Flying wall-climbing robot capable of automatically climbing wall and using method thereof
阅读说明:本技术 一种可自主上壁的飞行爬壁机器人及其使用方法 (Flying wall-climbing robot capable of automatically climbing wall and using method thereof ) 是由 张彦 吴优 代海红 占洋 马梓焱 于 2019-11-15 设计创作,主要内容包括:一种可自主上壁的飞行爬壁机器人,包括机器人壳体及其上设置的前主旋翼机构、后主旋翼机构、前副旋翼机构与后副旋翼机构,其中,前、后主旋翼机构中主旋翼叶片所在的主旋转区与机器人壳体的顶面相平行,前、后副旋翼机构中副旋翼叶片所在的副旋转区与机器人壳体的顶面相垂直,机器人壳体的四角各经驱动杆、转向舵机与方形履带轮相连接,机器人壳体前端的开口槽经辅助舵机与带伸缩杆的伸缩装置相连接,且在机器人壳体上设置有一个与其余设备进行信号连接的飞行控制器。本设计可以实现地面、自主上壁、壁面转换等爬壁行为,不仅适应性较强,自动化程度高,而且控制的稳定性较强,适合远程操控,具有广阔的应用前景。(The utility model provides a but flight wall climbing robot of wall of autonomy upper wall, including the preceding main rotor mechanism that robot housing and set up on it, back main rotor mechanism, preceding vice rotor mechanism and back vice rotor mechanism, wherein, the main rotation district that main rotor blade place among preceding, back main rotor mechanism parallels with the top surface of robot housing, the vice rotation district that vice rotor blade place among preceding, back vice rotor mechanism is perpendicular with the top surface of robot housing, the four corners of robot housing is respectively through the actuating lever, turn to the steering wheel and be connected with square athey wheel, the open slot of robot housing front end is connected with the telescoping device who takes the telescopic link through auxiliary steering wheel, and be provided with a flight controller who carries out signal connection with other equipment on the robot housing. The wall climbing device can realize wall climbing behaviors such as ground, autonomous wall climbing and wall surface conversion, is high in adaptability and automation degree, high in control stability, suitable for remote control and wide in application prospect.)
1. The utility model provides a but flight wall climbing robot of autonomous upper wall, includes robot housing (2) and the rotor device that sets up on it which characterized in that:
the rotor wing device comprises a front main rotor wing mechanism (3) and a rear main rotor wing mechanism (30) which are connected with the top surface of the robot shell (2), and a front auxiliary rotor wing mechanism (4) and a rear auxiliary rotor wing mechanism (40) which are connected with the side surface of the robot shell (2); the structure of the front main rotor mechanism (3) and the structure of the rear main rotor mechanism (30) are consistent, the front main rotor mechanism and the rear main rotor mechanism both comprise main rotor blades (31), the structure of the front auxiliary rotor mechanism (4) and the structure of the rear auxiliary rotor mechanism (40) are consistent, the front auxiliary rotor mechanism and the rear auxiliary rotor mechanism both comprise auxiliary rotor blades (41), a main rotating area (32) where the main rotor blades (31) are located is parallel to the top surface of the robot shell (2), and an auxiliary rotating area (42) where the auxiliary rotor blades (41) are located is perpendicular to the top surface of the robot shell (2);
four corners of the robot shell (2) are respectively connected with a steering engine (52) through a driving rod (51), and the output end of the steering engine (52) is connected with a square crawler wheel (5);
two open grooves (21) are respectively formed in two sides of the front end of the robot shell (2), the groove walls of the open grooves (21) are connected with auxiliary steering engines (61), the output ends of the auxiliary steering engines (61) are connected with a telescopic device (6), and the telescopic device (6) comprises a telescopic rod (62);
the robot is characterized in that a flight controller (22) is arranged on the robot shell (2), and the flight controller (22) is in signal connection with the front main rotor mechanism (3), the rear main rotor mechanism (30), the front auxiliary rotor mechanism (4), the rear auxiliary rotor mechanism (40), the steering engine (52), the square crawler wheel (5), the auxiliary steering engine (61) and the telescopic device (6);
the front and rear main rotor mechanisms (3, 30) provide driving force perpendicular to the top surface of the robot shell (2), the front and rear auxiliary rotor mechanisms (4, 40) provide driving force parallel to the side surface of the robot shell (2), and the flight controller (22) adjusts the posture of the robot shell (2) by controlling the stall and the rotation speed of the front and rear main rotor mechanisms (3, 30) and the front and rear auxiliary rotor mechanisms (4, 40), and adds the rotation of the square crawler wheels (5) and the telescopic device (6) to further adjust the posture of the robot shell (2).
