A multi-habitat robot capable of climbing walls

Abstract

The present invention discloses a multi-robot capable of climbing a wall in the field of robot technology, aiming to solve the problems of single robot working mode in the prior art. The multi-robot comprises a support frame and a tilt-rotor motion mechanism; the swing arm fixing brackets on both sides of the support frame are movably connected with the tilt-rotor motion mechanism; the tilt-rotor motion mechanism comprises an arm, front / rear driving wheels and a dual-axis digital servo; the dual-axis digital servo is fixed on the swing arm fixing bracket; the servo disc of the dual-axis digital servo drives the arm to rotate; the front / rear driving wheels are arranged at the front and rear ends of the arm; the front driving wheel is provided with a first propeller and a first motor driving the first propeller to rotate; the present invention is suitable for high-risk operations, and the multi-robot can provide multiple modes of operation.

Description

Technical Field

[0001] The invention relates to a multi-habitat robot capable of climbing walls, belonging to the technical field of robots. Background Art

[0002] In industrial production, large equipment such as large boilers, pressure vessels, pipelines, elevators, lifting machinery, etc. are routinely inspected, maintained, and repaired. In daily life, the inspection of large amusement facilities, the safety of workers engaged in skyscraper construction, cleaning, etc. are always bothering us. High-altitude work is very dangerous, and workers are reluctant to do such work. The current human resources market often sees scenes where high salaries are not accepted. Due to limitations such as structural technology, robots in existing technologies have a single function and can only complete operations under certain working conditions. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a wall-climbing amphibious robot that can easily switch between four operating modes: on water, on the ground, in the air and on the wall. It can assist workers in different working environments, ensure the safety of workers and improve work efficiency.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0005] The present invention provides an amphibious robot capable of climbing a wall, comprising a supporting frame and a tilt-rotor motion mechanism; the tilt-rotor motion mechanism is movably connected to the swing arm fixing brackets on both sides of the supporting frame; the tilt-rotor motion mechanism comprises an arm, a front driving wheel, a rear driving wheel and a dual-axis digital servo; the dual-axis digital servo is fixed to the swing arm fixing bracket; the servo disc of the dual-axis digital servo drives the arm to rotate; the front driving wheel and the rear driving wheel are respectively arranged at the front and rear ends of the arm; the front driving wheel is provided with a first propeller and a first motor driving the first propeller to rotate; the rear driving wheel is provided with a second propeller, a gear set and a second motor driving the second propeller to rotate; the gear set is driven by the second motor; the second motor drives the gear set to drive the rear driving wheel to rotate;

[0006] When the servo disk of the dual-axis digital servo drives the arm to rotate to be perpendicular to the ground, at the same time, the second motor drives the gear set to drive the rear drive wheel to rotate, so that the multi-habitat robot moves forward or backward;

[0007] When the servo disk of the dual-axis digital servo drives the arm to rotate parallel to the ground, at the same time, the first motor drives the first propeller to rotate, and the second motor drives the second propeller to rotate, so that the multi-habitat robot rises or falls;

[0008] When the servo disk of the dual-axis digital servo drives the arm to rotate to an angle of 20-45° with the wall surface, at the same time, the first motor drives the first propeller to rotate and the second motor drives the second propeller to rotate, generating a positive pressure thrust, so that the multi-habitat robot is adsorbed on the wall, and the second motor drives the gear set to drive the rear drive wheel to rotate, so that the multi-habitat robot moves forward or backward on the wall.

[0009] Furthermore, the front drive wheel and the rear drive wheel are respectively provided with a first duct.

[0010] Further, the arm frame includes arm frame segments; the two arm frame segments are butt-jointed via butt folding plates. The arm frame includes arm frame segments; the two arm frame segments are butt-jointed via butt folding plates.

