple flying and crawling cross-domain multi-mode robots are connected in series through the mechanical and electrical integration interface module, and a single flying and crawling cross-domain multi-mode robot expands the vector rotor module through the mechanical and electrical integration interface module to adjust the robot's maneuverability and load capacity; the landing gear module can be opened as a
  • the robot provided by the present invention has multiple modes such as flight, crawling, hybrid drive, take-off and landing transition, and has the ability to transition between some discontinuous planes, flange surfaces, and surfaces with different inclination angles;
  • the vector rotor module can provide flight thrust for the robot, and also has the function of folding the rotor.
  • the rotor In the crawling mode, the rotor is folded to reduce the volume of the robot to avoid affecting the crawling operation; the vector magnetic module and the tail wheel module can provide adsorption force for the robot crawling, and can serve as a momentum swing arm to maintain the balance stability of the robot in the flight mode; by controlling the thrust size and direction of the rotor of the vector rotor module, the folding and unfolding of the rotor, the adsorption force size and direction of the vector magnetic module, the adsorption force and swing angle of the tail wheel module, and the unfolding and retraction of the landing gear module, the robot can be flexibly and quickly switched between the crawling mode and the flight mode, so as to achieve the robot's efficient and flexible ability to take off and land on working planes at various angles, fly over complex obstacles, reach a wider range of detection locations, and perform low-energy and high-precision detection.
  • the robot is equipped with a variety of sensors, including collision sensors and visual detection sensors.
  • the vector rotor module includes a rotor assembly, a folding and unfolding mechanism, and a tilting mechanism; the rotor assembly is connected to the tilting mechanism through the folding and unfolding mechanism, one end of the folding and unfolding mechanism passes through the inner hole of the rotating shaft on the side of the base and rotates with the base, and the tilting mechanism is installed on the base; more specifically, the rotor assembly is composed of a coaxially installed combination of three parts: a rotor, a rotor motor, and a rotor protection ring; the folding and unfolding mechanism includes a first connecting rod, a second connecting rod, a spring, and an angle sensor mechanism; the first connecting rod, the second connecting rod, and the angle sensor mechanism are coaxially installed; both ends of the spring are respectively fixed on the first connecting rod The first connecting rod and the second connecting rod are on the second connecting rod; the first connecting rod and the second connecting rod can rotate relative to each other; in the present invention, a vector rotor module is designed, which has
  • the spring plays a role in assisting the folding and unfolding of the rotor.
  • the spring When the rotor changes from a folded state to an unfolded state, the spring will go through two processes of shortening and then lengthening.
  • the spring is in a compressed state in both the initial state and the terminal state, and has an outward thrust.
  • the spring thrust is used to generate a bipolar change in the folding and unfolding torque of the rotor module, and the rotor module has the ability to maintain the stability of the folded and unfolded states when there is no thrust on the rotor.
  • the angle sensor mechanism can measure the angle between the first link and the second link of the folding and unfolding mechanism, which is used for feedback control of the folding and unfolding of the rotor.
  • the robot by symmetrically installing the two vector rotor modules on the left and right sides of the base, the robot is enabled to fly; when the robot enters the flight mode, the rotor motor rotates to provide thrust, and the rotor changes from a folded state to an unfolded state; by controlling the two vector rotor modules, the robot can take off and land freely, cross complex obstacles, and quickly reach the detection location.
  • the rotor motor can be a brushless DC motor, which has the characteristics of light weight and high speed, and is used to drive the rotation of the rotor blades to provide thrust for the robot flight;
  • the tilt mechanism is a servo, which is used to control the tilt angle of the rotor and has the characteristics of large torque and light weight;
  • the spring is a damping thrust spring; and
  • the angle sensor is a Hall angle sensor.
  • the vector magnetic module includes a magnetic mechanism and a magnetic module rotating mechanism; the magnetic mechanism is installed at one end of the magnetic rotating mechanism, the magnetic module rotating mechanism is installed on the base, and the magnetic module rotating mechanism can drive the base to rotate to change the magnitude and direction of the magnetic force; more specifically, the magnetic mechanism is composed of a magnet and a magnet bracket; the magnetic module rotating mechanism is composed of a baffle, a bearing limit mechanism, a driving gear mechanism, and an internal gear mechanism; the magnet is installed on the magnet bracket; the magnetic mechanism is an arc-shaped structure, the rotation center is the same as the wheel assembly, the outer arc radius of the magnetic mechanism is slightly smaller than the radius of the wheel assembly, and a gap is left between the magnetic mechanism and the adsorption plane; The baffle is connected to the base through a bearing limit mechanism; the driving gear mechanism is installed on the base; the internal gear mechanism is located between the base and the baffle, and is internally engaged with the bearing limit mechanism and the driving gear mechanism; the base and the baffle limit the axial movement of the internal
  • the robot by symmetrically installing the vector magnetic modules on the left and right sides of the robot body, the robot has an adsorption force, so that the robot can perform crawling operations on the wall.
  • the first magnet can be a Halbach magnet array or an electropermanent magnet unit (EPM);
  • the Halbach magnet array can change the local magnetic force distribution of the magnet, so that the adsorption force on the side close to the adsorption plane is improved; the EPM can quickly change the size and direction of the magnetic force.
  • the wheel-track drive module includes a wheel assembly, a transmission mechanism, and a wheel drive motor.
  • the wheel assembly is connected to the wheel drive motor through the transmission mechanism.
  • the wheel drive motor is installed on a base, and the transmission mechanism rotates with the outer side of the rotating shaft on both sides of the base.
  • the wheel drive motor transmits power through the transmission mechanism to drive the wheel to rotate.
  • the robot by symmetrically installing the two wheel-track drive modules on the left and right sides of the robot body, the robot has the ability to crawl; the robot adopts a dual-wheel differential movement mode; and by controlling the two wheel-track drive modules, the robot can realize forward movement, change of direction, turnover and other actions.
  • the transmission mechanism can be a pulley transmission mechanism, a gear mechanism or a chain transmission mechanism; when a pulley transmission is adopted, the transmission mechanism includes a first pulley, a second pulley, and a belt, the first pulley is fixed to the output shaft of the wheel driving motor, the first pulley is connected to the second pulley through a belt, and the second pulley is connected to the wheel to drive the wheel to rotate.
  • the tail wheel module includes a tail wheel assembly, a tail wheel swing motor, a tail wheel bracket, a tail wheel magnetic module rotation mechanism, and a tail wheel magnetic mechanism.
  • the tail wheel assembly is connected to the tail wheel swing motor through the tail wheel bracket, and the tail wheel swing motor is installed on the base;
  • the tail wheel magnetic mechanism is installed at one end of the tail wheel magnetic rotation mechanism, and the other end of the tail wheel magnetic rotation mechanism is installed on the tail wheel bracket; more specifically, the tail wheel magnetic mechanism is composed of a tail wheel magnet and a tail wheel magnet bracket;
  • the tail wheel magnet is installed on the tail wheel magnet bracket;
  • the tail wheel magnetic mechanism is an arc structure, the rotation center is the same as the tail wheel assembly, the outer arc radius of the tail wheel magnetic mechanism is slightly smaller than the radius of the tail wheel assembly, and a gap is left between the tail wheel magnetic mechanism and the adsorption plane;
  • the tail wheel magnet bracket It is connected with the rotating mechanism of the tail wheel magnetic attraction module;
  • the tail wheel assembly is coaxially installed with the
  • the tail wheel magnet can be a Halbach magnet array or an electro permanent magnet (EPM);
  • the Halbach magnet array can change the local magnetic force distribution of the magnet, so that the adsorption force on the side close to the adsorption plane is improved; the EPM can quickly change the size and direction of the magnetic force.
  • the landing gear module includes a storage motor, a first tripod, and a second tripod; the storage motor is installed on the base, and the output end of the storage motor is hinged to one end of the first tripod and the second tripod respectively, and the storage motor drives the first tripod and the second tripod to rotate, changing the angle between the first tripod and the second tripod, thereby realizing the storage and deployment of the first tripod and the second tripod.
  • the mechanical and electrical integration interface module includes a female connector and a male connector.
  • the female connector is composed of a small ball fixing ring and a push rod.
  • the small ball in the female connector is subjected to radial force and retracts inward, and is stuck in the ball groove of the male connector, limiting the axial separation of the male and female interfaces.
  • the push rod is driven to move the outer ring of the small ball fixing ring in the axial direction, and the radial clearance of the small ball of the small ball fixing ring becomes larger so that it can be separated from the ball groove of the male connector.
  • the male and female connectors can be separated in the axial direction.
