Flying and crawling cross-domain multimode robot

Abstract

A flying and crawling cross-domain multimode robot, comprising vector rotor modules, vector magnetic force modules, wheel-track drive modules, a tailwheel module and the like, the robot having multiple modes such as flying, crawling, hybrid drive, takeoff and landing. The vector rotor modules have a function of folding rotors, and, in the crawling mode, can fold the rotors to reduce the robot size, thus preventing impact on crawling operations; the vector magnetic force modules and the tailwheel module can provide attraction force for robot crawling, and, in the flying mode, can act as momentum swing arms to maintain the balance stability of the robot; a plurality of robots are combined in series via mechanical-electrical integrated interface modules, and a single robot can achieve expansion of vector rotor modules via the mechanical-electrical integrated interface module; the robot can flexibly and quickly switch between the crawling mode and the flying mode.

Description

A flying and crawling cross-domain multimodal robot Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to a flying and crawling cross-domain multi-modal robot. Background Art

[0002] The commonly used movement modes of inspection robots are flying and crawling. In industrial inspection, the use of drone inspection can better meet the working requirements of non-contact inspection. However, due to the high energy consumption of drones, the need to maintain a safe flying distance from the inspection object and the significant impact of environmental factors such as wind, it is difficult to meet the requirements for contact inspection, close-range inspection, precise inspection, inspection in environments with many obstacles, and long-term inspection. Crawling robots can better meet the working requirements of contact inspection and close-range inspection, but due to the limitations of their crawling method, crawling robots can only crawl on specific surfaces, and it is difficult to cross discontinuous planes and complex surfaces, and their ability to transition between different planes is limited.

[0003] Chinese patent CN113978761B discloses an aircraft fuselage inspection robot, the structure of which includes a multi-rotor drone, a suction cup wall climbing robot, a flexible transmission device, and an analytical pad. The multi-rotor drone is equipped with a suction cup wall climbing robot, and the suction cup wall climbing robot is provided with a flexible transmission device. Because the camera installed on the drone is loaded with infrared, video and three-dimensional scanning cameras, it can perform overall rapid fuselage scanning inspection under different ambient light conditions, ensure the quality of video information collection, play a role in pre-positioning, and achieve the purpose of close-range non-contact non-destructive testing. Although the above scheme can enable the robot to glide on the surface to be tested, the sliding process still requires the rotor to provide adhesion for the robot, and the robot consumes a lot of energy. On the other hand, the rotor direction of the robot in the above scheme is fixed, and it is difficult for the robot to land on vertical surfaces and surfaces such as the bottom surface of the structure.

[0004] Summary of the Invention

[0005] In order to overcome the defects in the above-mentioned prior art, the present invention provides a flying and crawling cross-domain multi-mode robot, which can flexibly and quickly switch the robot's crawling mode and flying mode, so that the robot can move in working planes at various angles.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A flying and crawling cross-domain multi-mode robot comprises a base, a vector rotor module, a vector magnetic module, a wheel-track drive module, a tail wheel module, a battery module, a controller module, a mechanical and electrical integration interface module, and a landing gear module; the flying and crawling cross-domain multi-mode robot is centered on the base, and three modules, a vector rotor module, a vector magnetic module, and a wheel-track drive module, are coaxially installed on the left and right sides of the base; the tail wheel module is fixed to the rear side of the base; the battery module, the controller module, the mechanical and electrical integration interface module, and the landing gear module are fixed on the base; more specifically, the tilt mechanism of the vector rotor module is fixed on the base, and the folding and unfolding mechanism passes through the rotating shafts on both sides of the base and is connected to the tilt mechanism; the magnetic module rotating mechanism of the vector magnetic module is installed on the base; the transmission mechanism and the wheel drive motor of the wheel-track drive module are installed on the base; the tail wheel swing motor of the tail wheel module is fixed on the base; the battery module, the controller module, the mechanical and electrical integration interface module, and the landing gear module The interface module and the landing gear module are fixed on the base; in the present invention, the vector rotor module provides vector-controllable lift and power for directional flight for the robot flight; the vector magnetic module provides adsorption force with controllable direction and size for the robot crawling, and can be used as a momentum swing arm in the flight mode to assist flight stability or to adjust the posture when performing a rescue action after falling; the wheel-crawler drive module provides traction for the robot crawling; the tail wheel module can be used as a momentum swing arm in the flight mode and as an adsorption support in the crawling mode; multiple flying and crawling cross-domain multi-mode robots are combined in series through the mechanical and electrical integration interface module, and a single flying and crawling cross-domain multi-mode robot expands the vector rotor module through the mechanical and electrical integration interface module to adjust the robot's maneuverability and load capacity; the landing gear module can be opened as a support foot when the robot lands on the ground. When the robot crawls on the wall, the landing gear module is retracted to avoid affecting crawling.

[0008] According to the above technical means, the robot provided by the present invention has multiple modes such as flight, crawling, hybrid drive, take-off and landing transition, and has the ability to transition between some discontinuous planes, flange surfaces, and surfaces with different inclination angles; the vector rotor module can provide flight thrust for the robot, and also has the function of folding the rotor. In crawling mode, the rotor is folded to reduce the volume of the robot to avoid affecting the crawling operation; the vector magnetic module and the tail wheel module can provide adsorption force for the robot crawling, and can serve as a momentum swing arm to maintain the balance stability of the robot in flight mode; by controlling the thrust size and direction of the rotor of the vector rotor module, the folding and unfolding of the rotor, the adsorption force size and direction of the vector magnetic module, the adsorption force and swing angle of the tail wheel module, and the unfolding and retraction of the landing gear module, the robot can be flexibly and quickly switched between the crawling mode and the flight mode, so as to achieve the robot's efficient and flexible ability to take off and land on working planes of various angles, fly over complex obstacles, reach a wider range of detection locations, and perform low-energy and high-precision detection.