2. An autonomous wall-climbing flying robot as claimed in claim 1, wherein: preceding vice rotor mechanism (4) are including preceding left pair rotor mechanism (401) and preceding right pair rotor mechanism (402), back vice rotor mechanism (40) are including back left pair rotor mechanism (403) and back right pair rotor mechanism (404), preceding left pair rotor mechanism (401), preceding right pair rotor mechanism (402), back left pair rotor mechanism (403), back right pair rotor mechanism (404) are respectively connected with the side of robot housing (2) through a pair bent connecting rod (45), preceding left pair rotor mechanism (401), back left pair rotor mechanism (403) all are located the left side of robot housing (2), preceding right pair rotor mechanism (402), back right pair rotor mechanism (404) all are located the right side of robot housing (2).
3. An autonomous wall-climbing flying robot as claimed in claim 2, wherein: the structure of the front left auxiliary rotor wing mechanism (401), the front right auxiliary rotor wing mechanism (402), the back left auxiliary rotor wing mechanism (403) and the back right auxiliary rotor wing mechanism (404) is consistent, and the front left auxiliary rotor wing mechanism, the back right auxiliary rotor wing mechanism and the back right auxiliary rotor wing mechanism all comprise auxiliary rotor wing blades (41), auxiliary brushless electric motors (43) and auxiliary brushless motors (44), wherein the bottom ends of the auxiliary brushless motors (44) are connected with the side face of the robot shell (2) through auxiliary curved connecting rods (45), the side walls of the auxiliary brushless motors (44) are connected with the inner ends of the auxiliary rotor wing blades (41), and the auxiliary brushless motors (44) are in signal connection with the flight controller (22) through the auxiliary brushless electric motors (43.
4. An autonomous wall-climbing flying robot as claimed in claim 1, 2 or 3, wherein: the telescopic device (6) comprises a stepping motor (63), a telescopic rod (62), a gear (64) and an auxiliary wheel (65), the inner end of the stepping motor (63) is connected with the output end of the auxiliary steering engine (61), the output end of the stepping motor (63) is connected with the gear (64), the gear (64) is meshed with the side surface of the telescopic rod (62), and the bottom end of the telescopic rod (62) is connected with the auxiliary wheel (65); the stepping motor (63) is in signal connection with the flight controller (22).
5. An autonomous wall-climbing flying robot as claimed in claim 1, 2 or 3, wherein: a front mounting hole (23) and a rear mounting hole (24) are formed in the top surface of the robot shell (2), a mounting bracket (25) is respectively arranged in the front mounting hole (23) and the rear mounting hole (24), and the mounting bracket (25) is connected with the front main rotor mechanism (3) or the rear main rotor mechanism (30);
preceding main rotor mechanism (3), the structure of back main rotor mechanism (30) are unanimous, all include main rotor blade (31), main brushless electricity accent (33) and main brushless motor (34), the bottom of main brushless motor (34) is connected with installing support (25), and the side wall of main brushless motor (34) is connected with the inner of main rotor blade (31), and main brushless motor (34) carry out signal connection through main brushless electricity accent (33) and flight controller (22).
6. An autonomous wall-climbing flying robot as claimed in claim 5, wherein: the positions, between the front mounting hole (23) and the rear mounting hole (24), on the left side surface and the right side surface of the robot shell (2) are respectively connected with an extension rotor wing mechanism (7) through an extension rod (73), and an extension rotating area (72) where an extension rotor wing blade (71) in the extension rotor wing mechanism (7) is located is parallel to the top surface of the robot shell (2).
