A multi-rotor wall-climbing robot

Abstract

The present application relates to the field of robot technology, and in particular to a multi-rotor wall-climbing robot, including a robot body, a flight component and a wall-climbing component arranged on the body, the robot body is also provided with a rotating structure, the wall-climbing component is arranged at one end of the rotating structure, a pressure propeller is arranged at the other end of the rotating structure away from the wall-climbing component, and the wall-climbing component and the flight component are connected through the rotating structure. The embodiments of the present application aim at the deficiencies of the prior art, effectively solve the problems that the hovering positioning of drones is difficult, they are easily disturbed by environmental factors, and the wall-climbing robots are greatly affected by the wall materials used and the roughness, so that the robot can realize the functions of drone inspection, wall inspection, non-destructive flaw detection, etc.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a multi-rotor wall-climbing robot. Background Art

[0002] Due to the low efficiency, low safety factor and high cost of manual high-altitude operations, drones and wall-climbing robots are increasingly used in inspection, flaw detection, reconnaissance and other aspects. At the same time, the performance requirements for drones and wall-climbing robots are also constantly increasing. However, in the existing technology, drones are difficult to hover and position, and are easily disturbed by environmental factors. Wall-climbing robots are greatly affected by the wall materials used and their roughness. Existing drones and wall-climbing robots are increasingly unable to meet work needs. Summary of the invention

[0003] In response to the deficiencies in the prior art, the present application provides a multi-rotor wall-climbing robot, which combines a multi-rotor UAV with a wall-climbing robot, thereby improving the performance of the robot and expanding its scope of use, so as to at least solve the problems in the related technology that UAVs are difficult to hover and position, are easily disturbed by environmental factors, and that wall-climbing robots are greatly affected by the wall materials used and their roughness, so that the robot can realize functions such as UAV inspection, wall inspection, and non-destructive testing.

[0004] In order to achieve the above-mentioned objectives, the present application provides a multi-rotor wall-climbing robot, including a robot body, on which a flying component and a wall-climbing component are arranged, the robot body is also provided with a rotating structure, the wall-climbing component is arranged at one end of the rotating structure, and a pressure propeller is arranged at the other end of the rotating structure away from the wall-climbing component, and the wall-climbing component and the flying component are connected through the rotating structure.

[0005] In some embodiments, the rotating structure includes a rotating connecting rod, a pressure propeller is provided at one end of the rotating connecting rod, and a rotatable wall climbing assembly is provided at the other end. The flying assembly is a split design, including a first flying assembly and a second flying assembly. The first flying assembly and the second flying assembly are respectively arranged on both sides of the rotating connecting rod, and are hinged to the rotating connecting rod through a pitch axis. The first flying assembly and the second flying assembly are combined to form a rotating channel that can accommodate the rotating connecting rod to rotate with the pitch axis as the axis.

[0006] In some of the embodiments, the two ends of the pitch axis passing through the rotating connecting rod are respectively fixedly connected to the pitch axis connecting plates, and the pitch axis is respectively fixedly connected to the first flight component and the second flight component through the pitch axis connecting plates, and pitch bearings are respectively arranged at the contact points between the rotating connecting rod and the pitch axis, and the pitch bearings are sleeved on the pitch axis, and a worm gear is fixedly sleeved on the pitch axis inside the rotating connecting rod, and the pitch axis and the worm gear are relatively fixed.

[0007] In some embodiments, a motor is fixedly installed in the rotating connecting rod through a motor mounting bracket, a coupling is provided on the motor, a worm is connected to the motor through the coupling, worm bearings are sleeved at both ends of the worm, a worm bearing seat fixedly installed inside the connecting rod is outerly connected to the worm bearing, and the worm is connected to the worm wheel transmission.

[0008] In some embodiments, the rotating connecting rod is connected to the wall climbing assembly via a first rotating motor, and the wall climbing assembly includes a rotating connecting plate, and the rotating connecting plate is provided with multiple groups of driving wheel groups, and each group of driving wheel groups is independently provided with a driving motor.

[0009] In some of the embodiments, an additional tool part is provided on the robot body, and the additional tool part is connected to a second rotary motor and a third rotary motor to enable the additional tool to rotate in horizontal and vertical directions.