  • the robot provided by the present invention has multiple modes such as flight, crawling, hybrid drive, take-off and landing transition, etc.; by controlling the thrust size and direction of the rotor of the vector rotor module, the folding and unfolding of the rotor, the adsorption force size and direction of the vector magnetic module, the adsorption force and swing angle of the tail wheel module, and the unfolding and retraction of the landing gear module, the robot can flexibly and quickly switch between the crawling mode and the flight mode, so that the robot has the ability to take off and land on working planes at various angles, fly over complex obstacles, reach a wider range of detection locations, and perform low-energy and high-precision detection.
  • the vector rotor module of the present invention adopts a folding and unfolding mechanism to connect the rotor, so that the robot has the ability to fold and unfold the rotor; when the rotor starts working, the rotor changes from a folded state to an unfolded state, and when the rotor ends working, the rotor changes from an unfolded state to a folded state, so that the robot is smaller in size and more flexible in movement in crawling mode, which can better meet actual detection needs.
  • the vector magnetic module of the present invention can provide reliable adsorption force for the crawling mode.
  • the adsorption force of the robot can be reduced, and the robot can easily fly away from the working plane.
  • the vector magnetic module can also be used as a momentum swing arm in the flying mode to assist in flight stability or to adjust the posture when performing rescue actions after falling.
  • the tail wheel module of the present invention serves as a supporting wheel for the robot to perform dual-wheel differential motion when the robot moves in crawling mode; the robot reduces the suction force of the tail wheel when it moves in flight mode, so that the robot can easily fly away from the crawling plane; the tail wheel swing motor of the tail wheel module can make the entire tail wheel module swing, which can be used as a momentum swing arm to assist flight stability in flight mode or to adjust the posture when performing rescue actions after falling, making it easier for the robot to fit the plane when it lands on the crawling plane.
  • the base of the present invention is equipped with a mechanical and electrical integration interface module, and multiple flying and crawling cross-domain multi-mode robots can be combined in series through the mechanical and electrical integration interface module.
  • a single flying and crawling cross-domain multi-mode robot can expand the vector rotor module through the mechanical and electrical integration interface module; the base is equipped with a landing gear module, which can be opened as a supporting foot when the robot lands on the ground. When the robot crawls on the wall, the landing gear module is retracted to avoid affecting the crawling.
  • FIG. 1 is a schematic structural diagram of a base in the first embodiment.
  • FIG2 is a schematic diagram of the assembly of the flying and crawling cross-domain multi-mode robot in Example 1.
  • FIG3 is a schematic diagram of the robot taking off and landing on a vertical wall in Embodiment 1.
  • FIG. 4 is a schematic diagram of the robot taking off and landing on an inverted wall in the first embodiment.
  • FIG5 is a schematic diagram of the robot climbing over a thin plate in the first embodiment.
  • FIG6 is a schematic diagram of the vector rotor module installed on the base in the second embodiment.
  • FIG. 7 is a schematic diagram of the structure of the vector rotor module in the second embodiment.
  • FIG8 is a schematic diagram of the folding of the vector rotor module in the second embodiment.
  • FIG9 is a schematic diagram showing two vector rotor modules symmetrically installed on a robot in Embodiment 2.
  • FIG. 10 is a schematic diagram of the spring folding and unfolding mechanism in the second embodiment.
  • FIG. 11 is a schematic diagram of three working states of the spring in the second embodiment.
  • FIG. 12 is a schematic diagram showing how the spring thrust and the torque acting on the rotor vary with the deployment angle in the second embodiment.
  • FIG. 13 is a schematic diagram of the unfolding of the slide block folding and unfolding mechanism in the second embodiment.
  • FIG. 14 is a schematic diagram of the folding mechanism of the slider in the second embodiment.
  • FIG. 15 is a schematic diagram of the structure of the vector magnetic module in the third embodiment.
  • FIG. 16 is a schematic diagram of the vector magnetic module installed on the base in the third embodiment.
  • FIG. 17 is a schematic diagram of two vector magnetic modules installed on a robot in Example 3.
  • FIG. 18 is a schematic diagram of the magnetization direction of the Halbach magnet array in the third embodiment.
  • FIG. 19 is a schematic diagram of the magnetization direction of the variable magnetization direction magnet array in the third embodiment.
  • FIG. 21 is a schematic diagram showing the principle of the external adsorption force exerted by the electropermanent magnet in the third embodiment.
  • FIG. 22 is a schematic diagram of the structure of the wheel-track drive module in the fourth embodiment.
  • FIG. 23 is a schematic diagram of two wheel-track drive modules installed on a robot in Embodiment 4.
  • FIG. 24 is a schematic diagram of the pulley transmission mechanism in the fourth embodiment.
  • FIG. 25 is a schematic diagram of the structure of the tail wheel module in the fifth embodiment.
  • FIG. 26 is a schematic diagram of the installation position of the magnetic structure of the tail wheel module in the fifth embodiment.
  • FIG. 27 is a schematic diagram of the structure of the parallelogram swing arm in the fifth embodiment.
  • FIG. 28 is a schematic diagram of the structure of the mechanical and electrical integration interface module in the sixth embodiment.
  • FIG. 29 is a schematic diagram of the robot expansion arm in Example 6.
  • FIG30 is a schematic diagram of multiple robots connected in series in Example 6.
  • Figure 31 is a schematic diagram of the robot extended vector rotor module in Example 6.
  • this is an embodiment of the base 0 of the present invention.
  • the base 0 is the central structure of the robot.
  • the left and right sides of the base 0 are two hollow shaft structures that can be used to install a vector rotor module 1, a vector magnetic module 2, and a wheel-track drive module 3.
  • an embodiment of a flying and crawling cross-domain multi-mode robot includes a base 0, a vector rotor module 1, a vector magnetic module 2, a wheel-track drive module 3, a tail wheel module 4, a battery module 5, a controller module 6, a mechanical and electrical integration interface module 7, and a landing gear module 8;
  • the modular and reconfigurable flying and crawling multi-mode integrated robot is centered on the base 0, and the left and right sides of the base 0 are coaxially installed with three modules, namely, the vector rotor module 1, the vector magnetic module 2, and the wheel-track drive module 3;
  • the tail wheel module 4 is fixed on the rear side of the base 0;
  • the battery module 5, the controller module 6, the mechanical and electrical integration interface module 7, and the landing gear module 8 are fixed on the base.
  • the tilt mechanism 103 of the vector rotor module 1 is fixed on the base 0, and the folding mechanism 102 passes through the rotating shafts on both sides of the base 0 and is connected to the tilt mechanism 103;
  • the magnetic attraction module rotating mechanism 202 of the vector magnetic module 2 is installed on the base 0;
  • the transmission mechanism 302 and the wheel driving motor 303 of the wheel-track driving module 3 are installed on the base 0;
  • the tail wheel swing motor 402 of the tail wheel module 4 is fixed on the base 0.
  • the vector rotor module 1 provides vector controllable lift and power for directional flight for the robot flight;
  • the vector magnetic module 2 provides an adsorption force with controllable direction and size for the robot crawling, and can be used as a momentum swing arm in the flight mode to assist in flight stability or to adjust the posture when performing a rescue action after falling;
  • the wheel-crawler drive module 3 provides traction for the robot crawling;
  • the tail wheel module 4 can be used as a momentum swing arm in the flight mode and as an adsorption support in the crawling mode;
  • the landing gear module 8 can be opened as a support foot when the robot lands on the ground, and the landing gear module 8 is retracted when the robot crawls on the wall to avoid affecting the crawling.
  • the robot when the robot lands on a wall with an inclination angle of less than 135 degrees (such as a vertical wall), the robot approaches the wall and controls the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to approach the adsorption plane to increase the magnetic force, thereby achieving a smooth landing; when the robot takes off on a wall with an inclination angle of less than 135 degrees, the take-off can be achieved by controlling the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to move away from the adsorption plane to reduce the magnetic force.
  • a wall with an inclination angle of less than 135 degrees such as a vertical wall
  • the robot when the robot lands on a wall with an inclination angle of >135 degrees (such as a horizontal inverted wall), the robot approaches the wall, controls the tail wheel swing motor 402 to make the tail wheel module 4 fit the wall, and controls the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to approach the adsorption plane to increase the magnetic force, thereby achieving a smooth landing; when the robot takes off at an angle of >135 degrees, takes off can be achieved by controlling the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to move away from the adsorption plane to reduce the magnetic force.
  • >135 degrees such as a horizontal inverted wall
  • the wheel-track drive module 3 provides the driving force for climbing over the thin plate
  • the tail wheel module 4 serves as the supporting wheel
  • the tail wheel swing motor 402 continuously changes the wheel spacing between the driving wheel and the supporting wheel to meet the requirement of having different wheel spacings at different positions during the climbing over the thin plate
  • the wheel-track drive module 3 provides the driving force for climbing over the thin plate.