[0011] Furthermore, the arm section includes an upper arm plate and a lower arm plate connected up and down; the lower arm plates are respectively connected to the outer sides of the wheel hubs of the front drive wheel and the rear drive wheel; the upper arm plate includes a disconnected first segment and a second segment; the first segment is connected to the lower arm plate; the second segment is respectively arranged in the front drive wheel and the rear drive wheel.

[0012] Furthermore, the gear set includes a planetary gear reducer, a first belt gear, a second belt gear, a third belt gear, a fourth belt gear and a fixed plate; the second motor is fixed on the second segment, and the planetary gear reducer is fixed by passing through the second segment and the fixed plate; a support column is provided between the second segment and the fixed plate; the first belt gear and the second belt gear are arranged at both ends of the planetary gear reducer; the third belt gear is fixed between the second motor and the second propeller; one end of the shoulder bolt is fixed to the fixed plate, and the other end passes through the fourth belt gear and the hub of the rear drive wheel and is fixed to the lower arm plate; the first belt gear is meshed with the third belt gear; the second belt gear is meshed with the fourth belt gear.

[0013] Furthermore, it also includes a forward thrust module; the forward thrust module is arranged at both ends of the supporting frame; the forward thrust module includes a third propeller, a third motor, a bearing seat, a first single-axis digital servo, a fixed folding plate and a second duct; the bearing seat and the first single-axis digital servo are fixed on the supporting frame, and are used to flexibly connect the second duct; one end of the fixed folding plate is fixed to the second duct through the first single-axis digital servo, and the other end is fixedly connected to the third motor; the third motor is connected to the third propeller, and is used to drive the third propeller to rotate in the second duct.

[0014] Furthermore, it also includes an automatic lifting mechanism arranged at the bottom of the supporting frame; the automatic lifting mechanism includes a landing gear, a ball head buckle and a second single-axis digital servo; the second single-axis digital servo is arranged in the supporting frame; one end of the ball head buckle is connected to the landing gear, and the other end is connected to the servo disk on the second single-axis digital servo.

[0015] Furthermore, the landing gear is provided with a hook, and the buoyancy rod is fixed to the hook through a rubber ring.

[0016] Furthermore, it also includes a GPS module and a receiver connected to the single-chip microcomputer; a camera module is provided on the top of the frame and is also connected to the single-chip microcomputer; the receiver is arranged inside the supporting frame, and is used to receive instructions issued by the remote control, the receiver receives the signal, and processes it through the single-chip microcomputer and then generates a pulse width modulation signal corresponding to control driving the first motor, the second motor, the third motor, the dual-axis digital servo, the first single-axis digital servo and the second single-axis digital servo.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention provides an amphibious robot capable of climbing a wall, which can realize walking on the ground, walking on a wall and flying in the air and switching between three operation modes through a tilt-rotor motion mechanism, wherein a first propeller is arranged in a front driving wheel, and a second propeller is arranged in a rear driving wheel; a double-axis digital steering gear is fixed on a supporting frame, and the steering gear disk of the double-axis digital steering gear rotates to drive the arm frame to rotate, and when walking on the ground, the double-axis digital steering gear controls the arm frame to rotate to be perpendicular to the ground, and the second propeller drives the gear set through the second motor to drive the rear driving wheel forward or backward, and at the same time drives the front driving wheel forward or backward; when flying in the air When walking on a wall, the dual-axis digital servo controls the arm to rotate to be parallel to the ground, the first motor drives the first propeller to rotate, and the second motor drives the second propeller to rotate, driving the multi-habitat robot to rise or fall; when walking on a wall, the dual-axis digital servo controls the arm to rotate to form an angle with the ground. At this time, the first motor drives the first propeller to rotate and the second motor drives the second propeller to rotate, and the positive pressure thrust generated will adsorb the multi-habitat robot to the wall. In addition, the second motor drives the rear drive wheel to rotate through the gear set, and drives the front drive wheel to rotate, which can ensure that the multi-habitat robot can move forward or backward on the wall after being adsorbed on the wall.