7. An autonomous wall-climbing flying robot as claimed in claim 5, wherein: an equipment box (26) is arranged on the position, between the front mounting hole (23) and the rear mounting hole (24), of the robot shell (2), and a GPS module (27), a signal receiver-transmitter (28) and a flight controller (22) are arranged in the equipment box (26).
8. An autonomous wall-climbing flying robot as claimed in claim 1, 2 or 3, wherein: the square crawler wheel (5) comprises a square wheel plate (53), a driving wheel (54), a rubber crawler (55) and four speed reducing motors (56), wherein the back surface of the square wheel plate (53) is connected with the output end of the steering engine (52), the front surface of the square wheel plate (53) is connected with the inner end of the speed reducing motor (56), the output end of the speed reducing motor (56) is connected with the driving wheel (54), and the rubber crawler (55) is wound on the side wall of the driving wheel (54); the speed reducing motor (56) is in signal connection with the flight controller (22).
9. A method for using the flying wall-climbing robot capable of autonomously climbing wall as claimed in claim 1, 2 or 3, wherein: the method of use includes an autonomous wall-mounting process comprising the steps of:
the method comprises the steps that a flight controller (22) drives square crawler wheels (5) to run, the square crawler wheels (5) located at the front end and the rear end of a robot shell (2) are named as a front crawler wheel (57) and a rear crawler wheel (58) respectively to drive the robot to move forward to a vertical wall surface (1) along the ground (11) until the front crawler wheel (57) is in contact with the vertical wall surface (1), the flight controller (22) drives a telescopic device (6) to rotate through an auxiliary steering engine (61) so that the telescopic device (6) is perpendicular to the ground (11), a telescopic rod (62) is driven to extend continuously until the telescopic rod (62) lifts the front crawler wheel (57) from the ground (11), the front crawler wheel (57) is kept in contact with the vertical wall surface (1) in the lifting process, the rear crawler wheel (58) is kept in contact with the ground (11), and the flight controller (22) drives a front main rotor mechanism (3), The rear main rotor mechanism (30) operates until the rear crawler wheels (58) are simultaneously attached to the vertical wall surface (1) and the ground surface (11), the expansion device (6) is driven to rotate by the flight controller (22) through the auxiliary steering engine (61) so as to accommodate the expansion device (6) at the bottom of the robot shell (2), the front main rotor mechanism (3), the rear main rotor mechanism (30), the front auxiliary rotor mechanism (4) and the rear auxiliary rotor mechanism (40) are driven by the flight controller (22) to operate so as to provide the lifting force and the pressure on the vertical wall surface (1) for the robot, and the rear crawler wheels (58) leave the ground surface (11), so that the self-main upper wall process is completed.
10. The use method of the flying wall-climbing robot capable of autonomously climbing the upper wall according to claim 9, is characterized in that: the use method further comprises a wall conversion process, wherein the wall conversion process comprises the following steps:
when the robot climbs to the tail end of a vertical wall surface (1), the front main rotor mechanism (3) is controlled by the flight controller (22) to reduce the rotating speed, the rear main rotor mechanism (30) stops running, the rotating speeds of the front auxiliary rotor mechanism (4) and the rear auxiliary rotor mechanism (40) are increased, the front crawler wheel (57) is driven to rotate by the steering engine (52), the telescopic device (6) is driven to rotate by the auxiliary steering engine (61), so that the rear crawler wheel (58) gradually leaves the vertical wall surface (1), then the rear main rotor mechanism (30) is driven to rotate, a force which is tangential to the self rotating track and points to the vertical wall surface (1) is provided for the robot, the front auxiliary rotor mechanism (4) and the rear auxiliary rotor mechanism (40) are stopped by the flight controller (22) until the rear crawler wheel (58) rotates to be attached to a ceiling type wall (12), and the front main rotor mechanism (3) and the rear main rotor mechanism (30) are driven to operate so as to provide lifting force and pressure perpendicular to a ceiling type wall (12) for the robot, and then the telescopic device (6) is driven to rotate by the auxiliary steering engine (61) so as to accommodate the telescopic device (6) at the bottom of the robot shell (2), so that the wall surface conversion process is completed.