[0009] Among them, the robot is equipped with a variety of sensors, including collision sensors and visual detection sensors.

[0010] In one embodiment, the vector rotor module includes a rotor assembly, a folding mechanism, and a tilting mechanism; the rotor assembly is connected to the tilting mechanism through the folding mechanism, one end of the folding mechanism passes through the inner hole of the rotating shaft on the side of the base and rotates with the base, and the tilting mechanism is installed on the base; more specifically, the rotor assembly is composed of a coaxially mounted combination of three parts: a rotor, a rotor motor, and a rotor protection ring; the folding mechanism includes a first connecting rod, a second connecting rod, a spring, and an angle sensor mechanism; the first connecting rod, the second connecting rod, and the angle sensor mechanism are coaxially mounted; both ends of the spring are respectively fixed to the first connecting rod The first and second connecting rods are connected; the first and second connecting rods are capable of relative rotation. In the present invention, a vector rotor module is designed that has the ability to change the magnitude and direction of the rotor thrust. The tilt mechanism can tilt the folding and unfolding mechanism to change the tilt angle of the rotor assembly. The vector rotor module has the function of folding and unfolding the rotor. When the rotor begins operation, the rotor motor rotates forward, generating a positive thrust for the rotor, and the rotor transitions from a folded state to an unfolded state. When the rotor ends operation, the rotor motor rotates reversely, generating a reverse thrust for the rotor, and the rotor transitions from an unfolded state to a folded state. A spring assists in the folding and unfolding of the rotor. When the rotor transitions from the folded state to the unfolded state, the spring undergoes a two-step process of shortening and then lengthening. The spring is compressed in both the initial and final states, exerting an outward thrust. The spring thrust is utilized to generate a bipolar change in the folding and unfolding torque on the rotor module, maintaining the stability of the rotor in both the folded and unfolded states even when the rotor is not exerting thrust. The angle sensor mechanism can measure the angle between the first link and the second link of the folding and unfolding mechanism for feedback control of the folding and unfolding of the rotor.

[0011] In one embodiment, by symmetrically installing two vector rotor modules on the left and right sides of the base, the robot is given the ability to fly; when the robot enters flight mode, the rotor motor rotates to provide thrust, and the rotor changes from a folded state to an unfolded state; by controlling the two vector rotor modules, the robot can take off and land freely, cross complex obstacles, and quickly reach the inspection location.

[0012] In one embodiment, the rotor motor can be a brushless DC motor, which has the characteristics of light weight and high speed, and is used to drive the rotation of the rotor blades to provide thrust for the robot flight; the tilt mechanism is a servo, which is used to control the tilt angle of the rotor and has the characteristics of high torque and light weight; the spring is a damping thrust spring; and the angle sensor is a Hall angle sensor.

[0013] In one embodiment, the vector magnetic module includes a magnetic mechanism and a magnetic module rotating mechanism; the magnetic mechanism is installed at one end of the magnetic rotating mechanism, and the magnetic module rotating mechanism is installed on the base, and the magnetic module rotating mechanism can drive the base to rotate to change the magnitude and direction of the magnetic force; more specifically, the magnetic mechanism is composed of a magnet and a magnet bracket; the magnetic module rotating mechanism is composed of a baffle, a bearing limit mechanism, a driving gear mechanism, and an internal gear mechanism; the magnet is installed on the magnet bracket; the magnetic mechanism is an arc-shaped structure, the center of rotation is the same as the wheel assembly, the outer arc radius of the magnetic mechanism is slightly smaller than the radius of the wheel assembly, and a gap is left between the magnetic mechanism and the adsorption plane; The baffle is connected to the base through a bearing limit mechanism; the driving gear mechanism is installed on the base; the internal gear mechanism is located between the base and the baffle, and is internally engaged with the bearing limit mechanism and the driving gear mechanism; the base and the baffle limit the axial movement of the internal gear mechanism; the bearing limit mechanism limits the radial movement of the internal gear mechanism; the internal gear mechanism is connected to the magnet bracket; in the present invention, a vector magnetic module is designed, which has the ability to change the adsorption force of the robot, and the driving gear mechanism rotates to drive the internal gear mechanism to rotate, and then drives the magnetic mechanism to rotate, changing the magnitude and direction of the magnetic force; the vector magnetic module can also be used as a momentum swing arm in flight mode to maintain the balance stability of the robot.

[0014] In the present invention, by symmetrically installing the vector magnetic modules on the left and right sides of the robot body, the robot has adsorption force, so that the robot can crawl on the wall.

[0015] In one embodiment, the first magnet can be a Halbach magnet array or an electropermanent magnet unit (EPM); the Halbach magnet array can change the local magnetic force distribution of the magnet, so that the adsorption force on the side close to the adsorption plane is increased; the EPM can quickly change the magnitude and direction of the magnetic force.

[0016] In one embodiment, the wheel-track drive module includes a wheel assembly, a transmission mechanism, and a wheel drive motor. The wheel assembly is connected to the wheel drive motor through the transmission mechanism. The wheel drive motor is installed on a base, and the transmission mechanism rotates in conjunction with the outer side of the rotating shaft on both sides of the base. In the present invention, the wheel drive motor transmits power through the transmission mechanism to drive the wheel to rotate.

[0017] In the present invention, by symmetrically installing the two wheel-track drive modules on the left and right sides of the robot body, the robot has the ability to crawl; the robot adopts a dual-wheel differential movement mode; by controlling the two wheel-track drive modules, the robot can realize forward movement, change direction, turnover and other movements.