[0019] The present invention provides a positive thrust module, and the third motor drives the third propeller to rotate, thereby providing an auxiliary propulsion effect for the multi-habitat robot to walk on the wall, thereby improving the speed at which the multi-habitat robot walks on the wall.

[0020] The present invention is also provided with an automatic lifting device, which drives the landing gear to rotate for lifting and lowering through the second single-axis digital servo, and can float on the water surface with the help of the buoyancy rod tied to the landing gear through a rubber ring. At this time, the servo disk of the double-axis digital servo drives the arm to rotate to an angle of 20° with the horizontal plane, and the steering is achieved by the lift difference generated by the first propeller and the second propeller on the front and rear wheels respectively. The third propeller rotates to drive the multi-functional robot to travel on the water surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of the wall-climbing multi-habitat robot provided by the present invention;

[0022] Figure 2 is a schematic diagram of the structure of the tilt-rotor motion mechanism;

[0023] Figure 3 for Figure 2 A in the enlarged view;

[0024] Figure 4 is a schematic diagram of the structure of the gear set;

[0025] Figure 5 It is a structural schematic diagram of the forward thrust module;

[0026] Figure 6 It is a structural schematic diagram of the automatic lifting mechanism;

[0027] Figure 7 for Figure 6 Detailed structure diagram;

[0028] Figure 8 A schematic diagram of the ground mode of the wall-climbing multi-habitat robot provided by the present invention;

[0029] Fig. 9 A schematic diagram of the flight mode of the wall-climbing multi-robot provided by the present invention;

[0030] Fig.10 A schematic diagram of the surface mode of the wall-climbing multi-robot provided by the present invention;

[0031] Fig.11 A schematic diagram of a wall-climbing multi-robot wall-climbing mode provided by the present invention;

[0032] Fig.12 A control schematic diagram of the wall-climbing multi-habitat robot provided by the present invention;

[0033] In the figure: 1. Support frame; 2. Tilt-rotor motion mechanism; 3. Gear set; 4. First duct; 5. Positive thrust module; 6. Automatic lifting mechanism; 7. Receiver; 8. Single chip microcomputer; 9. GPS module; 10. Swing arm fixing bracket; 11. Boom; 12. Front drive wheel; 13. Rear drive wheel; 14. Dual-axis digital servo; 15. Planetary gear reducer; 16. First belt stage gear; 17. Second belt stage gear; 18. Third belt stage gear; 19. Fourth belt stage gear; 20. Fixing plate; 21. Support column; 22. Shoulder bolt; 23. Third propeller; 24. Third motor; 25. Bearing seat; 26. First single-axis digital servo; 27. Fixed folding plate; 28. Second duct; 29. ​​Landing gear; 30. Ball head buckle; 31. Second single-axis digital servo; 32. Hook; 33. Buoyancy rod; 34. First propeller; 35. First motor; 36. Second propeller; 37. Second motor; 38. Boom section; 39. Upper arm plate; 40. Lower arm plate; 41. Docking folding plate; 42. Connector; 43. Straight servo disc. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances. Example

[0037] See also Figures 1 to 4 As shown, this embodiment provides a wall-climbing amphibious robot, including a support frame 1 and a tilt-rotor motion mechanism 2. The tilt-rotor motion mechanism 2 includes an arm 11, a front drive wheel 12, a rear drive wheel 13, a first propeller 34, and a second and a dual-axis digital servo 14. The support frame 1 is a shell composed of left and right side panels, front and rear baffles, and upper and lower top panels. A swing arm fixing bracket 10 is installed on the upper top panels on both sides of the support frame 1. The swing arm fixing bracket 10 includes a connecting plate and two cylindrical brackets, and the two ends of the connecting plate are respectively fixedly connected with two cylindrical ducts. A first assembly hole is provided on the outer side of the cylindrical bracket, and bolts are respectively fixed to the two sides of the support frame 1 through the first assembly hole. The dual-axis digital servo 14 is fixedly connected to the U-shaped fixing frame, and the bolts are fixed to the dual-axis digital servo 14 on the swing arm fixing bracket 10 through the second assembly hole opened on the connecting plate and the U-shaped fixing frame. The steering gear disc on the dual-axis digital steering gear 14 is connected to the arm 11 to drive the arm 11 to rotate. A camera module is also installed on the top of the support frame 1, which can ensure that the multi-habitat robot can explore the wall environment and detect defects in the building exterior wall, etc. The collaborative staff can better complete the task through the camera information.