Technical Field
The invention relates to a robot, belongs to the technical field of flight wall climbing devices, and particularly relates to a flight wall climbing robot capable of automatically climbing walls and a using method thereof.
Background
With the rapid development of mobile robots, wall-climbing robots have received high attention from all sides and have been widely used in many fields. According to the wall climbing adsorption mode, the existing wall climbing robot is mainly divided into a magnetic adsorption mode and a vacuum adsorption mode, but due to the problems of low adaptability, difficult wall surface conversion, difficulty in obstacle crossing and the like, the existing wall climbing robot still has a certain gap in large-scale application.
The information disclosed in this background section is only for enhancement of understanding of the general background of the patent application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to overcome the defects and problems of low adaptability in the prior art, and provides a flying wall-climbing robot capable of automatically climbing an upper wall with high adaptability and a using method thereof.
In order to achieve the above purpose, the technical solution of the invention is as follows: a flying wall-climbing robot capable of autonomously climbing on the upper wall comprises a robot shell and a rotor wing device arranged on the robot shell;
the rotor wing device comprises a front main rotor wing mechanism and a rear main rotor wing mechanism which are connected with the top surface of the robot shell, and a front auxiliary rotor wing mechanism and a rear auxiliary rotor wing mechanism which are connected with the side surface of the robot shell; the front main rotor mechanism and the rear main rotor mechanism are consistent in structure and respectively comprise main rotor blades, the front auxiliary rotor mechanism and the rear auxiliary rotor mechanism are consistent in structure and respectively comprise auxiliary rotor blades, a main rotating area where the main rotor blades are located is parallel to the top surface of the robot shell, and an auxiliary rotating area where the auxiliary rotor blades are located is perpendicular to the top surface of the robot shell;
four corners of the robot shell are respectively connected with a steering engine through a driving rod, and the output end of the steering engine is connected with a square crawler wheel;
two open slots are respectively formed in two sides of the front end of the robot shell, the slot walls of the open slots are connected with the auxiliary steering engine, the output end of the auxiliary steering engine is connected with a telescopic device, and the telescopic device comprises a telescopic rod;
the robot shell is provided with a flight controller which is in signal connection with the front main rotor mechanism, the rear main rotor mechanism, the front auxiliary rotor mechanism, the rear auxiliary rotor mechanism, the steering engine, the square crawler wheel, the auxiliary steering engine and the telescopic device;
preceding, back main rotor mechanism provide with the top surface looks vertically drive power of robot housing, preceding, the vice rotor mechanism in back provides the drive power that parallels with the side of robot housing, and flight controller adjusts the gesture of robot housing through the stall and the rotational speed of controlling preceding, back main rotor mechanism and preceding, the vice rotor mechanism in back, and the gesture of further adjustment robot housing is added to the rotation of square athey wheel, telescoping device.
The front auxiliary rotor mechanism comprises a front left auxiliary rotor mechanism and a front right auxiliary rotor mechanism, the rear auxiliary rotor mechanism comprises a rear left auxiliary rotor mechanism and a rear right auxiliary rotor mechanism, the front left auxiliary rotor mechanism, the front right auxiliary rotor mechanism, the rear left auxiliary rotor mechanism and the rear right auxiliary rotor mechanism are respectively connected with the side surface of the robot shell through an auxiliary curved connecting rod, the front left auxiliary rotor mechanism and the rear left auxiliary rotor mechanism are both located on the left side of the robot shell, and the front right auxiliary rotor mechanism and the rear right auxiliary rotor mechanism are both located on the right side of the robot shell.
The structure of the front left auxiliary rotor wing mechanism, the front right auxiliary rotor wing mechanism, the back left auxiliary rotor wing mechanism and the back right auxiliary rotor wing mechanism is consistent, the front left auxiliary rotor wing mechanism, the front right auxiliary rotor wing mechanism, the back left auxiliary rotor wing mechanism and the back right auxiliary rotor wing mechanism all comprise auxiliary rotor wing blades and auxiliary brushless motors, the bottom ends of the auxiliary brushless motors are connected with the side face of the robot shell through auxiliary curved connecting rods, the side walls of the auxiliary brushless motors are connected with the inner ends of the auxiliary rotor wing blades, and the auxiliary brushless motors are in signal connection with a flight controller through the auxiliary.