[0018] In one embodiment, the transmission mechanism can be a pulley transmission mechanism, a gear mechanism or a chain transmission mechanism; when a pulley transmission is adopted, the transmission mechanism includes a first pulley, a second pulley and a belt, the first pulley is fixed to the output shaft of the wheel drive motor, the first pulley is connected to the second pulley through a belt, and the second pulley is connected to the wheel to drive the rotation of the wheel.

[0019] In one embodiment, the tail wheel module includes a tail wheel assembly, a tail wheel swing motor, a tail wheel bracket, a tail wheel magnetic module rotation mechanism, and a tail wheel magnetic mechanism. The tail wheel assembly is connected to the tail wheel swing motor through the tail wheel bracket, and the tail wheel swing motor is installed on the base; the tail wheel magnetic mechanism is installed at one end of the tail wheel magnetic rotation mechanism, and the other end of the tail wheel magnetic rotation mechanism is installed on the tail wheel bracket; more specifically, the tail wheel magnetic mechanism is composed of a tail wheel magnet and a tail wheel magnet bracket; the tail wheel magnet is installed on the tail wheel magnet bracket; the tail wheel magnetic mechanism is an arc-shaped structure, the rotation center is the same as the tail wheel assembly, the outer arc radius of the tail wheel magnetic mechanism is slightly smaller than the radius of the tail wheel assembly, and a gap is left between the tail wheel magnetic mechanism and the adsorption plane; the tail wheel magnet bracket It is connected to the rotating mechanism of the tail wheel magnetic module; the tail wheel assembly is coaxially installed with the tail wheel magnetic mechanism; in the present invention, a tail wheel module is designed, which has the ability to change the adsorption force of the robot's tail wheel. The rotation of the tail wheel magnetic module rotating mechanism can drive the tail wheel magnetic mechanism to rotate, thereby changing the size and direction of the magnetic force of the tail wheel module; when the robot moves in the crawling mode, it serves as a support wheel for the robot to perform two-wheel differential motion; when the robot moves in the flight mode, the tail wheel adsorption force is reduced, making it easy for the robot to fly away from the crawling plane; the tail wheel swing motor of the tail wheel module can make the entire tail wheel module swing, and when the robot lands on the crawling plane, the robot is more likely to fit the plane; by swinging the tail wheel module by the tail wheel swing motor, it can be used as a momentum swing arm in the flight mode.

[0020] In one embodiment, the tail wheel magnet can be a Halbach magnet array or an electropermanent magnet (EPM); the Halbach magnet array can change the local magnetic force distribution of the magnet, thereby increasing the adsorption force on the side close to the adsorption plane; the EPM can quickly change the magnitude and direction of the magnetic force.

[0021] In one embodiment, the landing gear module includes a storage motor, a first tripod, and a second tripod; the storage motor is installed on the base, and the output end of the storage motor is hinged to one end of the first tripod and the second tripod respectively, and the storage motor drives the first tripod and the second tripod to rotate, changing the angle between the first tripod and the second tripod, thereby realizing the storage and deployment of the first tripod and the second tripod.

[0022] In one embodiment, the mechanical and electrical integration interface module comprises a female connector and a male connector. The female connector comprises a ball retaining ring and a push rod. When the male and female connectors are engaged, the ball in the female connector is subjected to radial force and contracts inward, becoming lodged in the ball groove of the male connector, thus preventing the male and female connectors from separating axially. To separate the connectors, the push rod is actuated, causing the outer ring of the ball retaining ring to move axially. This radial clearance between the balls of the ball retaining ring increases, allowing them to disengage from the ball groove of the male connector, allowing the male and female connectors to separate axially.

[0023] Compared with the prior art, the beneficial effects are:

[0024] 1. The robot provided by the present invention has multiple modes such as flight, crawling, hybrid drive, take-off and landing transition, etc.; by controlling the thrust size and direction of the rotor of the vector rotor module, the folding and unfolding of the rotor, the adsorption force size and direction of the vector magnetic module, the adsorption force and swing angle of the tail wheel module, and the deployment and retraction of the landing gear module, the robot can flexibly and quickly switch between the crawling mode and the flight mode, so that the robot has the ability to take off and land on working planes at various angles, fly over complex obstacles, reach a wider range of detection locations, and perform low-energy and high-precision detection.

[0025] 2. The vector rotor module of the present invention adopts a folding and unfolding mechanism to connect the rotor, so that the robot has the ability to fold and unfold the rotor; when the rotor starts working, the rotor changes from a folded state to an unfolded state, and when the rotor ends working, the rotor changes from an unfolded state to a folded state, so that the robot is smaller in size and more flexible in movement in crawling mode, which better meets actual detection needs.

[0026] 3. The vector magnetic module of the present invention can provide reliable adsorption force for the crawling mode. When the robot switches from the crawling mode to the flying mode, the adsorption force of the robot can be reduced, and the robot can easily fly away from the working plane. The vector magnetic module can also be used as a momentum swing arm in the flying mode to assist in flight stability or to adjust the posture when performing a rescue action after falling.

[0027] 4. The tail wheel module of the present invention serves as a supporting wheel for the robot to perform dual-wheel differential motion when the robot moves in crawling mode; the robot reduces the tail wheel adsorption force when it moves in flight mode, making it easy for the robot to fly away from the crawling plane; the tail wheel swing motor of the tail wheel module can make the entire tail wheel module swing, which can be used as a momentum swing arm to assist flight stability in flight mode or to adjust the posture when performing a rescue action after falling, making it easier for the robot to fit into the plane when it lands on the crawling plane.

