Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof

An aerial robot and robot technology, applied in the field of machinery, can solve the problems of limited application range and single task of aerial robot, and achieve the effects of wide application range, strong obstacle surmounting ability, and simple mechanical structure

Inactive Publication Date: 2009-07-29
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the field of research on aerial robots based on aircraft platforms, aerial

Method used

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  • Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof
  • Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof
  • Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof

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Experimental program
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Embodiment Construction

[0078] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0079] The present invention is a kind of multi-rotor leg-wheel type multifunctional aerial robot, such as figure 1 As shown, including rotor A1, rotor B2, rotor C3, rotor D4, rotor drive motor A5, rotor drive motor B6, rotor drive motor C7, rotor drive motor D8, wall climbing thigh A12, wall climbing thigh B13, wall climbing calf A16 , climbing calf B17, hip joint driving motor A10, hip joint driving motor B11, knee joint driving motor A14, knee joint driving motor B15, robot main body 9, wall walking wheel A18, wall walking wheel B19, floor support rod 20, rotor Support rod 21, rigidity reinforcing ring 22.

[0080] The robot main body 9 is a circular disk-shaped structure, and four rotor support rods 21 are distributed symmetrically around the lower surface of the robot main body 9, and are fixed on the robot main body 9 with screws. Rotor drive motor A5...

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PUM

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Abstract

The invention discloses a multi-rotator leg-wheeled multifunctional aerial robot and a motion planning method thereof. The robot comprises rotators A, B, C and D, rotator driving motors A, B, C and D, wall-climbing thighs A and B, wall-climbing legs A and B, hip joint driving motors A and B, knee joint driving motors A and B, a robot main body, a wall-surface running wheels A and B, a ground supporting rod, rotating supporting rods and a rigidity-strengthened ring. The motion planning process comprises the motion planning of the robot in flight state, the motion planning of the robot undergoing a change from the flight state to a wall climbing state, the motion planning of the robot in a wall climbing state, the motion planning of the robot crossing an obstacle during wall climbing, and the motion planning of the robot undergoing a change from the wall climbing state to the flight state. The robot realizes the fusion of a rotator type aircraft and a leg-wheeled movement mechanism, is simple in mechanical structure and easy to realize, and has the advantages of high stability, small volume, strong adaptability to wall surfaces, large obstacle crossing capacity, wide application range and the like.

Description

technical field [0001] The invention relates to an aerial robot, in particular to a multi-rotor leg-wheeled multifunctional aerial robot, belonging to the mechanical field. Background technique [0002] At present, many application fields require the aircraft to be able to fly at low altitude and low speed, perform low-altitude operations, and have good maneuverability and concealment. Therefore, there has been an aircraft system based on a single-rotor helicopter. This kind of single-rotor aircraft can realize low-altitude and low-speed flight, and can also complete certain low-altitude operations. However, due to the use of one rotor, the size of the rotor is generally relatively large, and it is more dangerous when working, and the control mechanism for the angle of attack of the single-rotor wing surface is complicated. , and it is a single point of failure, so the fault tolerance is poor. The multi-rotor aircraft has good flight maneuverability and stability, can comp...

Claims

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Application Information

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IPC IPC(8): B25J9/02B25J9/06B25J5/00B25J13/00
Inventor 丁希仑俞玉树米磊
Owner BEIHANG UNIV
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