The telescopic device comprises a stepping motor, a telescopic rod, a gear and an auxiliary wheel, wherein the inner end of the stepping motor is connected with the output end of the auxiliary steering engine, the output end of the stepping motor is connected with the gear, the gear is meshed with the side surface of the telescopic rod, and the bottom end of the telescopic rod is connected with the auxiliary wheel; the stepping motor is in signal connection with the flight controller.
The top surface of the robot shell is provided with a front mounting hole and a rear mounting hole, a mounting bracket is respectively arranged in the front mounting hole and the rear mounting hole, and the mounting bracket is connected with the front main rotor mechanism or the rear main rotor mechanism;
preceding main rotor mechanism, back main rotor mechanism's structure are unanimous, all include main rotor blade, main brushless electricity accent with main brushless motor, main brushless motor's bottom is connected with the installing support, and main brushless motor's side wall is connected with main rotor blade's inner, and main brushless motor carries out signal connection through main brushless electricity accent with flight controller.
The positions on the left side surface and the right side surface of the robot shell between the front mounting hole and the rear mounting hole are respectively connected with an extension rotor wing mechanism through an extension rod, and an extension rotating area where an extension rotor wing blade in the extension rotor wing mechanism is located is parallel to the top surface of the robot shell.
An equipment box is arranged on the position, between the front mounting hole and the rear mounting hole, of the robot shell, and a GPS module, a signal receiver and transmitter and a flight controller are arranged in the equipment box.
The square crawler wheel comprises a square wheel plate, a driving wheel, a rubber crawler and four speed reducing motors, wherein the back surface of the square wheel plate is connected with the output end of the steering engine, the front surface of the square wheel plate is connected with the inner end of the speed reducing motor, the output end of the speed reducing motor is connected with the driving wheel, and the rubber crawler is wound on the side wall of the driving wheel; and the speed reducing motor is in signal connection with the flight controller.
The use method of the flying wall-climbing robot capable of autonomously climbing the wall comprises an autonomous climbing process, wherein the autonomous climbing process comprises the following steps: the method comprises the steps that a flight controller drives square crawler wheels to operate, the square crawler wheels positioned at the front end and the rear end of a robot shell are named as a front crawler wheel and a rear crawler wheel respectively to drive the robot to move forward to a vertical wall surface along the ground until the front crawler wheels are contacted with the vertical wall surface, the flight controller drives a telescopic device to rotate through an auxiliary steering engine so as to enable the telescopic device to be perpendicular to the ground, a telescopic rod is driven to extend continuously until the telescopic rod lifts the front crawler wheels off the ground, the front crawler wheels are kept in contact with the vertical wall surface in the lifting process, the rear crawler wheel is kept in contact with the ground, the flight controller drives a front main rotor mechanism and a rear main rotor mechanism to operate until the rear crawler wheels are simultaneously attached to the vertical wall surface and the ground, the flight controller drives the telescopic device to rotate through the auxiliary steering engine so as to accommodate the telescopic device at the bottom of the robot shell, then the front main rotor mechanism, the rear main rotor mechanism, the front auxiliary rotor mechanism and the rear auxiliary rotor mechanism are driven by the flight controller to operate so as to provide the lifting force and the pressure on the vertical wall surface for the robot until the rear crawler wheels leave the ground, and thus, the autonomous upper wall process is completed.