[0038] The front end of the arm 11 is provided with a front drive wheel 12, and the rear end of the arm 11 is provided with a rear drive wheel 13. The front drive wheel 12 is provided with a first propeller 34 and a first motor 35, and the first motor 35 drives the first propeller 34 to rotate. The rear drive wheel 13 is provided with a second propeller 36, a second motor 37 and a gear set 3. The second motor 37 drives the second propeller 36 to rotate, and the second motor 37 also drives the gear set 3 to drive the rear drive wheel 13 to rotate. Under the rotation of the rear drive wheel 13, the front drive wheel 12 also rotates with the rear drive wheel 13. A first duct 4 is provided between the front drive wheel 12 and the first propeller 34, so as to ensure that the first propeller 34 runs in the first duct 4; a second duct 28 is also provided between the rear drive wheel 13 and the second propeller 36, so as to ensure that the second propeller 36 runs in the second duct 28.

[0039] like Figure 8 As shown, when the amphibious robot needs to work on the ground, the dual-axis digital servo 14 is controlled to drive the servo disk of the dual-axis digital servo 14 to rotate, and the servo disk drives the arm 11 to rotate to a vertical state with the ground, and the front drive wheel 12 and the rear drive wheel 13 are upright on the ground. At the same time, the second motor 37 drives the gear set 3 to drive the rear drive wheel 13 to rotate, and drives the front drive wheel 12 to rotate, so that the amphibious robot can walk forward or backward on the ground.

[0040] like Fig. 9As shown, when the amphibious robot needs to work in the air, the dual-axis digital servo 14 is controlled to drive the servo disk of the dual-axis digital servo 14. When the servo disk drives the arm 11 to rotate to a state parallel to the ground, the front drive wheel 12 and the rear drive wheel 13 are parallel to the ground. At the same time, the first motor 35 drives the first propeller 34 to rotate, and the second propeller 36 drives the second propeller 36 to rotate, so that the amphibious robot can rise or lower in the air.

[0041] like Fig.11 As shown, when the multi-robot needs to work on the wall, the dual-axis digital servo 14 is controlled to drive the servo disk, so that the servo disk of the dual-axis digital servo 14 drives the arm 11 to rotate. When the arm 11 rotates to an angle of 20-45° with the wall surface, the first motor 35 drives the first propeller 34 to rotate and the second motor 37 drives the second propeller 36 to rotate, and the vacuum negative pressure generated can adsorb the multi-robot on the wall surface. The second motor 37 drives the gear set 3 to rotate, which is used to drive the rear drive wheel 13 to rotate, and drives the front drive wheel 12 to rotate, so that the multi-robot can move forward or backward on the wall.

[0042] Optionally, the arm 11 provided on both sides of the support frame 1 includes two arm sections 38; the two arm sections 38 on one side are connected to each other by a swivel arm fixing bracket 10, and the two arm sections 38 are connected and fixed by a docking folding plate 41. The arm 11 on the other side of the support frame 1 is also connected to the swivel arm fixing bracket 10 on this side according to the installation method. The docking folding plate 41 is composed of a straight plate and two L-shaped fixed folding plates 27. The two servo discs of the dual-axis digital servo 14 are respectively fixed on the two L-shaped fixed folding plates 27 of the docking folding plate 41. When the servo disc of the dual-axis digital servo 14 rotates, it drives the docking folding plate 41 to drive the two arm sections 38 to rotate. The arm 11 is limited to run in the swivel arm fixing bracket 10, which effectively prevents the swing amplitude of the arm 11 from being too large when the movement vibration is too large, and controls the stability of the multi-habitat robot during operation.