[0028] 5. The base of the present invention is equipped with a mechanical and electrical integration interface module. Multiple flying and crawling cross-domain multi-mode robots can be combined in series through the mechanical and electrical integration interface module. A single flying and crawling cross-domain multi-mode robot can expand the vector rotor module through the mechanical and electrical integration interface module; the base is equipped with a landing gear module, which can be opened as a support foot when the robot lands on the ground. When the robot crawls on the wall, the landing gear module is retracted to avoid affecting the crawling. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a schematic structural diagram of the base in the first embodiment.

[0030] FIG2 is a schematic diagram of the assembly of the flying and crawling cross-domain multi-mode robot in Example 1.

[0031] FIG3 is a schematic diagram of the robot taking off and landing on a vertical wall in Example 1.

[0032] FIG4 is a schematic diagram of the robot taking off and landing on an inverted wall in Example 1. FIG.

[0033] FIG5 is a schematic diagram of the robot climbing over a thin plate in the first embodiment.

[0034] FIG6 is a schematic diagram of the vector rotor module installed on the base in the second embodiment.

[0035] FIG7 is a schematic diagram of the structure of the vector rotor module in the second embodiment.

[0036] FIG8 is a schematic diagram of the folding of the vector rotor module in the second embodiment.

[0037] FIG9 is a schematic diagram showing two vector rotor modules symmetrically installed on a robot in Example 2.

[0038] FIG10 is a schematic diagram of the spring folding and unfolding mechanism in the second embodiment.

[0039] FIG11 is a schematic diagram of three working states of the spring in the second embodiment.

[0040] FIG12 is a schematic diagram showing how the spring thrust and the torque acting on the rotor vary with the deployment angle in the second embodiment.

[0041] FIG13 is a schematic diagram of the unfolding of the slider folding and unfolding mechanism in the second embodiment.

[0042] FIG14 is a schematic diagram of the folding mechanism of the slider in the second embodiment

[0043] FIG15 is a schematic structural diagram of the vector magnetic module in the third embodiment.

[0044] FIG16 is a schematic diagram of the vector magnetic module installed on the base in Example 3.

[0045] FIG17 is a schematic diagram of two vector magnetic modules installed on a robot in Example 3.

[0046] FIG18 is a schematic diagram of the magnetization direction of the Halbach magnet array in Example 3.

[0047] FIG19 is a schematic diagram of the magnetization direction of the magnet array with variable magnetization direction in the third embodiment.

[0048] FIG20 is a schematic diagram showing the principle that the electropermanent magnet has no external adsorption force in the third embodiment.

[0049] FIG21 is a schematic diagram showing the principle of external adsorption force exerted by the electropermanent magnet in the third embodiment.

[0050] FIG22 is a schematic diagram of the structure of the wheel-track drive module in the fourth embodiment.

[0051] FIG23 is a schematic diagram of two wheel-track drive modules installed on a robot in Example 4.

[0052] FIG24 is a schematic diagram of the pulley transmission mechanism in the fourth embodiment.

[0053] FIG25 is a schematic diagram of the tail wheel module structure in the fifth embodiment.

[0054] FIG26 is a schematic diagram of the installation position of the magnetic structure of the tail wheel module in the fifth embodiment.

[0055] FIG27 is a schematic structural diagram of the parallelogram swing arm in the fifth embodiment.

[0056] FIG28 is a schematic diagram of the structure of the mechanical and electrical integration interface module in the sixth embodiment.

[0057] Figure 29 is a schematic diagram of the robot's extended robotic arm in Example 6.

[0058] FIG30 is a schematic diagram of multiple robots connected in series in Example 6.

[0059] Figure 31 is a schematic diagram of the robot's extended vector rotor module in Example 6. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The present invention is described in one of the embodiments below in combination with the specific implementation methods. Among them, the drawings are only for illustrative purposes and represent only schematic diagrams rather than physical drawings, and cannot be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0061] Example 1:

[0062] As shown in Figure 1, this is an embodiment of the base 0 of the present invention. The base 0 is the central structure of the robot; the left and right sides of the base 0 are two hollow shaft structures, which can be used to install the vector rotor module 1, the vector magnetic module 2, and the wheel-track drive module 3.

[0063] As shown in Figure 2-3, an embodiment of a flying and crawling cross-domain multi-mode robot provided by the present invention includes a base 0, a vector rotor module 1, a vector magnetic module 2, a wheel-track drive module 3, a tail wheel module 4, a battery module 5, a controller module 6, a mechanical and electrical integration interface module 7, and a landing gear module 8; the modular and reconfigurable flying and crawling multi-mode integrated robot is centered on the base 0, and the left and right sides of the base 0 are coaxially installed with three modules: the vector rotor module 1, the vector magnetic module 2, and the wheel-track drive module 3; the tail wheel module 4 is fixed on the rear side of the base 0; the battery module 5, the controller module 6, the mechanical and electrical integration interface module 7, and the landing gear module 8 are fixed on the base.

[0064] Specifically, the tilting mechanism 103 of the vector rotor module 1 is fixed on the base 0, and the folding mechanism 102 passes through the rotating shaft on both sides of the base 0 and is connected to the tilting mechanism 103; the magnetic module rotating mechanism 202 of the vector magnetic module 2 is installed on the base 0; the transmission mechanism 302 and the wheel drive motor 303 of the wheel-track drive module 3 are installed on the base 0; the tail wheel swing motor 402 of the tail wheel module 4 is fixed on the base 0.

[0065] In this embodiment, the vector rotor module 1 provides vector-controllable lift and power for directional flight for the robot; the vector magnetic module 2 provides an adsorption force with controllable direction and size for the robot to crawl, and can be used as a momentum swing arm in flight mode to assist in flight stability or to adjust the posture when performing a rescue action after falling; the wheel-crawler drive module 3 provides traction for the robot to crawl; the tail wheel module 4 can be used as a momentum swing arm in flight mode and as an adsorption support in crawling mode; the landing gear module 8 can be opened as a support foot when the robot lands on the ground. When the robot crawls on the wall, the landing gear module 8 is retracted to avoid affecting crawling.

