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A multi-rotor robot in liquid medium

A technology of liquid media and robots, which is applied in the direction of motor vehicles, underwater ships, underwater operating equipment, etc., can solve problems such as inflexibility and single posture, and achieve the effects of improving safety, saving energy, and reducing motion resistance

Active Publication Date: 2016-09-21
南京赫曼机器人自动化有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention proposes a multi-rotor robot under liquid medium, which solves the problems of single posture and inflexibility in the movement of robots under liquid medium, and can automatically float up in emergencies such as power failure or insufficient power

Method used

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  • A multi-rotor robot in liquid medium
  • A multi-rotor robot in liquid medium
  • A multi-rotor robot in liquid medium

Examples

Experimental program
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Effect test

Embodiment 1

[0042] The specific structure when the rotor body of the multi-rotor robot under the liquid medium of the present invention is a quadrotor is as follows:

[0043] Such as figure 2 , image 3 and Figure 4 As shown, it includes a streamlined closed casing 7, a quadrotor body 1, and a control unit 6.

[0044] Four cylindrical sealing covers 4-1, 4-2, 4-3, 4-4 penetrate the closed shell 7 from top to bottom; the four rotors 9-1, 9-2, 9-3 of the quadrotor body 1 , 9-4 are respectively located in the through holes formed by the four sealing covers 4-1, 4-2, 4-3, 4-4, and the four rotors 9-1, 9-2, 9-3, 9- 4 are in the same plane of rotation.

[0045] The quadrotor body 1 also includes four rotor motors 8-1, 8-2, 8-3, 8-4, four rotor motor drivers 10-1, 10-2, 10-3, 10-4, four supports Rod 11-1, 11-2, 11-3, 11-4; Four rotors 9-1, 9-2, 9-3, 9-4 are respectively installed on four rotor motors 8-1, 8-2, 8-3, 8-4 on; four rotor motors 8-1, 8-2, 8-3, 8-4 respectively with four rotor...

Embodiment 2

[0052] The specific structure when the rotor body of the multi-rotor robot under the liquid medium of the present invention is a six-rotor is as follows:

[0053] Such as Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, it includes a streamlined closed casing 7, a quadrotor body 1, and a control unit 6.

[0054] Six cylindrical sealing covers 6-1, 6-2, 6-3, 6-4, 6-5, 6-6 penetrate the closed shell 7 from top to bottom; the six rotors 9-1 of the six rotor body 1 . In the through-hole formed, and the rotating surfaces of six rotors 9-1, 9-2, 9-3, 9-4, 9-5, 9-6 are in the same plane.

[0055] The six-rotor body 1 also includes six rotor motors 8-1, 8-2, 8-3, 8-4, 8-5, 8-6, and six rotor motor drivers 10-1, 10-2, 10-3 , 10-4, 10-4, 10-5, 10-6, six support rods 11-1, 11-2, 11-3, 11-4, 11-5, 11-6; six rotors 9- 1, 9-2, 9-3, 9-4, 9-5, 9-6 are installed on six rotor motors 8-1, 8-2, 8-3, 8-4, 8-5, 8- 6 on; six rotor motors 8-1, 8-2, 8-3, 8-4, 8-5, 8-6 are respectively...

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Abstract

The invention provides a multi-rotor wing robot in a liquid medium. The multi-rotor wing robot comprises a streamline closed shell, an N-rotor wing body, a control unit, N cylindrical seal covers, an automatic floating device, a remote control system, a sensory perceptual system and a man-machine interactive system, wherein the N cylindrical seal covers penetrate through the closed shell from top to bottom, and are uniformly and symmetrically distributed; a plurality of rotor wings of the multi-rotor wing body are respectively positioned inside the N seal covers, and rotary surfaces of the N rotor wings are positioned on the same plane; the control unit is used for controlling the motion of the multi-rotor wing robot. The multi-rotor wing robot solves the problem that the robot in the liquid medium is single in posture and inflexible during motion in the prior art, and can automatically float in emergency circumstances such as power failure or power shortage.

Description

technical field [0001] The invention belongs to the field of robots under liquid medium, and in particular relates to a multi-rotor robot under liquid medium. Background technique [0002] Due to the need to realize special tasks such as reconnaissance, rescue and dangerous operations inside some large liquid containers, robots inside liquids are beginning to be favored by researchers from various countries. Robots inside liquids are ideal for search, detection, reconnaissance and identification inside liquid containers. Due to its special application environment, such as transformers and hydraulic devices, it has the advantages of simple structure, light weight, small size, and the ability to move flexibly in complex environments compared with existing underwater submersibles. Because the internal environment of the liquid is unknown, it is even dangerous. Realistic needs have prompted the development and research of robots in liquid media. [0003] After searching the e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52B63G8/14
Inventor 刘永陈和平龚毅
Owner 南京赫曼机器人自动化有限公司
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