[0043] Optionally, the arm section 38 includes an upper arm plate 39 and a lower arm plate 40 connected up and down. The two lower arm plates 40 on one side are respectively connected to the outer side of the hub of the front drive wheel 12 and the outer side of the hub of the rear drive wheel 13, and play the role of fixing the front drive wheel 12 and the rear drive wheel 13. The upper arm plate 39 of the arm section 38 includes two disconnected sections. They are respectively a first section and a second section. The first section and the lower arm plate 40 are fixed as a whole through a butt folding plate 41 and a connecting column therebetween. The second sections are respectively arranged in the front drive wheel 12 and the rear drive wheel 13, and the first motor 35 and the second motor 37 are respectively fixed on their respective second sections. The gear set 3 in the rear drive wheel 13 also drives the rear drive wheel 13 to rotate through the second section in the rear drive wheel 13 and the second motor 37.

[0044] Optionally, the gear set 3 includes a planetary gear reducer 15, a first gantry gear 16, a second gantry gear 17, a third gantry gear 18, a fourth gantry gear 19 and a fixed plate 20. A second motor 37 is fixed above the second segment, a second propeller 36 is connected to the second motor 37, and a third gantry gear 18 is arranged between the second propeller 36 and the second motor 37. The planetary gear reducer 15 passes through the assembly holes of the second segment and the fixed plate 20 and is fixed on the second segment and the fixed plate 20. A support column 21 is arranged between the second segment and the fixed plate 20 to fix the two. The top of the planetary gear reducer 15 is provided with a first gantry gear 16, and the bottom of the planetary gear reducer 15 is provided with a second gantry gear 17. Specifically, the connecting plate on the planetary gear reducer 15 is connected to the first gantry gear 16, and the connecting plate rotates through the planetary gear reducer 15 to reduce the speed and is output by the output shaft of the planetary gear reducer 15. One end of the shoulder bolt 22 is fixedly connected to the deep groove ball bearing on the fixing plate 20; the other end of the shoulder bolt 22 passes through the fourth stage gear 19 and the wheel hub of the rear drive wheel 13 in turn, and is fixed to the deep groove ball bearing on the lower arm plate 40 outside the wheel hub. The fourth stage gear 19 and the wheel hub of the rear drive wheel 13 are respectively fixedly connected to the shoulder bolt 22 by set screws to ensure rotation with the shaft. A spring retaining ring is provided between the wheel hub of the rear drive wheel 13 and the fourth stage gear 19 to axially fix the fourth stage gear 19. When the second motor 37 rotates, the third stage gear 18 is driven to rotate. The first stage gear 16 meshing with the third stage gear 18 rotates, and the planetary gear reducer 15 adjusts the torque of the first stage gear 16 and drives the second stage gear 17 to rotate. The second stage gear 17 meshes with the fourth stage gear 19, and the second stage gear 17 rotates, driving the fourth stage gear 19 to rotate. The fourth stage gear 19 rotates to transmit the torque to the shoulder bolt 22 , and the shoulder bolt 22 drives the hub of the rear drive wheel 13 to rotate, thereby causing the rear drive wheel 13 to rotate.

[0045] Specifically, a first motor 35 is provided on the second segment in the front drive wheel 12, and a first propeller 34 is connected to the first motor 35. A first segment is provided on the outer side of the hub of the front drive wheel 12. The first motor 35 and the second motor 37 can be brushless motors, and the multi-habitat robot can use differential drive to perform obstacle avoidance turns in a right-angle area. Example