  • the adsorption surface becomes narrower and the adsorption force of the robot becomes smaller, which makes the robot prone to falling off and slipping.
  • the robot can use the vector rotor module 1 to assist in climbing over.
  • the vector rotor module 1 can provide thrust to overcome the problem of insufficient adsorption force and maintain the balance and stability of the robot in the process of climbing over the thin plate.
  • the robot can be flexibly and quickly switched between the crawling mode and the flight mode, thereby achieving the robot's efficient and flexible ability to take off and land on working planes at various angles, fly over complex obstacles, reach a wider range of detection locations, and perform low-energy and high-precision detection.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • an embodiment of the vector rotor module 1 of the present invention includes a rotor assembly 101, a folding and unfolding mechanism 102, and a tilting mechanism 103; the rotor assembly 101 is connected to the tilting mechanism 103 through the folding and unfolding mechanism 102, one end of the folding and unfolding mechanism 102 passes through the inner hole of the rotating shaft on the side of the base 0 and rotates with the base 0, and the tilting mechanism 103 is installed on the base.
  • rotor assembly 101 is composed of three parts coaxially installed, namely rotor 1011, rotor motor 1012, and rotor protection ring 1013; tilt mechanism 103 can cause the folding and unfolding mechanism 102 to tilt and change the tilt angle of rotor assembly 101;
  • rotor module 1 has the function of folding and unfolding rotor assembly 101; when the vector rotor module 1 starts to work, rotor motor 1012 rotates forward, rotor module 1 has a forward thrust, and rotor module 1 changes from a folded state to an unfolded state; when the rotor module 1 ends its work, rotor motor 1012 reverses, rotor module 1 has a reverse thrust, and rotor module 1 changes from an unfolded state to a folded state.
  • the robot is able to fly; when the robot enters the flight mode, the rotor motor rotates to provide thrust, and the rotor changes from a folded state to an unfolded state; by controlling the two vector rotor modules, the robot can take off and land freely, cross complex obstacles, and quickly reach the detection location.
  • the folding and unfolding mechanism 102 adopts a spring folding and unfolding mechanism, including a first connecting rod 1021, a second connecting rod 1022, a spring 1023, and an angle sensor mechanism 1024; the first connecting rod 1021, the second connecting rod 1022, and the angle sensor mechanism 1024 are coaxially installed; the two ends of the spring 1023 are respectively fixed on the first connecting rod 1021 and the second connecting rod 1022; the first connecting rod 1021 and the second connecting rod 1022 can rotate relative to each other, and the spring 1023 can make the first connecting rod 1021 and the second connecting rod 1022 stably in two states of folding or unfolding in the absence of other external forces; the angle sensor mechanism 1024 can measure the angle between the first connecting rod 1021 and the second connecting rod 1022.
  • spring 1023 plays a role in assisting rotor assembly 101 to fold and unfold.
  • spring 1023 first shortens and then lengthens.
  • Spring 1023 goes through three states: a folded compressed state, an intermediate compressed state, and an unfolded state.
  • Spring 1023 is compressed in both the initial state and the terminal state.
  • the thrust of the spring 1023 is used to produce a bipolar change in the folding and unfolding torque of the rotor module, and the rotor module 1 still has the ability to maintain the stability of the folded state and the unfolded state when there is no thrust in the rotor module 1.
  • the folding mechanism 102 can also adopt a slider folding mechanism, including a third connecting rod 1025, a fourth connecting rod 1026, a slider 1027, and a T-shaped connecting rod 1028; when the slider 1027 moves toward the middle along the T-shaped connecting rod 1028, the folding mechanism 102 unfolds, and when the slider 1027 moves toward the end along the T-shaped connecting rod 1028, the folding mechanism 102 folds.
  • a slider folding mechanism including a third connecting rod 1025, a fourth connecting rod 1026, a slider 1027, and a T-shaped connecting rod 1028; when the slider 1027 moves toward the middle along the T-shaped connecting rod 1028, the folding mechanism 102 unfolds, and when the slider 1027 moves toward the end along the T-shaped connecting rod 1028, the folding mechanism 102 folds.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • an embodiment of the vector magnetic module 2 of the present invention includes a magnetic mechanism 201 and a magnetic module rotating mechanism 202 ; the magnetic mechanism 201 is installed at one end of the magnetic module rotating mechanism 202 , and the magnetic rotating mechanism 202 is installed on the base 0 .
  • the magnetic mechanism 201 is composed of a first magnet 2011 and a first magnet bracket 2012;
  • the magnetic module rotation mechanism 202 is composed of a baffle 2021, a bearing limit mechanism 2022, a driving gear mechanism 2023, an internal gear mechanism 2024, and a Hall sensor 2025;
  • the magnet 2011 is installed on the magnet bracket 2012;
  • the magnetic mechanism 201 is an arc-shaped structure, and the rotation center is the same as the wheel assembly 301.
  • the outer arc radius of the magnetic mechanism 201 is slightly smaller than the radius of the wheel assembly 301, and there is a gap between the magnetic mechanism 201 and the adsorption plane.
  • the baffle 2021 is connected to the base 0 through the bearing limit mechanism 2023; the driving gear mechanism 2023 is installed on the base 0; the internal gear mechanism 2024 is located between the base 0 and the baffle 2021, and is internally matched with the bearing limit mechanism 2022 and the driving gear mechanism 2023; the base 0 and the baffle 2021 limit the axial movement of the internal gear mechanism 2024; the bearing limit mechanism 2022 limits the radial movement of the internal gear mechanism 2024; the internal gear mechanism 2024 is connected to the magnet bracket 2022; the Hall sensor 2025 is fixed on the baffle 2021.
  • the driving gear mechanism 2023 rotates to drive the internal gear mechanism to rotate, and then drives the magnetic mechanism 201 to rotate, thereby changing the distance between the first magnet 2011 and the adsorption plane, and changing the magnitude and direction of the adsorption force of the vector magnetic module; the Hall sensor 2025 is used to measure the rotation angle of the first magnet 2011 for feedback control.
  • two vector magnetic modules 2 are symmetrically installed on the left and right sides of the base 0 to provide an adsorption force for the robot's crawling.
  • the first magnet 2011 adopts a Halbach magnet array, and the distribution of magnetic lines of force is shown in FIG18 .
  • the Halbach magnet array can change the local magnetic force distribution of the magnet, thereby increasing the adsorption force on the side close to the adsorption plane.
  • the first magnet 2011 adopts a magnet array with variable magnetization direction, and the distribution of magnetic lines of force is shown in FIG19 , which is an optimized Halbach magnet array. Through a more reasonable magnetization direction, the local magnetic force distribution of the magnet is more reasonable, and the adsorption force is further improved.
  • the first magnet 2011 is an electro-permanent magnet unit, which includes a magnetic wheel composed of five parts, two yokes on the left and right sides, two magnets in the middle, a neodymium iron boron permanent magnet on the top, and an aluminum Nickel-cobalt magnets, two magnets with coils wrapped around them; as shown in Figure 20, the magnetization direction of NdFeB is to the right, the coil is energized, and the magnetization direction of AlNiCo is to the left.
  • a magnetic wheel composed of five parts, two yokes on the left and right sides, two magnets in the middle, a neodymium iron boron permanent magnet on the top, and an aluminum Nickel-cobalt magnets, two magnets with coils wrapped around them; as shown in Figure 20, the magnetization direction of NdFeB is to the right, the coil is energized, and the magnetization direction of AlNiCo is to the left.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • an embodiment of the wheel-track driving module 3 of the present invention includes a wheel assembly 301, a transmission mechanism 302, and a wheel driving motor 303.
  • the wheel assembly 301 is connected to the wheel driving motor 303 through the transmission mechanism 302.
  • the wheel driving motor 303 is installed on the base 0.
  • the wheel driving motor 303 transmits power through the transmission mechanism 302 to drive the wheel assembly 301 to rotate.
  • the robot has the ability to crawl; the robot adopts a dual-wheel differential movement mode; by controlling the two wheel-track drive modules, the robot can realize forward movement, change direction, turnover and other actions.
  • the transmission mechanism 302 adopts pulley transmission, and the transmission mechanism 302 includes a first pulley 3021, a second pulley 3022, and a belt 3023.
  • the first pulley 3021 is fixed to the output shaft of the wheel drive motor 303, the first pulley 3021 is connected to the second pulley 3022 through the belt 3023, and the second pulley 3022 is connected to the wheel assembly 301 to drive the wheel assembly 301 to rotate.
  • Embodiment 5 is a diagrammatic representation of Embodiment 5:
  • FIG 25 shows an embodiment of the tail wheel module 4 of the present invention, including a tail wheel assembly 401, a tail wheel swing motor 402, a tail wheel bracket 403, a tail wheel magnetic module rotation mechanism 404, and a tail wheel magnetic mechanism 405.