[0066] As shown in Figure 3, when the robot lands on a wall with an inclination angle of less than 135 degrees (such as a vertical wall), the robot approaches the wall and controls the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to approach the adsorption plane to increase the magnetic force, thereby achieving a smooth landing; when the robot takes off from a wall with an inclination angle of less than 135 degrees, the robot takes off by controlling the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to move away from the adsorption plane to reduce the magnetic force.

[0067] As shown in Figure 4, when the robot lands on a wall with an inclination angle greater than 135 degrees (such as a horizontal inverted wall), the robot approaches the wall, controls the tail wheel swing motor 402 to make the tail wheel module 4 fit the wall, and controls the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to approach the adsorption plane to increase the magnetic force, thereby achieving a smooth landing; when the robot takes off at an angle greater than 135 degrees, takes off is achieved by controlling the magnetic mechanism 201 and the tail wheel magnetic mechanism 405 to move away from the adsorption plane to reduce the magnetic force.

[0068] As shown in Figure 5, when the robot climbs over a thin plate, the robot approaches the edge of the thin plate, the wheel-track drive module 3 provides the driving force for climbing over the thin plate, the tail wheel module 4 serves as the support wheel, and continuously changes the wheelbase between the drive wheel and the support wheel through the tail wheel swing motor 402 to meet the requirement of having different wheel spacings at different positions during the process of climbing over the thin plate; when the robot moves to the edge of the thin plate, the adsorption surface becomes narrower and the robot's adsorption force becomes smaller, which makes the robot prone to falling off, slipping and other problems. The robot can use the vector rotor module 1 to assist in climbing over. The vector rotor module 1 can provide thrust to overcome the problem of insufficient adsorption force and maintain the balance and stability of the robot during the process of climbing over the thin plate.

[0069] The beneficial effects of this embodiment are as follows: by controlling the thrust size and direction of the rotor of the vector rotor module, the folding and unfolding of the rotor, the adsorption force size and direction of the vector magnetic module, the adsorption force and swing angle of the tail wheel module, and the deployment and retraction of the landing gear module, the robot can be flexibly and quickly switched between the crawling mode and the flight mode, so as to achieve the robot's efficient and flexible ability to take off and land on working planes at various angles, fly over complex obstacles, reach a wider range of detection locations, and perform low-energy and high-precision detection.

[0070] Example 2:

[0071] As shown in Figure 6, an embodiment of the vector rotor module 1 of the present invention includes a rotor assembly 101, a folding mechanism 102, and a tilting mechanism 103; the rotor assembly 101 is connected to the tilting mechanism 103 through the folding mechanism 102, one end of the folding mechanism 102 passes through the inner hole of the rotating shaft on the side of the base 0 and rotates with the base 0, and the tilting mechanism 103 is installed on the base.

[0072] As shown in Figures 7-8, the rotor assembly 101 is composed of three coaxially installed parts: the rotor 1011, the rotor motor 1012, and the rotor protection ring 1013; the tilt mechanism 103 can tilt the folding and unfolding mechanism 102 to change the tilt angle of the rotor assembly 101; the rotor module 1 has the function of folding and unfolding the rotor assembly 101; when the vector rotor module 1 starts to work, the rotor motor 1012 rotates forward, the rotor module 1 has a forward thrust, and the rotor module 1 changes from a folded state to an unfolded state; when the rotor module 1 ends its work, the rotor motor 1012 reverses, the rotor module 1 has a reverse thrust, and the rotor module 1 changes from an unfolded state to a folded state.

[0073] As shown in Figure 9, by symmetrically installing the two vector rotor modules on the left and right sides of the robot body, the robot is able to fly; when the robot enters flight mode, the rotor motor rotates to provide thrust, and the rotor changes from a folded state to an unfolded state; by controlling the two vector rotor modules, the robot can take off and land freely, cross complex obstacles, and quickly reach the detection location.

[0074] As shown in Figure 10, the folding and unfolding mechanism 102 adopts a spring folding and unfolding mechanism, including a first link 1021, a second link 1022, a spring 1023, and an angle sensor mechanism 1024; the first link 1021 and the second link 1022 and the angle sensor mechanism 1024 are coaxially installed; the two ends of the spring 1023 are respectively fixed on the first link 1021 and the second link 1022; the first link 1021 and the second link 1022 can rotate relative to each other, and the spring 1023 can make the first link 1021 and the second link 1022 stably in the folded or unfolded state in the absence of other external forces; the angle sensor mechanism 1024 can measure the angle between the first link 1021 and the second link 1022.

[0075] As shown in Figures 11-12, spring 1023 assists the rotor assembly 101 in folding and unfolding. When the rotor assembly 101 is changed from a folded state to an unfolded state, spring 1023 first shortens and then lengthens. Spring 1023 will go through three states: a folded compressed state, an intermediate compressed state, and an unfolded state. Spring 1023 is in a compressed state in both the initial state and the terminal state. The thrust of spring 1023 is used to generate a bipolar change in the folding and unfolding torque of the rotor module. When the rotor module 1 has no thrust, it still has the ability to maintain the stability of the folded and unfolded states of the rotor module 1.

[0076] In addition, as shown in Figures 13-14, the folding mechanism 102 can also adopt a slider folding mechanism, including a third connecting rod 1025, a fourth connecting rod 1026, a slider 1027, and a T-shaped connecting rod 1028; when the slider 1027 moves toward the middle along the T-shaped connecting rod 1028, the folding mechanism 102 unfolds, and when the slider 1027 moves toward the end along the T-shaped connecting rod 1028, the folding mechanism 102 folds.