The use method further comprises a wall conversion process, wherein the wall conversion process comprises the following steps: when the robot climbs to the tail end of a vertical wall surface, the front main rotor wing mechanism is controlled by the flight controller to reduce the rotating speed, the rear main rotor wing mechanism stops operating, the rotating speeds of the front auxiliary rotor wing mechanism and the rear auxiliary rotor wing mechanism are increased, the steering engine drives the front crawler wheel to rotate, the auxiliary steering engine drives the telescopic device to rotate, so that the rear crawler wheel gradually leaves the vertical wall surface, the rear main rotor wing mechanism is driven to rotate to provide a force which is tangential to the rotating track of the robot and points to the vertical wall surface, the front auxiliary rotor wing mechanism and the rear auxiliary rotor wing mechanism stop operating by the flight controller until the rear crawler wheel rotates to be attached to a ceiling type wall surface, the front main rotor wing mechanism and the rear main rotor wing mechanism are driven to operate to provide the robot with an ascending force and a pressure perpendicular to the ceiling type wall surface, and the telescopic device is driven to rotate by the auxiliary steering engine, so that the telescopic device is accommodated at the bottom of the robot shell, and thus the wall surface conversion process is completed.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a flying wall-climbing robot capable of automatically climbing upper wall and a using method thereof, comprising a robot shell, and a front main rotor mechanism, a rear main rotor mechanism, a front auxiliary rotor mechanism, a rear auxiliary rotor mechanism, a square crawler wheel and a telescopic device which are arranged on the robot shell, wherein when the flying wall-climbing robot is applied, the front main rotor mechanism and the rear main rotor mechanism provide driving force vertical to the top surface of the robot shell, the front auxiliary rotor mechanism and the rear auxiliary rotor mechanism provide driving force parallel to the side surface of the robot shell, the posture of the robot shell can be adjusted by controlling the stop rotation and the rotating speed of the main rotor mechanism and the auxiliary rotor mechanism, and the rotation of the square crawler wheel and the telescopic device, particularly the extension of a telescopic rod in the telescopic device, the posture of the robot shell can be further adjusted, the operations of automatically climbing upper wall, wall surface conversion and the like can be completed without manual operation, and even wall climbing behaviors of more angles can, the problem of traditional wall climbing robot upper wall, wall conversion difficulty is solved, degree of automation is high, is fit for remote control, has enlarged the range of application of this design greatly. Therefore, the invention has high adaptability and high automation degree.
2. The invention relates to a flying wall-climbing robot capable of autonomously climbing an upper wall and a use method thereof. Therefore, the invention not only has stronger wall climbing capability, but also has wider application range.
3. The invention relates to a flying wall-climbing robot capable of automatically climbing upper wall and a using method thereof.A rotor device comprises a front main rotor mechanism, a rear main rotor mechanism, a front auxiliary rotor mechanism and a rear auxiliary rotor mechanism, wherein the front auxiliary rotor mechanism and the rear auxiliary rotor mechanism are respectively provided with two, and the design of the rotor mechanisms with a large number can provide driving forces in multiple directions to change the posture of the robot and provide enough strong driving force, thereby ensuring the running stability of the robot and reducing the control difficulty, and particularly, when an extension rotor mechanism exists, the control is more stable. Therefore, the invention not only can easily change the posture of the robot, but also has stronger control stability.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of the structure of the cover plate of the equipment box of fig. 1 after being opened.
FIG. 3 is a schematic representation of the present invention as it proceeds through the automain top wall process.
FIG. 4 is a schematic view of the present invention during a wall conversion process.
Fig. 5 is a schematic view of the present invention as it adapts to a convex wall surface.
Figure 6 is a schematic illustration of the invention as it adapts to a concave wall surface.
In the figure:
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1-6, a flying wall-climbing robot capable of autonomously climbing wall comprises a
the rotor wing device comprises a front main
four corners of the
two
the robot is characterized in that a
Preceding vice rotor mechanism 4 includes the
The structure of the front left auxiliary
The
A
preceding
The parts between the
An
The
The use method of the flying wall-climbing robot capable of autonomously climbing the wall comprises an autonomous climbing process, wherein the autonomous climbing process comprises the following steps: the
The use method further comprises a wall conversion process, wherein the wall conversion process comprises the following steps: when the robot climbs to the tail end of the
The principle of the invention is illustrated as follows:
the
In the present invention, an
The invention can also arrange a high-definition camera 8 and an ultrasonic sensor 9 at the front end of the
The
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