  • the tail wheel assembly 401 is connected to the tail wheel swing motor 402 through the tail wheel bracket 403, and the tail wheel swing motor 402 is installed on the base 0;
  • the tail wheel magnetic mechanism 405 is installed at one end of the tail wheel magnetic rotation mechanism 404, and the other end of the tail wheel magnetic rotation mechanism 404 is installed on the tail wheel bracket 403.
  • the tail wheel magnetic mechanism 405 is composed of a tail wheel magnet 4051 and a tail wheel magnet bracket 4052; the tail wheel magnet 4051 is installed on the tail wheel magnet bracket 4052; the tail wheel magnetic mechanism 405 is an arc structure, the rotation center is the same as the tail wheel assembly 401, the outer arc radius of the tail wheel magnetic mechanism 401 is slightly smaller than the radius of the tail wheel assembly 401, and there is a gap between the tail wheel magnetic mechanism 405 and the adsorption plane; the tail wheel magnet bracket 4052 is connected to the tail wheel magnetic module rotation mechanism 404; the tail wheel assembly 401 and the tail wheel magnetic mechanism 401 are coaxially installed.
  • the rotation of the tail wheel magnetic module rotation mechanism 404 can drive the tail wheel magnetic mechanism 405 to rotate, change the distance between the tail wheel magnet 4051 and the adsorption plane, and change the size and direction of the tail wheel module adsorption force; the tail wheel swing motor 402 of the tail wheel module 4 can make the entire tail wheel module 4 swing.
  • the tail wheel bracket 403 can be a rigid swing arm. As shown in FIG. 27 , the tail wheel bracket 403 A parallelogram-link swing arm can be used to control the length of the swing arm.
  • the tail wheel magnetic attraction module 4 serves as a supporting wheel for the robot to perform dual-wheel differential motion
  • the adsorption force of the tail wheel module 4 is reduced, making it easy for the robot to fly away from the crawling plane
  • the tail wheel swing motor 402 of the tail wheel module 4 can make the entire tail wheel module 4 swing, which can be used as a momentum swing arm to assist flight stability in flight mode or to adjust the posture when performing a rescue action after falling, making it easier for the robot to fit the plane when it lands on the crawling plane.
  • Embodiment 6 is a diagrammatic representation of Embodiment 6
  • FIG28 it is a schematic diagram of the structure of the mechanical and electrical integration interface module 7, which includes a female connector 701 and a male connector 702.
  • the female connector is composed of a small ball fixing ring 7021 and a push rod 7022.
  • the small ball in the female connector 701 is subjected to radial force and retracts inward, and is stuck in the ball groove of the male connector 702, limiting the axial separation of the male and female interfaces.
  • the push rod 7022 is driven to move the outer ring of the small ball fixing ring 7021 along the axial direction, and the radial clearance of the small ball of the small ball fixing ring becomes larger so that it can be separated from the ball groove of the male connector 702. At this time, the male and female connectors can be separated along the axial direction.
  • the flying and crawling cross-domain multi-mode robot can extend the operating arm through the mechanical and electrical integration interface module 7, thereby increasing the operational freedom of the entire machine and can be used for remote operation operations such as gripping and carrying.