[0010] In some embodiments, the rotating structure includes a first rotating device, a second rotating device and a rotating structure housing, the first rotating device includes a first worm, a first worm wheel, a first worm wheel shaft and a first worm motor, the first worm motor is transmission connected to the first worm, the first worm is transmission connected to the first worm wheel, the first worm wheel shaft is arranged along the axis of the first worm wheel and is fixedly connected to the first worm wheel, and the first worm is transmission connected to the wall climbing component through the first worm wheel shaft on the first worm wheel; the second rotating device includes a second worm, a second worm wheel, a second worm wheel shaft and a second worm motor, the second worm motor is transmission connected to the second worm, the second worm is transmission connected to the second worm wheel, the second worm wheel shaft is arranged along the axis of the second worm wheel and is fixedly connected to the second worm wheel, and the second worm is transmission connected to the rotating connecting rod through the second worm wheel shaft on the second worm wheel.

[0011] In some embodiments, the first worm motor is fixedly connected to the rotating structure housing via a first motor bracket, and the first worm motor is connected to the first worm transmission via a first worm motor flange; the second worm motor is fixedly connected to the rotating structure housing via a second motor bracket, and the second worm motor is connected to the second worm transmission via a second worm motor flange.

[0012] In some embodiments, the wall climbing assembly includes a rotating connecting plate, a shock absorber, a universal wheel, a drive motor, a drive motor bracket, a frame and a drive wheel. The rotating connecting plate is connected to the frame via the shock absorber, the universal wheel and the drive motor are fixed on the frame, the drive motor is fixedly connected to the frame via the drive motor bracket, the drive wheel is drivingly connected to the drive motor, and the first worm gear shaft is fixedly connected to the rotating connecting plate.

[0013] In some of the embodiments, one end of the rotating connecting rod is fixedly connected to the second worm gear shaft, and the other end is connected to the flight assembly; a landing gear is fixedly provided at the bottom of the rotating structure, and the shock absorber includes a damper and a spring sleeved on the outside of the damper.

[0014] According to the above content, the beneficial effects of the technical solution of the present application compared with the prior art are: the drone and the wall-climbing robot are organically combined, so that the drone can reliably hover over the wall in the air and patrol along the wall, the stability and accuracy are greatly improved, and at the same time the constraints of the wall conditions are greatly reduced. If the size permits, the robot can climb walls of any angle or curvature, and can even patrol along the ceiling. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present application;

[0017] Figure 2 This is a schematic diagram of the structure of the wall climbing assembly of the first embodiment of the present application;

[0018] Figure 3 It is a partially enlarged schematic diagram of the first embodiment of the present application;

[0019] Figure 4 This is a schematic diagram of the worm gear matching of the first embodiment of the present application;

[0020] Figure 5 This is an exploded view of the worm gear of the first embodiment of the present application;

[0021] Figure 6 It is a schematic diagram of the overall structure of the second embodiment of the present application;

[0022] Figure 7 This is an exploded view of the rotating structure assembly of the second embodiment of the present application;

[0023] Figure 8 It is a schematic diagram of the structure of the wall climbing component of an embodiment of the present application.

[0024] Description of reference numerals:

[0025] 1 pressure propeller; 2 landing gear; 3 rotating structure; 3-1 rotating structure end cover; 3-2 first worm; 3-3 first worm gear shaft; 3-4 first worm motor flange; 3-5 first worm motor; 3-6 first motor bracket; 3-7 rotating structure housing; 3-8 second worm gear shaft; 3-9 second worm; 3-10 second worm motor flange; 3-11 second worm motor; 3-12 second motor bracket; 3-13 bearing; 3-14 first worm gear; 3-15 second worm gear; 4 rotating connecting rod; 5 climbing assembly; 5-1 rotating connecting plate; 5- 2 shock absorber; 5-3 universal wheel; 5-4 drive motor bracket; 5-5 drive motor; 5-6 frame; 5-7 drive wheel (group); 6 flight assembly; 6-1 first flight assembly; 6-2 second flight assembly; 7-1 pitch axis; 7-2 pitch axis connecting plate; 7-3 pitch bearing; 8-1 worm gear; 8-2 motor mounting bracket; 8-3 motor; 8-4 coupling; 8-5 worm; 8-6 worm bearing; 8-7 worm bearing seat; 9 first rotating motor; 10-1 additional tool part; 10-2 second rotating motor; 10-3 third rotating motor. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0027] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0028] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0029] The present application provides a multi-rotor wall-climbing robot, comprising a robot body, on which a flying component and a wall-climbing component are arranged. The robot body is also provided with a rotating structure, the wall-climbing component is arranged at one end of the rotating structure, and a pressure propeller is arranged at the other end of the rotating structure away from the wall-climbing component. The wall-climbing component and the flying component are connected via the rotating structure.