[0046] See also Figure 5As shown, this embodiment provides a forward thrust module 5, which can be respectively provided at the front and rear ends of the support frame 1 of the multi-robot described in the first embodiment. The forward thrust module 5 includes a third propeller 23, a third motor 24, a bearing seat 25, a first single-axis digital servo 26, a fixed folding plate 27 and a second duct 28. The third propeller 23 is arranged in the second duct 28 and connected to the third motor 24. One end of the fixed folding plate 27 is fixedly connected to the third propeller 23 through the third motor 24, and the other end of the fixed folding plate 27 is fixed to the outer wall of the second duct 28. On the one hand, the second duct 28 is fixed to the support frame 1 through the bearing seat 25, and on the other hand, the first single-axis digital servo 26 is fixed to the support frame 1 through the servo connecting plate, and the servo disc of the first single-axis digital servo 26 is connected to one end of the fixed folding plate 27 fixed to the outer wall of the second duct 28. When the first single-axis digital servo 26 rotates, it drives the second duct 28 and the third propeller 23 in the second duct 28 to rotate, and can control the direction of rotation of the propeller. During operation, when the first single-cycle digital servo in the forward thrust module 5 acts, it drives the second duct 28 and the propeller to rotate along the axial direction of the fixed folding plate 27. The third motor 24 drives the third propeller 23 to rotate, which can provide the robot from the ground to the wall, and the robot attached to the wall. The specific direction of force required. Secondly, when the multi-habitat robot walks on the wall, the first single-axis digital servo 26 is controlled to rotate to drive the propeller shaft of the third propeller 23 to be parallel to the wall. The rotation of the third propeller 23 can drive the multi-habitat robot to accelerate forward or backward on the wall. Example

[0047] See also Figure 6 and Figure 7 As shown, this embodiment provides an automatic lifting mechanism 6, which is arranged on the lower top plate of the support frame 1 of the amphibious robot described in Example 1 and / or Example 2, and is used to adjust the landing gear 29 in the automatic lifting mechanism 6. The automatic lifting mechanism 6 includes a landing gear 29, a connecting piece 42 and a second single-axis digital servo 31. The second single-axis digital servo 31 is arranged in the shell of the support frame 1, that is, in the cavity of the shell. A landing gear 29 is respectively arranged on both sides of the support frame 1. There are two connecting ends on the straight servo disc 43 of the second single-axis digital servo 31. One end of a ball head buckle 30 is connected to a connecting end on the straight servo disc 43, and the other end is fixedly connected to the landing gear 29 through the connecting piece 42.

[0048] Specifically, the connecting member 42 is fixed to the landing gear 29 by means of hexagon socket bolts, one end of the ball head buckle 30 is fixedly connected to the straight servo disc 43, and the other end is fixed to the connecting member 42 by means of hexagon socket bolts and anti-loosening nuts. When the second single-axis digital servo 31 drives the straight servo disc 43 to rotate, it can pull the connecting member 42 to realize the folding of the landing gear 29, thereby improving the efficiency of the multi-habitat robot in completing multiple mode conversion tasks without manual intervention. The setting of the landing gear 29 can also prevent the multi-habitat robot from being damaged or falling due to direct rigid collision of the body of the multi-habitat robot, effectively ensuring the safety and stability of the multi-habitat robot.

[0049] Preferably, Fig.10 As shown, in order to improve the multi-robot described in the first or second embodiment to be able to work in water, a hook 32 is provided on the landing gear 29, and the buoyancy rod 33 is fixed on the hook 32 of the landing gear 29 through a rubber ring. The buoyancy rod 33 can be made of polyvinyl chloride material, which has good tearing resistance and impact resistance. The material is added with anti-ultraviolet material, which can be exposed to the sun for a long time without deformation or cracking and leaking. When it is necessary to work on the water surface, the landing gear 29 can be controlled to flip to a certain posture, and the multi-robot can be floated on the water surface by the buoyancy of the buoyancy rod 33, and the first motor 35 drives the first propeller 34 and the second motor 37 drives the second propeller 36 or the third motor 24 drives the third propeller 23, so that the multi-robot walks on the water surface. When the buoyancy rod 33 contacts the water surface, it can not only play a good buffering role, but also effectively avoid the direct collision between the body of the multi-robot and the obstacles on the water surface. Example