  • a plurality of flying and crawling cross-domain multi-mode robots are connected in series via the mechanical and electrical integration interface module 7; by adopting multiple machines in series, both ends of the entire system are equipped with a wheel-track drive module 3, a vector magnetic module 2, and a vector rotor module 1, so that the robot can have more flexible motion performance, more diverse motion postures, higher safety and stability, and can cross more obstacles to adapt to more complex working environments; in crawling mode, multiple machines in series make it easier for the entire system to achieve transitions of structures such as inner corners, outer corners, and thin plates, and has the ability to cross complex structures such as flange edges and I-beams; in flight mode, multiple machines in series make the entire system have greater load capacity and flight stability, and the robot has flexible and diverse motion postures, which can enable the robot to land and take off on more complex surfaces.
  • a single flying and crawling cross-domain multi-mode robot expands the vector rotor module 1 through the mechanical and electrical integration interface module 7 to adjust the robot's maneuverability and increase the controllability of the robot's pitch angle attitude and load capacity.

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Abstract

一种飞行和爬行跨域多模机器人包括矢量旋翼模块、矢量磁力模块、轮履式驱动模块、尾轮模块等，机器人具备飞行、爬行、混合驱动、起飞降落等多种模式。矢量旋翼模块具备有折叠旋翼的功能，在爬行模式将旋翼折叠减小机器人体积，避免影响爬行作业；矢量磁力模块、尾轮模块可以为机器人爬行提供吸附力，并可在飞行模式下作为动量摆臂维持机器人的平衡稳定性；多个机器人通过机械电器一体化接口模块串联组合，单个机器人通过机械电器一体化接口模块扩展矢量旋翼模块；机器人可以灵活迅速地进行爬行模式与飞行模式的切换。

Description

一种飞行和爬行跨域多模机器人 技术领域
本发明涉及机器人技术领域，更具体地，涉及一种飞行和爬行跨域多模机器人。
背景技术
检测机器人常用的移动方式有飞行和爬行两种形式，在工业检测方面采用无人机检测的方式可以较好地满足非接触式检测的工作要求，但由于无人机能耗高、需要与检测对象保持安全飞行距离和受风力等环境因素影响大等，对于接触式检测、近距离检测、精准的检测、较多障碍物环境下的检测、长时间检测的工作，难以满足要求；爬行机器人可以较好地满足接触式检测、近距离检测的工作要求，但是由于爬行机器人受爬行方式的限制只能在特定的表面爬行，难以跨越不连续平面和复杂表面，且在不同平面之间的过渡的能力有限。
中国专利CN113978761B公开了一种飞机机身检测机器人，其结构包括多旋翼无人机、吸盘式爬壁机器人、柔性传动装置，解析垫，多旋翼无人机下安装有吸盘式爬壁机器人，吸盘式爬壁机器人上设有柔性传动装置，因无人机加装的摄像头为加载有红外、视频与三维扫描摄像头，可在不同环境光条件下，进行整体快速机身扫描检测，确保视频信息采集的质量，起到的预定位的作用，达到近距离非接触无损检测的目的。上述方案虽能实现机器人在被测表面滑行，但是滑行的过程仍然需要旋翼为机器人提供附着力，机器人的能耗大。另一方面，上述方案机器人的旋翼朝向是固定的，机器人难以实现降落到竖直面以及结构底面等表面上。
发明内容
本发明为克服上述现有技术中的缺陷，提供一种飞行和爬行跨域多模机器人，可以灵活迅速进行机器人的爬行模式与飞行模式两种状态的切换，实现机器人能够在各种角度的工作平面进行运动。
为解决上述技术问题，本发明采用的技术方案是：
一种飞行和爬行跨域多模机器人，包括基座、矢量旋翼模块、矢量磁力模块、轮履式驱动模块、尾轮模块、电池模块、控制器模块、机械电器一体化接口模块、起落架模块；飞行和爬行跨域多模机器人以基座为中心，基座的左右两侧都同轴安装有矢量旋翼模块、矢量磁力模块、轮履式驱动模块三个模块；尾轮模块固定在基座的后侧；电池模块、控制器模块、机械电器一体化接口模块、起落架模块固定在基座上；更具体的，矢量旋翼模块的倾转机构固定在基座上，折展机构穿过基座两侧的旋转轴与倾转机构连接；矢量磁力模块的磁吸模块旋转机构安装在基座上；轮履式驱动模块的传动机构、轮子驱动电机安装在 基座上；尾轮模块的尾轮摆动电机固定在基座上；电池模块、控制器模块、机械电器一体化接口模块、起落架模块固定在基座上；在本发明中，所述矢量旋翼模块为机器人飞行提供矢量可控的升力和各向飞行的动力；矢量磁力模块为机器人爬行提供方向和大小可控的吸附力，并可在飞行模式下的作为动量摆臂，辅助飞行稳定或在跌落执行救机动作时用以调整姿态；轮履式驱动模块为机器人爬行提供牵引力；尾轮模块可作为飞行模式的动量摆臂也作为爬行模式的吸附支撑；多个飞行和爬行跨域多模机器人通过所述机械电器一体化接口模块串联组合，单个飞行和爬行跨域多模机器人通过所述机械电器一体化接口模块扩展矢量旋翼模块，用以调整机器人的机动能力、负载能力；所述起落架模块在机器人降落地面时可打开作为支撑脚，机器人在壁面爬行时，起落架模块收回，避免影响爬行。
根据以上技术手段，本发明提供的机器人具备飞行、爬行、混合驱动、起飞降落过渡等多种模式，具有在一些不连续平面、法兰面、不同倾斜角的片面间过渡的能力；通过矢量旋翼模块可以为机器人提供飞行推力，还具备有折叠旋翼的功能，在爬行模式将旋翼折叠减小机器人体积，避免影响爬行作业；矢量磁力模块、尾轮模块可以为机器人爬行提供吸附力，并可在飞行模式下的作为动量摆臂维持机器人的平衡稳定性；通过控制矢量旋翼模块的旋翼的推力大小及方向、旋翼的折叠与展开、矢量磁力模块的吸附力大小及方向、尾轮模块的吸附力及摆动角度、起落架模块的展开及收回，可以灵活迅速进行机器人的爬行模式与飞行模式两种状态的切换，实现在机器人高效灵活具有在各种角度的工作平面起飞降落、飞越复杂障碍、抵达更广泛的检测地点、进行低能耗高精度检测等能力。
其中，机器人身上安装有多种传感器，包括碰撞传感器、视觉检测传感器。
在其中一个实施例中，所述矢量旋翼模块，包括旋翼总成、折展机构、倾转机构；旋翼总成通过折展机构与倾转机构连接，所述折展机构的一端从基座侧边旋转轴内孔穿过，并与基座转动配合，所述倾转机构安装在基座上；更具体的，旋翼总成由旋翼、旋翼电机、旋翼保护圈三部分同轴安装组合而成；折展机构包括第一连杆、第二连杆、弹簧、角度传感器机构；第一连杆和第二连杆、角度传感器机构同轴安装；弹簧两端分别固定在第一连杆和第二连杆上；第一连杆与第二连杆之间可以发生相对转动；在本发明中，设计一种矢量旋翼模块，具有改变旋翼的推力大小及方向的能力，倾转机构可以使得折展机构发生倾转而改变旋翼总成的倾转角；所述矢量旋翼模块具有折叠与展开旋翼的功能；旋翼工作开始时，旋翼电机正转，旋翼有一个正向的推力，旋翼由折叠状态转变为展开状态；旋翼工作结束时，旋翼电机反转，旋翼有一个反向的推力，旋翼由展开状态转变为折叠状态。弹簧起到辅助旋翼折叠与展开的作用，旋翼由折叠状态转为展开状态时，弹簧会经历变短再变长的两个过程，弹簧在初始状态以及终端状态时都处于被压缩状态，具有向外的推力， 利用了弹簧推力产生对旋翼模块的折展扭矩的两极性变化，在旋翼没有推力的情况下依然具有保持旋翼折叠状态以及展开状态的稳定性的能力。角度传感器机构可测量折展机构的第一连杆和第二连杆之间的角度，用于反馈控制旋翼的折叠以及展开。
在其中一个实施例中，通过将两个所述矢量旋翼模块对称安装在基座的左右两侧，使得机器人具有飞行能力；机器人进入飞行模式时，旋翼电机转动提供推力，旋翼由折叠状态转变为展开状态；通过控制两个矢量旋翼模块可以实现机器人自由起飞与降落、跨越复杂障碍、快速抵达检测地点。
在其中的一个实施例中，旋翼电机可以是无刷直流电机，具有质量轻，转速大的特点，用于驱动旋翼叶片的旋转，为机器人飞行提供推力；倾转机构是舵机，用于控制旋翼的倾转角度，具有扭矩大质量轻的特点；弹簧是阻尼推力弹簧；角度传感器是霍尔角度传感器。