[0030] Implementation example Figures 1 to 5 As shown, a multi-rotor wall-climbing robot includes a robot body, on which a flying component 6, a wall-climbing component 5 and a rotating structure are arranged. The wall-climbing component 5 and the flying component 6 are connected through the rotating structure. The wall-climbing component 5 is arranged at one end of the rotating structure, and a pressure propeller 1 is arranged at the other end of the rotating structure away from the wall-climbing component 5.

[0031] Specifically, the rotating structure includes a rotating connecting rod 4, a wall climbing component 5 and a flying component 6 are connected by the rotating connecting rod 4, the flying component 6 is arranged at a non-end position of the rotating connecting rod 4, the wall climbing component 5 is arranged at one end of the rotating connecting rod 4, and a pressure propeller 1 is arranged at the other end of the rotating connecting rod 4 away from the wall climbing component 5; the flying component 6 is a split design, including a first flying component 6-1 and a second flying component 6-2, the first flying component 6-1 and the second flying component 6-2 are respectively arranged on both sides of the rotating connecting rod 4, and ... The pitch axis 7-1 passing through the rotating connecting rod 4 is hinged with the rotating connecting rod 4, and the first flying assembly 6-1 and the second flying assembly 6-2 are combined to form a rotating channel that can accommodate the rotating connecting rod 4 to rotate around the pitch axis 7-1 as the axis. The two ends of the pitch axis 7-1 passing through the rotating connecting rod 4 are respectively fixedly connected to the pitch axis connecting disk 7-2. The pitch axis 7-1 is respectively fixedly connected to the first flying assembly 6-1 and the second flying assembly 6-2 through the pitch axis connecting disk 7-2. A pitch bearing 7-3 is sleeved on the pitch shaft 7-1. A worm gear 8-1 is fixedly sleeved on the pitch shaft 7-1 inside the rotating connecting rod 4. The pitch shaft 7-1 and the worm gear 8-1 are relatively fixed. A motor 8-3 is fixedly installed in the rotating connecting rod 4 through a motor mounting bracket 8-2. A coupling 8-4 is arranged on the motor 8-3. A worm 8-5 is connected to the motor 8-3 through the coupling 8-4. A worm bearing 8-6 is sleeved on both ends of the worm 8-5. A fixed outer sleeve of the worm bearing 8-6 is connected A worm bearing seat 8-7 is arranged inside the rotating connecting rod 4, and the worm 8-5 is drivingly connected to the worm wheel 8-1; the rotating connecting rod 4 is connected to the wall climbing component 5 through the first rotating motor 9, so that the wall climbing component 5 can rotate relative to the rotating connecting rod 4, and the wall climbing component 5 includes a wall climbing vehicle, and the wall climbing vehicle includes a rotating connecting plate 5-1, and the rotating connecting plate 5-1 is provided with multiple groups of driving wheel groups 5-7, and each group of driving wheel groups 5-7 is independently provided with a driving motor 5-5 fixed on the rotating connecting plate 5-1, and the wall climbing vehicle uses a differential method to turn.

[0032] Preferably, an additional tool part 10-1 is provided on the robot body, and the base and side of the additional tool part 10-1 are respectively connected to the second rotary motor 10-2 and the third rotary motor 10-3, so that the additional tool can rotate in the horizontal direction and the vertical direction.

[0033] Preferably, the wall climbing vehicle is configured as a four-wheel drive, and when working on a metal wall, the wheels can be changed to magnetic wheels to reduce the required pressure.

[0034] Preferably, the robot structure is symmetrically arranged, and the center of gravity is in the middle in the flying state.

[0035] Preferably, the additional tool part 10-1 is arranged at the bottom of the rotating connecting plate 5-1, and a camera can be installed.

[0036] Preferably, the additional tool part 10 - 1 can be installed with different equipment according to different detection items, such as an ultrasonic probe can be used to detect wall cracks.

[0037] Preferably, the flight assembly 6 is symmetrically provided with two fixed rotors on the first flight assembly 6-1 and the second flight assembly 6-2 to provide upward lift, and the rotating connecting rod 4 is connected to two pressure propellers 1 that can rotate with the rotating connecting rod 4 and provide pressure to the wall-climbing vehicle.

