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A wall-climbing-gliding robot with a retractable wing membrane

A gliding robot and wing-spreading technology, which is applied in the directions of gliders, motor vehicles, aircraft, etc., to achieve the effect of reducing mass, improving gliding performance, and reducing the mass of the whole machine

Active Publication Date: 2020-11-06
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there is no ideal climbing and gliding dual-mode wall-climbing robot available

Method used

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  • A wall-climbing-gliding robot with a retractable wing membrane
  • A wall-climbing-gliding robot with a retractable wing membrane
  • A wall-climbing-gliding robot with a retractable wing membrane

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Embodiment Construction

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0035] The invention provides a wall-climbing and gliding robot with a retractable wing membrane, such as figure 1 As shown, it includes a body module 1 , a limb module 2 , a retractable wing membrane module 3 and a tail module 4 .

[0036] The body module 1 includes a bottom plate 101, an airfoil rib 102, and tenons 103, all of which are made of balsa wood, such as figure 2 shown. Wherein, both sides of the front end and the rear end of the bottom plate 101 are designed with extension parts, which serve as the leg module mounting platform 104 . Two symmetrical airfoil ribs 102 are installed perpendicular to the bottom plate 101. The profile of the airfoil ribs 102 is CLARK-Y airfoil, and the base plate 101 is fixed by mortise and tenon connection. The airfoil ribs on both sides of the bottom plate 101 are also connected by mortise strips 103 ; Through t...

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Abstract

The invention discloses a wall climbing-gliding robot with retractable and extendable wing membranes. The wall climbing-gliding robot comprises a body module, leg modules, a retractable and extendablewing membrane module and a tail module; each leg module is composed of four telescopic joints with the same structure, wherein the foot ends of the telescopic joints are provided with hook thorns, each telescopic joint makes linear reciprocating motion through a gear and rack mechanism, and driving steering engines A of the leg modules are connected with a bottom plate of the body module throughleg steering engine supports; the retractable and extendable wing membrane module is composed of four sets of rocker sliding block mechanisms and the flexible wing membranes attached to connecting rods, and all the sets of rocker sliding block mechanisms can be driven by the telescopic joints to make plane motion to achieve retraction and extension of the flexible wing membranes; and the tail module is mounted at the rear end of the body module, and under driving of a steering engine B, through double rocker mechanisms, a tail membrane can make up-down pitch motion relative to a body to achieve the effect of air pitch attitude adjustment. Climbing-gliding integrated design is adopted, climbing-gliding mode driving multiplex is achieved, the wing membranes are retractable and extendable, modular mounting is achieved, the structure is compact, and the weight is low.

Description

technical field [0001] The invention relates to a wall-climbing and gliding robot, in particular to a light, small, modularized and bionic integrated wall-climbing and gliding robot. Background technique [0002] So far, wall-climbing robots are mainly divided into wheel-type wall-climbing robots, crawler-type wall-climbing robots, and multi-legged bionic wall-climbing robots. [0003] Among various mechanisms, the wheel-type wall-climbing robot has fast movement speed and flexible control, but it is difficult to maintain a certain adsorption force; the crawler-type wall-climbing robot has strong adaptability to the wall surface, large contact area, strong adsorption force, but flexible movement The performance is poor; the multi-legged bionic wall-climbing robot can easily cross obstacles and realize wall transition, and has strong adaptability to unknown walls and unknown environments. Therefore, the research of multi-legged wall-climbing robot has become a research hotsp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024B64C31/02
Inventor 王巍赵飞李雪鹏全华林
Owner BEIHANG UNIV
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