在其中的一个实施例中，所述矢量磁力模块，包括磁力机构，磁吸模块旋转机构；磁力机构安装在磁力旋转机构的一端，磁吸模块旋转机构安装在基座上，磁吸模块旋转机构可以驱动基座旋转而改变磁力大小及方向；更具体的，磁力机构由磁体、磁体支架组成；磁吸模块旋转机构由挡板、轴承限位机构、驱动齿轮机构、内齿轮机构组成；磁体安装在磁体支架上；磁力机构为一个弧形结构，转动中心与轮子总成相同，磁力机构外圆弧半径比轮子总成半径略小，磁力机构与吸附平面之间留有间隙；挡板通过轴承限位机构与基座连接；驱动齿轮机构安装在基座上；内齿轮机构位于基座、挡板之间，并与轴承限位机构、驱动齿轮机构内切配合；基座与挡板限制内齿轮机构的轴向移动；轴承限位机构限制内齿轮机构的径向移动；内齿轮机构与磁体支架连接；在本发明中，设计一种矢量磁力模块，具有改变机器人吸附力的能力，驱动齿轮机构转动带动内齿轮机构旋转，进而带动磁力机构旋转，改变磁力的大小及方向；矢量磁力模块也可在飞行模式下的作为动量摆臂，维持机器人的平衡稳定性。
在本发明中，通过将所述的矢量磁力模块对称安装在机器人机体左右两侧，使得机器人具有吸附力，使得机器人可以在壁面上进行爬行作业。
在其中的一个实施例中，第一磁体可以是Halbach磁铁阵列、电永磁铁单元(EPM)；Halbach磁铁阵列可以改变磁铁局部磁力分布，使得靠近吸附平面一侧的吸附力提高；EPM可以实现快速改变磁力的大小和方向。
在其中的一个实施例中，所述轮履式驱动模块，包括轮子总成、传动机构、轮子驱动电机，轮子总成通过传动机构与轮子驱动电机连接，所述轮子驱动电机安装在基座上，传动机构与基座两侧的旋转轴外侧转动配合；在本发明中，轮子驱动电机通过传动机构传递动力，驱动轮子转动。
在本发明中，通过将两个所述轮履式驱动模块对称安装在机器人机体左右两侧，使得机器人具有爬行能力；机器人采用双轮差速的运动方式；通过控制两个轮履式驱动模块可以实现机器人的前进、变向、周转等动作。
在其中的一个实施例中，传动机构可以是带轮传动机构、齿轮机构或链条传动机构；采用带轮传动时，传动机构包括第一带轮、第二带轮、皮带，第一带轮与轮子驱动电机输出轴固定，第一带轮通过皮带与第二带轮连接，第二带轮与轮子连接，驱动轮子的转动。
在其中的一个实施例中，所述尾轮模块包括尾轮总成、尾轮摆动电机、尾轮支架、尾轮磁吸模块旋转机构、尾轮磁力机构，尾轮总成通过尾轮支架与尾轮摆动电机连接，尾轮摆动电机安装在基座上；尾轮磁力机构安装在尾轮磁力旋转机构的一端，尾轮磁力旋转机构的另外一端安装在尾轮支架上；更具体的，尾轮磁力机构由尾轮磁体、尾轮磁体支架组成；尾轮磁体安装在尾轮磁体支架上；尾轮磁力机构为一个弧形结构，转动中心与尾轮总成相同，尾轮磁力机构外圆弧半径比尾轮总成半径略小，尾轮磁力机构与吸附平面之间留有间隙；尾轮磁体支架与尾轮磁吸模块旋转机构连接；尾轮总成与尾轮磁力机构同轴安装；在本发明中，设计一种尾轮模块，具有改变机器人尾轮吸附力的能力，尾轮磁吸模块旋转机构旋转可带动尾轮磁力机构旋转，进而改变尾轮模块磁力的大小及方向；在机器人爬行模式移动时作为机器人进行双轮差速运动的支撑轮；机器人在飞行模式移动时将尾轮吸附力降低，使得机器人容易飞离爬行平面；尾轮模块的尾轮摆动电机可以使得整个尾轮模块摆动，在机器人降落到爬行平面时，机器人更容易贴合平面；通过尾轮摆动电机摆动尾轮模块，可以作为飞行模式下动量摆臂。
在其中的一个实施例中，尾轮磁体可以是Halbach磁铁阵列、电永磁铁(EPM)；Halbach磁铁阵列可以改变磁铁局部磁力分布，使得靠近吸附平面一侧的吸附力提高；EPM可以实现快速改变磁力的大小和方向。
在其中一个实施例中，所述起落架模块包括收纳电机、第一脚架、和第二脚架；所述收纳电机安装在所述基座上，所述收纳电机的输出端分别与第一脚架和第二脚架的一端铰接，所述收纳电机驱动所述第一脚架和第二脚架转动，改变第一脚架与第二脚架之间的夹角，从而实现第一脚架与第二脚架的收纳与展开。
在其中一个实施例中，所述机械电器一体化接口模块包括母接头、公接头两部分，母接头由小球固定环、推杆组成；公母两个接头结合时，母接头中的小球受到径向力而向内收合，卡在公接头的球槽中，限制公母接口沿着轴向分离。当要让接口分离时，驱动推杆，让小球固定环的外环沿着轴向移动，小球固定环的小球在径向的间隙变大从而可以脱离公接头的球槽，此时公母两个接头可以沿着轴向分离。
与现有技术相比，有益效果是：
1、本发明提供的机器人具备飞行、爬行、混合驱动、起飞降落过渡等多种模式；通过控制矢量旋翼模块的旋翼的推力大小及方向、旋翼的折叠与展开、矢量磁力模块的吸附力大小及方向、尾轮模块的吸附力及摆动角度、起落架模块的展开及收回，可以灵活迅速进行机器人的爬行模式与飞行模式两种状态的切换，使得机器人具有在各种角度的工作平面起飞降落、飞越复杂障碍、抵达更广泛的检测地点、进行低能耗高精度检测等能力。
2、本发明的矢量旋翼模块，采用折展机构连接旋翼，使得机器人具有折叠和展开旋翼的能力；旋翼工作开始时，旋翼由折叠状态转变为展开状态，旋翼工作结束时，旋翼由展开状态转变为折叠状态，使得机器人在爬行模式下体积更小、运动更灵活，更好地满足实际的检测需要。
3、本发明的矢量磁力模块，可以为爬行模式提供可靠的吸附力，在机器人由爬行模式转为飞行模型时，可以降低机器人的吸附力，而的机器人容易飞离工作平面；矢量磁力模块也可在飞行模式下的作为动量摆臂，辅助飞行稳定或在跌落执行救机动作时用以调整姿态。
4、本发明的尾轮模块，在机器人爬行模式移动时作为机器人进行双轮差速运动的支撑轮；机器人在飞行模式移动时将尾轮吸附力降低，使得机器人容易飞离爬行平面；尾轮模块的尾轮摆动电机可以使得整个尾轮模块摆动，可以作为飞行模式下动量摆臂辅助飞行稳定或在跌落执行救机动作时用以调整姿态，在机器人降落到爬行平面时使得机器人更容易贴合平面。
5、本发明的基座上装有一个机械电器一体化接口模块，多个飞行和爬行跨域多模机器人可以通过机械电器一体化接口模块串联组合，单个飞行和爬行跨域多模机器人可以通过机械电器一体化接口模块扩展矢量旋翼模块；基座上装有起落架模块，在机器人降落地面时可打开作为支撑脚，机器人在壁面爬行时，起落架模块收回，避免影响爬行。
附图说明
图1为实施例一中基座的结构示意图。
图2为实施例一中飞行和爬行跨域多模机器人装配示意图。
图3为实施例一中机器人在垂直壁面起降示意图。
图4为实施例一中机器人在倒置壁面壁起降示意图。
图5为实施例一中机器人翻越薄板的示意图。
图6为实施例二中矢量旋翼模块安装在基体上示意图。
图7为实施例二中矢量旋翼模块结构示意图。
图8为实施例二中矢量旋翼模块折叠示意图。
图9为实施例二中两个矢量旋翼模块对称安装在机器人示意图。
图10为实施例二中弹簧折展机构示意图。
图11为实施例二中弹簧三种工作状态示意图。
图12为实施例二中弹簧推力及旋翼所受转矩随着展开角度变化示意图。
图13为实施例二中滑块折展机构展开示意图。
图14为实施例二中滑块折展机构折叠示意图
图15为实施例三中矢量磁力模块的结构示意图。
图16为实施例三中矢量磁力模块安装在基座上示意图。
图17为实施例三中两个矢量磁力模块安装在机器人上示意图。
图18为实施例三中Halbach磁铁阵列充磁方向示意图。
图19为实施例三中变充磁方向磁铁阵列充磁方向示意图。
图20为实施例三中电永磁铁对外无吸附力原理示意图。
图21为实施例三中电永磁铁对外有吸附力原理示意图。
图22为实施例四中轮履式驱动模块结构示意图。
图23为实施例四中两个轮履式驱动模块安装在机器人上示意图。
图24为实施例四中带轮传动机构示意图。
图25为实施例五中尾轮模块结构示意图。
图26为实施例五中尾轮模块磁力结构安装位置示意图。
图27为实施例五中平行四边形摆臂的结构示意图。
图28为实施例六中机械电器一体化接口模块结构示意图。
图29为实施例六中机器人拓展机器臂示意图。
图30为实施例六中多个机器人串联示意图。
图31为实施例六中机器人扩展矢量旋翼模块示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。下面结合具体实施方式对本发明作在其中一个实施例中说明。其中，附图仅用于示例性说明，表示的仅是示意图，而非实物图，不能理解为对本专利的限制；为了更好地说明本发明的实施例，附图某些部件会有省略、放大或缩小，并不代表实际产品的尺寸；对本领域技术人员来说，附图中某些公知结构及其说明可能省略是可以理解的。
实施例1：
如图1所示为本发明的基座0的实施例，基座0是机器人的中心结构；基座0的左右两侧是两个空心轴结构，可用于安装矢量旋翼模块1、矢量磁力模块2、轮履式驱动模块3。
如图2-3所示为本发明提供的一种飞行和爬行跨域多模机器人的实施例，包括基座0、矢量旋翼模块1、矢量磁力模块2、轮履式驱动模块3、尾轮模块4、电池模块5、控制器模块6、机械电器一体化接口模块7、起落架模块8；模块化可重构的飞行爬行多模一体机器人以基座0为中心，基座0的左右两侧都同轴安装有矢量旋翼模块1、矢量磁力模块2、轮履式驱动模块3三个模块；尾轮模块4固定在基座0的后侧；电池模块5、控制器模块6、机械电器一体化接口模块7、起落架模块8固定在基座上。
具体的，矢量旋翼模块1的倾转机构103固定在基座0上，折展机构102穿过基座0两侧的旋转轴与倾转机构103连接；矢量磁力模块2的磁吸模块旋转机构202安装在基座0上；轮履式驱动模块3的传动机构302、轮子驱动电机303安装在基座0上；尾轮模块4的尾轮摆动电机402固定在基座0上。