[0038] Working method and principle: When flying normally, the six rotors all provide power upward, and the first rotating motor 9 set on the rotating connecting plate 5-1 and the motor 8-3 set in the rotating connecting rod 4 can make the robot always keep the four rotors on both sides upward, and the wall climbing vehicle chassis can serve as a landing gear, making take-off and landing safer and smoother. When it is necessary to inspect the wall to stabilize the body, the motor 8-3 fixed in the rotating connecting rod 4 drives the worm 8-5 to rotate through the coupling 8-4, and the worm 8-5 is connected to the worm wheel 8-1. The worm wheel 8-1 It is fixed on the pitch axis 7-1 and cannot rotate, so that the worm 8-5 rotates around the worm wheel 8-1 along the circumference of the worm wheel 8-1, thereby driving the rotating connecting rod 4 to rotate around the pitch axis 7-1 as the axis, thereby adjusting the angle of the wall-climbing vehicle and the pressure propeller 1, and the worm wheel 8-1 and the worm 8-5 are self-locking, which improves the overall stability and saves the motor 8-3 from being subjected to force for a long time, thereby increasing the life of the motor. When inspecting the wall, the two pressure propellers 1 reverse, so that the robot can safely lean against the wall in the flying state, and after sticking to the wall, it can inspect or detect flaws according to the route.

[0039] The present application also provides another embodiment, such as Figure 6 , Figure 7 , Figure 8 As shown, a multi-rotor wall-climbing robot includes a robot body, on which a flying component 6, a wall-climbing component 5 and a rotating structure 3 are arranged. The wall-climbing component 5 is arranged at one end of the rotating structure 3, and a pressure propeller 1 is arranged at the other end of the rotating structure 3 away from the wall-climbing component 5. The wall-climbing component 5 and the flying component 6 are connected through the rotating structure 3. The rotating structure 3 includes a rotating connecting rod 4, a rotating structure shell 3-7, a first rotating device and a second rotating device. The first rotating device and the second rotating device are fixedly connected to the rotating structure shell 3-7. A landing gear 2 is fixedly arranged at the bottom of the rotating structure shell 3-7 for the robot to land and take off. The flying component 6 is connected to the second rotating device through the rotating connecting rod 4, and the wall-climbing component 5 is connected to the first rotating device.

[0040] Wherein, the first rotating device includes a first worm 3-2, a first worm wheel 3-14, a first worm wheel shaft 3-3 and a first worm motor 3-5, the first worm motor 3-5 is fixedly connected to the rotating structure housing 3-7 through the first motor bracket 3-6, the first worm motor 3-5 is transmission-connected to the first worm 3-2 through the first worm motor flange 3-4, the first worm 3-2 is transmission-connected to the first worm wheel 3-14, the first worm wheel shaft 3-3 is arranged along the axis of the first worm wheel 3-14 and is fixedly connected to the first worm wheel 3-14, the first worm 3-2 is transmission-connected to the wall climbing component 5 through the first worm wheel shaft 3-3 on the first worm wheel 3-14; the second rotating device includes a second worm 3-9, a second worm wheel 3-15, a second worm wheel shaft 3-8 and a second worm motor 3-11, the second worm motor 3-11 is fixedly connected to the rotating structure housing 3-7 through the second motor bracket 3-12, the second worm motor 3-11 is transmission-connected to the first worm motor flange 3 -10 is connected to the second worm 3-9 by transmission, the second worm 3-9 is connected to the second worm wheel 3-15 by transmission, the second worm wheel shaft 3-8 is arranged along the axis of the second worm wheel 3-15 and is fixedly connected to the second worm wheel 3-15, the second worm 3-9 is connected to the rotating connecting rod 4 by transmission through the second worm wheel shaft 3-8 on the second worm wheel 3-15, and the other end of the rotating connecting rod 4 is connected to the flying assembly 6; the wall climbing assembly 5 includes a rotating connecting plate 5-1, a shock absorber 5-2, a universal wheel 5-3, drive motor bracket 5-4, drive motor 5-5, frame 5-6 and drive wheel 5-7, the rotating connecting plate 5-1 is connected to the frame 5-6 through the shock absorber 5-2, the universal wheel 5-3 and the drive motor 5-5 are fixedly arranged on the frame 5-6, the drive motor 5-5 is fixedly connected to the frame 5-6 through the drive motor bracket 5-4, the drive wheel 5-7 is transmission connected to the drive motor 5-5, and the first worm gear shaft 3-3 is fixedly connected to the rotating connecting plate 5-1.

[0041] Preferably, the first rotating device and the second rotating device are fixedly arranged inside the rotating structure housing 3-7.