[0077] Example 3:

[0078] As shown in Figure 15, an embodiment of the vector magnetic module 2 of the present invention includes a magnetic mechanism 201 and a magnetic module rotating mechanism 202; the magnetic mechanism 201 is installed at one end of the magnetic module rotating mechanism 202, and the magnetic rotating mechanism 202 is installed on the base 0.

[0079] As shown in Figures 15-16, the magnetic mechanism 201 consists of a first magnet 2011 and a first magnet bracket 2012; the magnetic module rotation mechanism 202 consists of a baffle 2021, a bearing limit mechanism 2022, a drive gear mechanism 2023, an internal gear mechanism 2024, and a Hall sensor 2025; the magnet 2011 is installed on the magnet bracket 2012; the magnetic mechanism 201 is an arc-shaped structure, and the rotation center is the same as the wheel assembly 301. The outer arc radius of the magnetic mechanism 201 is slightly smaller than the radius of the wheel assembly 301, and there is a gap between the magnetic mechanism 201 and the adsorption plane. Gap; the baffle 2021 is connected to the base 0 through the bearing limit mechanism 2023; the driving gear mechanism 2023 is installed on the base 0; the internal gear mechanism 2024 is located between the base 0 and the baffle 2021, and is internally engaged with the bearing limit mechanism 2022 and the driving gear mechanism 2023; the base 0 and the baffle 2021 limit the axial movement of the internal gear mechanism 2024; the bearing limit mechanism 2022 limits the radial movement of the internal gear mechanism 2024; the internal gear mechanism 2024 is connected to the magnet bracket 2022; the Hall sensor 2025 is fixed on the baffle 2021.

[0080] The driving gear mechanism 2023 rotates to drive the internal gear mechanism to rotate, and then drives the magnetic mechanism 201 to rotate, thereby changing the distance between the first magnet 2011 and the adsorption plane, and changing the magnitude and direction of the adsorption force of the vector magnetic module; the Hall sensor 2025 is used to measure the rotation angle of the first magnet 2011 for feedback control.

[0081] As shown in FIG17 , two vector magnetic modules 2 are symmetrically mounted on the left and right sides of the base 0 to provide adsorption force for the robot's crawling.

[0082] In one embodiment, the first magnet 2011 is a Halbach magnet array, and the distribution of magnetic lines of force is shown in FIG18 . The Halbach magnet array can change the local magnetic force distribution of the magnet, thereby increasing the adsorption force on the side close to the adsorption plane.

[0083] In one embodiment, the first magnet 2011 adopts a magnet array with variable magnetization direction. The distribution of magnetic lines of force is shown in FIG19 , which is an optimized Halbach magnet array. Through a more reasonable magnetization direction, the local magnetic force distribution of the magnet is more reasonable, and the adsorption force is further improved.

[0084] In one embodiment, the first magnet 2011 adopts an electropermanent magnet unit, which includes a magnetic wheel composed of five parts, two yokes on the left and right sides, and two magnets in the middle, of which the upper one is a neodymium iron boron permanent magnet and the lower one is an alnico magnet, and coils are wrapped around the two magnets; as shown in Figure 20, the magnetization direction of the neodymium iron boron is to the right, the coil is energized, and the magnetization direction of the alnico is to the left. At this time, a magnetic field loop is formed inside the magnetic wheel, and the external magnetic field of the magnetic wheel is very small, close to 0; as shown in Figure 21, the magnetization direction of the neodymium iron boron remains to the right, the coil energization voltage is reversed, and the magnetization direction of the alnico becomes to the right. At this time, the magnetic wheel and the external steel material form a magnetic field loop, and the magnetic wheel generates a large adsorption force on the external steel material; the use of an electropermanent magnet unit can achieve rapid changes in the magnitude and direction of the magnetic force.

[0085] Example 4:

[0086] As shown in Figure 22, an embodiment of the wheel-track drive module 3 of the present invention includes a wheel assembly 301, a transmission mechanism 302, and a wheel drive motor 303. The wheel assembly 301 is connected to the wheel drive motor 303 through the transmission mechanism 302. The wheel drive motor 303 is installed on the base 0. The wheel drive motor 303 transmits power through the transmission mechanism 302 to drive the wheel assembly 301 to rotate.

[0087] As shown in Figure 23, by symmetrically installing the two wheel-track drive modules on the left and right sides of the base 0, the robot has the ability to crawl; the robot adopts a dual-wheel differential movement mode; by controlling the two wheel-track drive modules, the robot can realize forward movement, change direction, turnover and other movements.

[0088] In one embodiment, as shown in Figure 24, the transmission mechanism 302 adopts pulley transmission, and the transmission mechanism 302 includes a first pulley 3021, a second pulley 3022, and a belt 3023. The first pulley 3021 is fixed to the output shaft of the wheel drive motor 303, the first pulley 3021 is connected to the second pulley 3022 through the belt 3023, and the second pulley 3022 is connected to the wheel assembly 301 to drive the rotation of the wheel assembly 301.

[0089] Example 5:

[0090] FIG25 shows an embodiment of a tail wheel module 4 according to the present invention, comprising a tail wheel assembly 401, a tail wheel swing motor 402, a tail wheel bracket 403, a tail wheel magnetic module rotation mechanism 404, and a tail wheel magnetic mechanism 405. The tail wheel assembly 401 is connected to the tail wheel swing motor 402 via the tail wheel bracket 403, and the tail wheel swing motor 402 is mounted on the base 0. The tail wheel magnetic mechanism 405 is mounted on one end of the tail wheel magnetic rotation mechanism 404, and the other end of the tail wheel magnetic rotation mechanism 404 is mounted on the tail wheel bracket 403.