在本实施例中，所述矢量旋翼模块1为机器人飞行提供矢量可控的升力和各向飞行的动力；矢量磁力模块2为机器人爬行提供方向和大小可控的吸附力，并可在飞行模式下的作为动量摆臂，辅助飞行稳定或在跌落执行救机动作时用以调整姿态；轮履式驱动模块3为机器人爬行提供牵引力；尾轮模块4可作为飞行模式的动量摆臂也作为爬行模式的吸附支撑；所述起落架模块8在机器人降落地面时可打开作为支撑脚，机器人在壁面爬行时，起落架模块8收回，避免影响爬行。
如图3所示，当机器人在倾斜角度<135度(如垂直壁面)壁面降落时，机器人朝着壁面靠近，并控制磁力机构201以及尾轮磁力机构405靠近吸附平面，增加磁力，可以实现平稳降落；当机器人在<135度壁面起飞时，通过控制磁力机构201以及尾轮磁力机构405远离吸附平面，减小磁力，可实现起飞。
如图4所示，当机器人在倾斜角度>135度(如水平倒置壁面)壁面降落时，机器人朝着壁面靠近，通过控制尾轮摆动电机402，使得尾轮模块4贴合壁面，并控制磁力机构201以及尾轮磁力机构405靠近吸附平面，增加磁力，可以实现平稳降落；当机器人在＞135度起飞时，通过控制磁力机构201以及尾轮磁力机构405远离吸附平面，减小磁力，可实现起飞。
如图5所示，当机器人翻越薄板时，机器人朝着薄板边缘靠近，轮履式驱动模块3提供翻越薄板的驱动力，尾轮模块4作为支撑轮，并通过尾轮摆动电机402不断改变驱动轮与支撑轮的轮距，满足翻越薄板过程再不同位置有不同轮间距的要求；当机器人运动到薄 板边缘的时，由于吸附面变窄，机器人吸附力变小导致机器人容易出现脱落、打滑等问题，机器人可以利用矢量旋翼模块1协助翻越，矢量旋翼模块1可以提供推力克服吸附力不足的问题，并维持机器人翻越薄板过程的平衡稳定性。
本实施例的有益效果：通过控制矢量旋翼模块的旋翼的推力大小及方向、旋翼的折叠与展开、矢量磁力模块的吸附力大小及方向、尾轮模块的吸附力及摆动角度、起落架模块的展开及收回，可以灵活迅速进行机器人的爬行模式与飞行模式两种状态的切换，实现在机器人高效灵活具有在各种角度的工作平面起飞降落、飞越复杂障碍、抵达更广泛的检测地点、进行低能耗高精度检测等能力。
实施例2：
如图6为本发明的矢量旋翼模块1的实施例，包括旋翼总成101、折展机构102、倾转机构103；旋翼总成101通过折展机构102与倾转机构103连接，所述折展机构102的一端从基座0侧边旋转轴内孔穿过，并与基座0转动配合，所述倾转机构103安装在基座上。
如图7-8所示，旋翼总成101由旋翼1011、旋翼电机1012、旋翼保护圈1013三部分同轴安装组合而成；倾转机构103可以使得折展机构102发生倾转而改变旋翼总成101的倾转角；旋翼模块1具有折叠与展开旋翼总成101的功能；矢量旋翼模块1工作开始时，旋翼电机1012正转，旋翼模块1有一个正向的推力，旋翼模块1由折叠状态转变为展开状态；旋翼模块1工作结束时，旋翼电机1012反转，旋翼模块1有一个反向的推力，旋翼模块1由展开状态转变为折叠状态。
如图9所述，通过将两个所述量旋翼模块对称安装在机器人机体左右两侧，使得机器人具有飞行能力；机器人进入飞行模式时，旋翼电机转动提供推力，旋翼由折叠状态转变为展开状态；通过控制的两个矢量旋翼模块可以实现机器人自由起飞与降落、跨越复杂障碍、快速抵达检测地点。
如图10所示，折展机构102采用弹簧折展机构，包括第一连杆1021、第二连杆1022、弹簧1023、角度传感器机构1024；第一连杆1021和第二连杆1022、角度传感器机构1024同轴安装；弹簧1023两端分别固定在第一连杆1021和第二连杆1022上；第一连杆1021与第二连杆1022之间可以发生相对转动，弹簧1023可以使得第一连杆1021和第二连杆1022在没有其他外力的作用下，稳定处于折叠或展开两种状态；角度传感器机构1024可测量第一连杆1021和第二连杆1022之间的角度。
如图11-12所示，弹簧1023起到辅助旋翼总成101折叠与展开的作用，旋翼总成101由折叠状态转为展开状态时，弹簧1023先变短再变长，弹簧1023会经历三个状态：即折叠压缩状态、中间压缩状态、展开状态；弹簧1023在初始状态以及终端状态时都处于被压 缩状态，利用了弹簧1023推力产生对旋翼模块的折展扭矩的两极性变化，在旋翼模块1没有推力的情况下依然具有保持旋翼模块1折叠状态以及展开状态的稳定性的能力。
另外，如图13-14所示，折展机构102还可以采用滑块折展机构，包括第三连杆1025、第四连杆1026、滑块1027、T形连杆1028；当滑块1027沿着T形连杆1028向中间移动时，折展机构102展开，当滑块1027沿着T形连杆1028向末端移动移动时，折展机构102折叠。
实施例3：
如图15为本发明的矢量磁力模块2的实施例，包括磁力机构201，磁吸模块旋转机构202；磁力机构201安装在磁吸模块旋转机构202的一端，磁力旋转机构202安装在基座0上。
如图15-16所示，磁力机构201由第一磁体2011、第一磁体支架2012组成；磁吸模块旋转机构202由挡板2021、轴承限位机构2022、驱动齿轮机构2023、内齿轮机构2024组成、霍尔传感器2025；磁体2011安装在磁体支架2012上；磁力机构201为一个弧形结构，转动中心与轮子总成301相同，磁力机构201外圆弧半径比轮子总成301半径略小，磁力机构201与吸附平面之间留有间隙；挡板2021通过轴承限位机构2023与基座0连接；驱动齿轮机构2023安装在基座0上；内齿轮机构2024位于基座0、挡板2021之间，并与轴承限位机构2022、驱动齿轮机构2023内切配合；基座0与挡板2021限制内齿轮机构2024的轴向移动；轴承限位机构2022限制内齿轮机构2024的径向移动；内齿轮机构2024与磁体支架2022连接；霍尔传感器2025固定在挡板2021上。
驱动齿轮机构2023转动带动内齿轮机构旋转，进而带动磁力机构201旋转，进而改变第一磁体2011与吸附平面之间的距离，改变矢量磁力模块吸附力的大小及方向；霍尔传感器2025用于测量第一磁体2011的旋转角度，用于反馈控制。
如图17所示，通过将两个矢量磁力模块2对称安装在基座0左右两侧，为机器人的爬行提供吸附力。
在其中的一个实施例中，第一磁体2011采用Halbach磁铁阵列，磁力线的分布如图18所示，Halbach磁铁阵列可以改变磁铁局部磁力分布，使得靠近吸附平面一侧的吸附力提高。
在其中的一个实施例中，第一磁体2011采用变充磁方向磁铁阵列，磁力线的分布如图19所示，属于一种优化的Halbach磁铁阵列，通过更加更加合理的充磁方向，使得磁铁局部磁力分布更加合理，吸附力进一步提高。
在其中的一个实施例中，第一磁体2011采用电永磁铁单元，电永磁单元包括磁轮由五部分组成，左右两边是两片轭铁，中间两片为磁铁，其中上面为钕铁硼永磁铁，下面为铝 镍钴磁铁，两片磁铁外面缠绕着线圈；如图20，钕铁硼的充磁方向向右边，线圈通电，铝镍钴充磁方向向左，此时磁轮内部形成磁场回路，磁轮对外磁场很小，接近为0；如图21所示，钕铁硼的充磁方向保持向右边，线圈通电电压反向改变，铝镍钴充磁方向变成向右，此时磁轮与外部的钢铁材料形成磁场回路，磁轮对外部钢铁材料产生大的吸附力；采用电永磁铁单元可以实现快速改变磁力的大小和方向。
实施例4：
如图22为本发明的轮履式驱动模块3的实施例，包括轮子总成301、传动机构302、轮子驱动电机303，轮子总成301通过传动机构302与轮子驱动电机303连接，所述轮子驱动电机303安装在基座0上，轮子驱动电机303通过传动机构302传递动力，驱动轮子总成301转动。
如图23，通过将两个所述轮履式驱动模块对称安装在基座0左右两侧，使得机器人具有爬行能力；机器人采用双轮差速的运动方式；通过控制两个轮履式驱动模块可以实现机器人的前进、变向、周转等动作。
在其中的一个实施例中，如图24传动机构302采用带轮传动，传动机构302包括第一带轮3021、第二带轮3022、皮带3023，第一带轮3021与轮子驱动电机303的输出轴固定，第一带轮3021通过皮带3023与第二带轮3022连接，第二带轮3022与轮子总成301连接，驱动轮子总成301的转动。
实施例5：
图25所示为本发明的尾轮模块4的实施例，包括尾轮总成401、尾轮摆动电机402、尾轮支架403、尾轮磁吸模块旋转机构404、尾轮磁力机构405，尾轮总成401通过尾轮支架403与尾轮摆动电机402连接，尾轮摆动电机402安装在基座0上；尾轮磁力机构405安装在尾轮磁力旋转机构404的一端，尾轮磁力旋转机构404的另外一端安装在尾轮支架403上。
如图26，尾轮磁力机构405由尾轮磁体4051、尾轮磁体支架4052组成；尾轮磁体4051安装在尾轮磁体支架4052上；尾轮磁力机构405为一个弧形结构，转动中心与尾轮总成401相同，尾轮磁力机构401外圆弧半径比尾轮总成401半径略小，尾轮磁力机构405与吸附平面之间留有间隙；尾轮磁体支架4052与尾轮磁吸模块旋转机构404连接；尾轮总成401与尾轮磁力机构401同轴安装。尾轮磁吸模块旋转机构404旋转可带动尾轮磁力机构405旋转，改变尾轮磁体4051与吸附平面之间的距离，改变尾轮模块吸附力的大小及方向；尾轮模块4的尾轮摆动电机402可以使得整个尾轮模块4摆动。
在其中的一个实施例中，尾轮支架403可以采用刚性摆臂。如图27所示，尾轮支架403 可以采用平行四边形连杆摆臂，可以控制摆臂的长度。