[0042] Preferably, the rotating structure housing 3-7 is provided with a rotating structure end cover 3-1, and the second worm gear shaft 3-8 is sleeved with a bearing 3-13 at the position where it passes through the rotating structure end cover 3-1 to reduce friction.

[0043] Preferably, the second worm gear shaft 3 - 8 is fixedly connected to the rotating connecting rod 4 .

[0044] Preferably, the number of pressure propellers 1 can be two.

[0045] Preferably, the shock absorber 5-2 is composed of a damper and a spring mounted outside the damper, which can improve the movement performance of the robot and reduce impact.

[0046] Preferably, two driving wheels 5-7 and two driven universal wheels 5-3 are provided on the frame 5-6. The two driving wheels 5-7 provide power, and the two universal wheels 5-3 follow and support, and the wall climbing component 5 is steered by differential speed.

[0047] Preferably, the frame 5-6 is rotatably connected to the shock absorber 5-2, and the shock absorber 5-2 is rotatably connected to the stabilizer connecting plate 5-1.

[0048] Working method and principle: When the robot is working, the flying component 6 drives the entire body to move in the air through its propeller. When the body needs to be stabilized, the wall climbing component 5 can be turned toward and close to the wall on one side, and then the pressure propeller 1 can be turned on. The pressure propeller 1 can provide the wall climbing component 5 with the positive pressure required for the wall climbing operation to prevent slipping and improve stability; when encountering a curved or inclined wall, the second rotating device in the rotating structure 3 works, so that the propeller of the flying component 6 remains in a horizontal upward state. At the same time, the worm wheel and the worm are self-locking, so that the worm motor does not need to be constantly stressed, which can extend the service life of the motor and improve reliability; when the wall climbing component 5 turns, the first rotating device works, so that the propeller of the flying component 6 remains in a horizontal upward state; when the wall climbing component 5 works, the drive wheel 5-7 provides power, the universal wheel 5-3 follows and supports, and the wall climbing component 5 drives the drive wheel 5-7 to perform differential steering through the drive motor 5-5.

[0049] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A multi-rotor wall-climbing robot, comprising a robot body, wherein the robot body is provided with a flight component and a wall-climbing component, wherein: The robot body is also provided with a rotating structure, the wall climbing component is provided at one end of the rotating structure, a pressure propeller is provided at the other end of the rotating structure away from the wall climbing component, the wall climbing component and the flying component are connected via the rotating structure, the robot body is symmetrically arranged, and the center of gravity is in the middle in the flying state; The rotating structure comprises a rotating connecting rod, one end of which is provided with the pressure propeller, and the other end of which is provided with the rotatable climbing component, the flying component is arranged at a position other than the end of the rotating connecting rod, the flying component is of split design, and comprises a first flying component and a second flying component, the first flying component and the second flying component are respectively arranged at both sides of the rotating connecting rod, and are hinged to the rotating connecting rod through a pitch axis, and the first flying component and the second flying component are combined to form a rotating channel that can accommodate the rotating connecting rod to rotate around the pitch axis as the axis, the two ends of the pitch axis passing through the rotating connecting rod are respectively fixedly connected with pitch axis connecting plates, the pitch axis is respectively fixedly connected with the first flying component and the second flying component through the pitch axis connecting plates, and pitch bearings are respectively arranged at the contact points between the rotating connecting rod and the pitch axis, the pitch bearings are sleeved on the pitch axis, a worm gear is fixedly sleeved on the pitch axis inside the rotating connecting rod, and the pitch axis and the worm gear are relatively fixed; A motor is fixedly installed in the rotating connecting rod through a motor mounting bracket, a coupling is arranged on the motor, a worm is transmission-connected to the motor through the coupling, worm bearings are sleeved at both ends of the worm, a worm bearing seat fixedly arranged inside the rotating connecting rod is outer-sleeved on the worm bearing sleeve, and the worm is transmission-connected to the worm wheel.

2. The multi-rotor wall-climbing robot according to claim 1, characterized in that: The rotating connecting rod is connected to the wall climbing assembly via a first rotating motor. The wall climbing assembly includes a rotating connecting plate. The rotating connecting plate is provided with a plurality of driving wheel groups. Each driving wheel group is independently provided with a driving motor.

3. The multi-rotor wall-climbing robot according to claim 2, characterized in that: The robot body is provided with an additional tool part, and the additional tool part is connected with a second rotating motor and a third rotating motor to make the additional tool rotate in a horizontal direction and a vertical direction.

Images