[0091] As shown in Figure 26 , the tailwheel magnetic mechanism 405 consists of a tailwheel magnet 4051 and a tailwheel magnet bracket 4052. The tailwheel magnet 4051 is mounted on the tailwheel magnet bracket 4052. The tailwheel magnetic mechanism 405 is an arc-shaped structure, with its rotation center aligned with that of the tailwheel assembly 401. The outer arc radius of the tailwheel magnetic mechanism 401 is slightly smaller than that of the tailwheel assembly 401, leaving a gap between the tailwheel magnetic mechanism 405 and the attraction surface. The tailwheel magnet bracket 4052 is connected to the tailwheel magnetic module rotation mechanism 404. The tailwheel assembly 401 and the tailwheel magnetic mechanism 401 are coaxially mounted. Rotation of the tailwheel magnetic module rotation mechanism 404 drives the rotation of the tailwheel magnetic mechanism 405, changing the distance between the tailwheel magnet 4051 and the attraction surface, and thus altering the magnitude and direction of the tailwheel module's attraction force. The tailwheel swing motor 402 of the tailwheel module 4 causes the entire tailwheel module 4 to swing.

[0092] In one embodiment, the tail wheel bracket 403 may be a rigid swing arm. As shown in FIG27 , the tail wheel bracket 403 may be a parallelogram connecting rod swing arm, and the length of the swing arm may be controlled.

[0093] The beneficial effects of this embodiment are as follows: when the robot moves in crawling mode, the tail wheel magnetic module 4 serves as a support wheel for the robot to perform two-wheel differential motion; when the robot moves in flight mode, the adsorption force of the tail wheel module 4 is reduced, making it easy for the robot to fly away from the crawling plane; the tail wheel swing motor 402 of the tail wheel module 4 can make the entire tail wheel module 4 swing, which can be used as a momentum swing arm to assist flight stability in flight mode or to adjust the posture when performing a rescue action after falling, making it easier for the robot to fit into the plane when landing on the crawling plane.

[0094] Example 6:

[0095] Figure 28 shows the structure of the mechanical and electrical integration interface module 7, which comprises a female connector 701 and a male connector 702. The female connector consists of a ball retaining ring 7021 and a push rod 7022. When the two connectors are connected, the ball in the female connector 701 is subjected to radial force and contracts inward, becoming lodged in the ball groove of the male connector 702, thus preventing the male and female connectors from separating axially. To separate the connectors, the push rod 7022 is actuated, causing the outer ring of the ball retaining ring 7021 to move axially. This radial clearance between the balls in the ball retaining ring increases, allowing them to disengage from the ball groove of the male connector 702, allowing the two connectors to separate axially.

[0096] In one embodiment, as shown in FIG29 , the flying and crawling cross-domain multi-mode robot can extend the operating arm through the mechanical and electrical integration interface module 7, thereby increasing the operational freedom of the entire machine and enabling it to be used for remote operations such as gripping and carrying.

[0097] In one embodiment, as shown in FIG30 , a plurality of flying and crawling cross-domain multi-mode robots are connected in series through the mechanical and electrical integration interface module 7; by adopting multiple machines in series, both ends of the entire system are equipped with a wheel-track drive module 3, a vector magnetic module 2, and a vector rotor module 1, so that the robot can have more flexible motion performance, more diverse motion postures, higher safety and stability, and can cross more obstacles to adapt to more complex working environments; in crawling mode, multiple machines in series make it easier for the entire system to achieve the transition of structures such as inner corners, outer corners, and thin plates, and has the ability to cross complex structures such as flange edges and I-beams; in flying mode, multiple machines in series make the entire system have greater load capacity and flight stability, and the robot has flexible and diverse motion postures, which can enable the robot to land and take off on more complex surfaces.

[0098] In one embodiment, as shown in FIG31 , a single flying and crawling cross-domain multi-mode robot extends the vector rotor module 1 through the mechanical and electrical integration interface module 7 to adjust the robot's maneuverability and increase the controllability of the robot's pitch angle attitude and load capacity.

[0099] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A flying and crawling cross-domain multi-modal robot, characterized in that: The invention comprises a base (0), a vector rotor module (1), a vector magnetic module (2), a wheel-track drive module (3), a tail wheel module (4), a battery module (5), a controller module (6), a mechanical and electrical integration interface module (7) and a landing gear module (8); with the base (0) as the center, the vector rotor module (1), the vector magnetic module (2) and the wheel-track drive module (3) are coaxially installed on the left and right sides of the base (0); the tail wheel module (4) is installed on the rear side of the base (0); the battery module (5), the controller module (6), the mechanical and electrical integration interface module (7) and the landing gear module (8) are all installed on the base (0); the controller module (6) is respectively connected to the vector rotor module (1), the vector magnetic module (2), the wheel-track drive module (3), the tail wheel module (4) and the landing gear module (8); and the battery module (5) is used to supply power to each module.

2. The flying and crawling cross-domain multi-mode robot according to claim 1, characterized in that: The vector rotor module (1) comprises a rotor assembly (101), a folding and unfolding mechanism (102) for driving the rotor assembly (101) to present a folded or unfolded state, and a tilting mechanism (103) for driving the folding and unfolding mechanism (102) to tilt and change the tilting angle of the rotor assembly (101); the tilting mechanism (103) is installed on the base (0), one end of the folding and unfolding mechanism (102) passes through a rotating inner hole on the side of the base (0) and is connected to the tilting mechanism (103), and is rotationally matched with the base (0), and the other end of the folding and unfolding mechanism (102) is connected to the rotor assembly (101).