本实施例的有益效果：在机器人爬行模式移动时，尾轮磁吸模块4作为机器人进行双轮差速运动的支撑轮；机器人在飞行模式移动时将尾轮模块4吸附力降低，使得机器人容易飞离爬行平面；尾轮模块4的尾轮摆动电机402可以使得整个尾轮模块4摆动，可以作为飞行模式下动量摆臂辅助飞行稳定或在跌落执行救机动作时用以调整姿态，在机器人降落到爬行平面时使得机器人更容易贴合平面。
实施例6：
如图28所示，是机械电器一体化接口模块7的结构示意图，包括母接头701、公接头702两部分，母接头由小球固定环7021、推杆7022组成；公母两个接头结合时，母接头701中的小球受到径向力而向内收合，卡在公接头702的球槽中，限制公母接口沿着轴向分离。当要让接口分离时，驱动推杆7022，让小球固定环7021的外环沿着轴向移动，小球固定环的小球在径向的间隙变大从而可以脱离公接头702的球槽，此时公母两个接头可以沿着轴向分离。
在其中一个实施例中，如图29所示，飞行和爬行跨域多模机器人通过所述机械电气一体化接口模块7可扩展操作臂，增加整机得操作自由度可用于夹取、搬运等远程操作作业。
在其中一个实施例中，如图30所示，多个飞行和爬行跨域多模机器人通过所述机械电器一体化接口模块7串联组合；采用多机串联，整个系统两端都具备轮履式驱动模块3、矢量磁力模块2、矢量旋翼模块1，使得机器人可以具备更灵活的运动性能、更多样的运动姿态、更高的安全稳定性、可以跨越更多的障碍适应更复杂的工作环境；在爬行模式下，多机串联使得整系统更容易实现内角、外角、薄板等结构的过渡，并具备跨越法兰边、工字钢等复杂结构的能力；在飞行模式下，多机串联使得整个系统具有更大的负载能力以及飞行稳定性，机器人具备有灵活多样的运动姿态，可以使得机器人可以在更加复杂的表面实现降落和起飞等。
其中一个实施例，如图31所示，单个飞行和爬行跨域多模机器人通过所述机械电器一体化接口模块7扩展矢量旋翼模块1，用以调整机器人的机动能力增加机器人得俯仰角度姿态得可控性以及负载能力。
显然，本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。

Claims (10)

  1. 一种飞行和爬行跨域多模机器人，其特征在于，包括基座(0)、矢量旋翼模块(1)、矢量磁力模块(2)、轮履式驱动模块(3)、尾轮模块(4)、电池模块(5)、控制器模块(6)、机械电器一体化接口模块(7)以及起落架模块(8)；以所述基座(0)为中心，在所述基座(0)的左右两侧均同轴安装有矢量旋翼模块(1)、矢量磁力模块(2)和轮履式驱动模块(3)；所述尾轮模块(4)安装在所述基座(0)的后侧；所述电池模块(5)、控制器模块(6)、机械电器一体化接口模块(7)以及起落架模块(8)均安装在所述基座(0)上；所述控制器模块(6)分别与矢量旋翼模块(1)、矢量磁力模块(2)、轮履式驱动模块(3)、尾轮模块(4)以及起落架模块(8)通信连接；所述电池模块(5)用于给各个模块供电。
  2. 根据权利要求1所述的飞行和爬行跨域多模机器人，其特征在于，所述矢量旋翼模块(1)包括旋翼总成(101)、用于驱动旋翼总成(101)呈现折叠或展开状态的折展机构(102)、用于驱动折展机构(102)倾转而改变旋翼总成(101)的倾转角度的倾转机构(103)；所述的倾转机构(103)安装在所述基座(0)上，所述折展机构(102)的一端从基座(0)的侧边旋转内孔穿过后与所述倾转机构(103)连接，并与所述基座(0)转动配合，所述折展机构(102)的另一端与所述旋翼总成(101)连接。
  3. 根据权利要求2所述的飞行和爬行跨域多模机器人，其特征在于，所述旋翼总成(101)包括旋翼(1011)、旋翼电机(1012)、旋翼保护圈(1013)，所述旋翼(1011)、旋翼电机(1012)安装在所述旋翼保护圈(1013)内，且同轴安装，所述旋翼电机(1012)的输出端与旋翼(1011)连接，驱动所述旋翼(1011)旋转；所述折展机构(102)包括第一连杆(1021)、第二连杆(1022)、弹簧(1023)以及角度传感器(1024)；所述第一连杆(1021)的一端与倾转机构(103)连接，另一端分别与第二连杆(1022)一端、旋翼保护圈(1013)铰接，第二连杆(1022)的另一端与旋翼保护圈(1013)连接，所述角度传感器(1024)安装在所述第一连杆(1021)与第二连杆(1022)铰接处，且与第一连杆(1021)和第二连杆(1022)同轴安装；所述弹簧(1023)的一端与第一连杆(1021)连接，另一端与第二连杆(1022)连接；所述弹簧(1023)能够给使第一连杆(1021)和第二连杆(1022)在没有外力作用下，稳定处于折叠状态或者展开状态。
  4. 根据权利要求1所述的飞行和爬行跨域多模机器人，其特征在于，所述矢量磁力模块(2)包括磁力机构(201)、磁吸模块旋转机构(202)；所述磁力机构(201)安装在所述磁吸模块旋转机构(202)的一端，所述磁吸模块旋转机构(202)能够驱动所述磁力机构(201)周向旋转；所述磁吸模块旋转机构(202)安装在所述基座(0)上。
  5. 根据权利要求4所述的飞行和爬行跨域多模机器人，其特征在于，所述磁力机构(201) 包括第一磁体(2011)和第一磁体(2011)支架，所述第一磁体(2011)安装在第一磁体(2011)支架上；所述磁吸模块旋转机构(202)包括挡板(2021)、轴承限位机构(2022)、驱动齿轮机构(2023)、以及内齿轮机构(2024)；所述挡板(2021)通过轴承限位机构(2022)与所述基座(0)连接，所述驱动齿轮机构(2023)安装在所述基座(0)上，所述内齿轮机构(2024)位于基座(0)与挡板(2021)之间，并与所述轴承限位机构(2022)、驱动齿轮机构(2023)内切配合；所述基座(0)与挡板(2021)限制内齿轮机构(2024)轴向移动，所述轴承限位机构(2022)限制内齿轮机构(2024)径向移动；所述内齿轮机构(2024)与所述第一磁体(2011)支架连接，所述驱动齿轮机构(2023)转动带动所述内齿轮机构(2024)旋转，进而驱动所述磁力机构(201)旋转。
  6. 根据权利要求1所述的飞行和爬行跨域多模机器人，其特征在于，所述轮履式驱动模块(3)包括轮子总成(301)、传动机构(302)、轮子驱动电机(303)；所述轮子总成(301)通过传动机构(302)与轮子驱动电机(303)连接，所述轮子驱动电机(303)安装在所述基座(0)上。
  7. 根据权利要求6所述的飞行和爬行跨域多模机器人，其特征在于，所述磁力机构(201)为弧形结构，且磁力机构(201)的转动中心与轮子总成(301)相同，所述磁力机构(201)外圆弧半径比轮子总成(301)半径小，所述磁力机构(201)与吸附平面之间设有间隙。
  8. 根据权利要求1所述的飞行和爬行跨域多模机器人，其特征在于，所述尾轮模块(4)包括尾轮总成(401)、尾轮摆动电机(402)、尾轮支架(403)、尾轮磁吸模块旋转机构(404)、尾轮磁力机构(405)；所述尾轮总成(401)通过尾轮支架(403)与尾轮摆动电机(402)连接，所述尾轮摆动电机(402)安装在所述基座(0)上；所述尾轮磁力机构(405)安装在尾轮磁吸模块旋转机构(404)的一端，所述磁吸模块旋转机构(202)的另一端安装在尾轮支架(403)上。
  9. 根据权利要求8所述的飞行和爬行跨域多模机器人，其特征在于，所述尾轮磁力机构(405)包括尾轮磁体(4051)、尾轮磁体(4051)支架；所述尾轮磁体(4051)安装在所述尾轮磁体(4051)支架上，所述尾轮磁力机构(405)为弧形机构，所述尾轮磁力机构(405)的转动中心与所述尾轮总成(401)的转动中心相同，且所述磁力机构(201)外圆弧的半径比尾轮总成(401)的半径小，所述尾轮磁力机构(405)与吸附平面之间设有间隙；所述尾轮磁体(4051)支架与尾轮磁吸模块旋转机构(404)连接，所述尾轮总成(401)与尾轮磁力机构(405)同轴安装；所述尾轮摆动电机(402)转动驱动整个尾轮模块(4)摆动；所述尾轮磁吸模块旋转机构(404)旋转驱动所述尾轮磁力机构(405)旋转。
  10. 根据权利要求1所述的飞行和爬行跨域多模机器人，其特征在于，所述起落架模块(8)包括收纳电机(801)、第一脚架(802)、和第二脚架(803)；所述收纳电机(801)安装在所述基座(0)上，所述收纳电机(801)的输出端分别与第一脚架(802)和第二脚架(803)的一端铰接，所述收纳电机(801)驱动所述第一脚架(802)和第二脚架(803)转动，改变第一脚架(802)与第二脚架(803)之间的夹角，从而实现第一脚架(802)与第二脚架(803)的收纳与展开。
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CN120003745A (zh) * 2025-04-18 2025-05-16 浙江隆通智能科技有限公司 一种多功能应急救援多旋翼无人机
CN120003745B (zh) * 2025-04-18 2025-06-24 浙江隆通智能科技有限公司 一种多功能应急救援多旋翼无人机

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