Amphibious robot with flying and wall-climbing function

Abstract

The invention discloses an amphibious robot with a flying and wall-climbing function. The amphibious robot with the flying and wall-climbing function comprises a track wall-climbing mechanism; and a four-rotor tilting mechanism is connected to the track wall-climbing mechanism. According to the amphibious robot with the flying and wall-climbing function, a posture of the robot is changed by usinga mode of tilting rotors; during flying, the track wall-climbing mechanism is in a horizontal posture; when the amphibious robot with the flying and wall-climbing function needs to be land the wall surface, the four-rotor tilting mechanism changes the track wall-climbing mechanism into an approximately perpendicular posture and gradually approaches the wall surface to stably land; and therefore, the gravity center of the robot sticks to the wall surface; and meanwhile, in the landing process, rotors provide stable vertical lift forces.

Description

technical field [0001] The invention belongs to the technical field of special robots, and relates to an amphibious robot with both flying and wall-climbing functions. Background technique [0002] Wall-climbing robots are special robots that can crawl on vertical walls. They have broad application prospects in disaster search and rescue, military reconnaissance, bridge detection, and planetary detection. However, a single wall-climbing function is difficult to adapt to complex mission environments. For example, there is a certain distance between the starting point and the destination of the reconnaissance mission. The robot needs to adapt to the complex terrain environment, and the crawling speed is relatively slow. [0003] Robots with both flying and wall-climbing functions can improve the robot's task performance capabilities, and the flight function can assist wall-climbing robots to adapt to complex task environments. Chinese patent (application number: 201310118990....

AI Technical Summary

Problems solved by technology

The SCAMP robot with flight and wall-climbing functions developed by Stanford University in the United States lands on the wall when the top of the quadrotor is close to the wall, the center of gravity is closer to the wall, and the overturning moment is small (Pope M T, Kimes C W, Jiang H, et al.A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces[J].IEEE Transactions on Robotics,2017,33(1):38-48.), but during the wall landing process, the head of the SCAMP robot contacts the wall support, under its own inertia and aerodynamic propulsion Under the action of force, the fuselage is flipped 90° and the rear claw structure is in contact with the wall for adhesion. After the quadrotor is turned over a large angle, the component force of the aerodynamic propulsion force in the vertical direction is not enough to overcome its own gravity, and the stability is not enough.

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