3. The flying and crawling cross-domain multi-mode robot according to claim 2, characterized in that: The rotor assembly (101) comprises a rotor (1011), a rotor motor (1012), and a rotor protection ring (1013); the rotor (1011) and the rotor motor (1012) are installed in the rotor protection ring (1013) and are coaxially installed; the output end of the rotor motor (1012) is connected to the rotor (1011) to drive the rotor (1011) to rotate; the folding and unfolding mechanism (102) comprises a first connecting rod (1021), a second connecting rod (1022), a spring (1023), and an angle sensor (1024); one end of the first connecting rod (1021) is connected to the tilt mechanism (103), and the other end is connected to the second connecting rod (1022), respectively. One end of the rod (1022) is hinged to the rotor protection ring (1013), and the other end of the second connecting rod (1022) is connected to the rotor protection ring (1013). The angle sensor (1024) is installed at the hinge between the first connecting rod (1021) and the second connecting rod (1022), and is coaxially installed with the first connecting rod (1021) and the second connecting rod (1022); one end of the spring (1023) is connected to the first connecting rod (1021), and the other end is connected to the second connecting rod (1022); the spring (1023) can keep the first connecting rod (1021) and the second connecting rod (1022) in a stable folded state or unfolded state without external force.

4. The flying and crawling cross-domain multi-mode robot according to claim 1, characterized in that: The vector magnetic module (2) comprises a magnetic mechanism (201) and a magnetic module rotating mechanism (202); the magnetic mechanism (201) is installed at one end of the magnetic module rotating mechanism (202), and the magnetic module rotating mechanism (202) can drive the magnetic mechanism (201) to rotate in a circumferential direction; the magnetic module rotating mechanism (202) is installed on the base (0).

5. The flying and crawling cross-domain multi-mode robot according to claim 4, characterized in that: The magnetic mechanism (201) comprises a first magnet (2011) and a first magnet (2011) bracket, wherein the first magnet (2011) is mounted on the first magnet (2011) bracket; the magnetic attraction module rotation mechanism (202) comprises a baffle (2021), a bearing limit mechanism (2022), a driving gear mechanism (2023), and an internal gear mechanism (2024); the baffle (2021) is connected to the base (0) via the bearing limit mechanism (2022), the driving gear mechanism (2023) is mounted on the base (0), and the internal gear mechanism (2024) is located on the base (0). The base (0) and the baffle (2021) are internally engaged with the bearing limiting mechanism (2022) and the driving gear mechanism (2023); the base (0) and the baffle (2021) limit the axial movement of the internal gear mechanism (2024), and the bearing limiting mechanism (2022) limits the radial movement of the internal gear mechanism (2024); the internal gear mechanism (2024) is connected to the first magnet (2011) bracket, and the driving gear mechanism (2023) rotates to drive the internal gear mechanism (2024) to rotate, thereby driving the magnetic mechanism (201) to rotate.

6. The flying and crawling cross-domain multi-mode robot according to claim 1, characterized in that: The wheel-track driving module (3) comprises a wheel assembly (301), a transmission mechanism (302), and a wheel driving motor (303); the wheel assembly (301) is connected to the wheel driving motor (303) via the transmission mechanism (302), and the wheel driving motor (303) is mounted on the base (0).

7. The flying and crawling cross-domain multi-mode robot according to claim 6, characterized in that: The magnetic mechanism (201) is an arc-shaped structure, and the rotation center of the magnetic mechanism (201) is the same as that of the wheel assembly (301). The radius of the outer arc of the magnetic mechanism (201) is smaller than the radius of the wheel assembly (301), and a gap is provided between the magnetic mechanism (201) and the adsorption plane.

8. The flying and crawling cross-domain multi-mode robot according to claim 1, characterized in that: The tail wheel module (4) comprises a tail wheel assembly (401), a tail wheel swing motor (402), a tail wheel bracket (403), a tail wheel magnetic module rotation mechanism (404), and a tail wheel magnetic mechanism (405); the tail wheel assembly (401) is connected to the tail wheel swing motor (402) via the tail wheel bracket (403), and the tail wheel swing motor (402) is mounted on the base (0); the tail wheel magnetic mechanism (405) is mounted on one end of the tail wheel magnetic module rotation mechanism (404), and the other end of the magnetic module rotation mechanism (202) is mounted on the tail wheel bracket (403).

9. The flying and crawling cross-domain multi-mode robot according to claim 8, characterized in that: The tail wheel magnetic mechanism (405) comprises a tail wheel magnet (4051) and a tail wheel magnet (4051) bracket; the tail wheel magnet (4051) is mounted on the tail wheel magnet (4051) bracket; the tail wheel magnetic mechanism (405) is an arc-shaped mechanism; the rotation center of the tail wheel magnetic mechanism (405) is the same as the rotation center of the tail wheel assembly (401); and the radius of the outer arc of the magnetic mechanism (201) is greater than that of the tail wheel assembly (401). The radius is small, and a gap is provided between the tail wheel magnetic mechanism (405) and the adsorption plane; the tail wheel magnet (4051) bracket is connected to the tail wheel magnetic attraction module rotation mechanism (404), and the tail wheel assembly (401) and the tail wheel magnetic mechanism (405) are coaxially installed; the tail wheel swing motor (402) rotates to drive the entire tail wheel module (4) to swing; the tail wheel magnetic attraction module rotation mechanism (404) rotates to drive the tail wheel magnetic mechanism (405) to rotate.

10. The flying and crawling cross-domain multi-mode robot according to claim 1, characterized in that: The landing gear module (8) comprises a storage motor (801), a first tripod (802), and a second tripod (803); the storage motor (801) is mounted on the base (0), and the output end of the storage motor (801) is respectively hinged to one end of the first tripod (802) and the second tripod (803); the storage motor (801) drives the first tripod (802) and the second tripod (803) to rotate, thereby changing the angle between the first tripod (802) and the second tripod (803), thereby realizing the storage and deployment of the first tripod (802) and the second tripod (803).

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