[0050] Combination Fig.12As shown, the multi-habitat robot in the first embodiment or the third embodiment is provided with a receiver 7, a GPS module 9 and a single chip microcomputer. The camera module is arranged on the upper top plate of the support frame 1, and the receiver 7, the GPS module 9 and the camera module are all connected to the single chip microcomputer. The receiver 7 is arranged inside the shell of the support frame 1, and is used to receive the instructions issued by the operator controlling the remote control, and convey them to the single chip microcomputer to control the corresponding first motor 35, the second motor 37, the third motor 24, the dual-axis digital servo 14, the first single-axis digital servo 26 and the second single-axis digital servo 31 through each electric adjustment. The receiver 7 receives the control signal and transmits it to the single chip microcomputer to control the first motor 35 to drive the first propeller 34 to rotate; the receiver 7 receives the control signal and transmits it to the single chip microcomputer to control the second motor 37 to drive the second propeller 36 to rotate, and the second motor 37 drives the rear drive wheel 13 to rotate; the receiver 7 receives the control signal and transmits it to the single chip microcomputer to control the third motor 24 to drive the third propeller 23 to rotate; the receiver 7 receives the control signal and transmits it to the single chip microcomputer to control the dual-axis digital servo 14 to drive the tilt-rotor motion mechanism 2 to rotate; the receiver 7 receives the control signal and transmits it to the single chip microcomputer to control the first single-axis digital servo 26 to rotate, and control the direction of the third propeller 23; the receiver 7 receives the control signal and transmits it to the single chip microcomputer to control the second single-axis digital servo 31 to rotate, and drive the landing gear 29 to flip.

[0051] Electric regulators are provided between the single-chip computer 8 and each motor. The multi-habitat robot has a lithium battery, but the voltage of the lithium battery is not enough to directly drive each first motor, second motor and third motor, and needs to be converted into a corresponding voltage suitable for driving the corresponding motor by the corresponding electric regulator. The MPU-inertial measurement unit and GPS module 9 in the single-chip computer cooperate to measure the posture and position information of the multi-habitat robot under control. The camera module can detect the wall environment and detect the defects of the building's exterior wall and other operation information, cooperate with the GPS module 9 to locate, and report the specific location and on-site status information to the staff. The receiver 7 reads the signal from the operator's remote control, and after being processed by the single-chip microcomputer 8, it is transmitted to six electric regulators (two first motors 35, two second motors 37 and two third motors 24) and servos (two dual-axis digital servos 14, two first single-axis digital servos 26, and two second single-axis digital servos 31). The electric regulator has two sets of wires, one connected to the lithium battery and the other connected to the single-chip microcomputer 8, which include VCC (circuit power supply voltage), GND (wire ground terminal) and signal wires. The signal wires receive the PWM signal transmitted by the single-chip microcomputer 8. Note: Pulse width modulation controls the motor speed by adjusting the time occupied by the high level, that is, the duty cycle. The first motor 35, the second motor 37 and the third motor 24 can all use brushless DC motors.

[0052] Specifically, the first motors 35 respectively installed on the two front drive wheels, the second motors 37 respectively installed on the two rear drive wheels, the third motors 24 respectively installed in the forward thrust modules at both ends of the support frame, the first single-axis digital servo 26, the second single-axis digital servo 31 and the dual-axis digital servo 14 are all controlled by pulse width modulation signals (PWM) to realize operation; the operator only needs to turn the corresponding switch on the multi-channel remote controller, and the receiver 7 receives the corresponding operation signal to realize the rotation of the above-mentioned servos (dual-axis digital servo 14, the first single-axis digital servo 26 and the second single-axis digital servo 31) and the speed of the corresponding brushless DC motor. The remote controller and the receiver 7 control the robot through high-frequency radio waves. The receiver 7 receives the PPM signal from the remote controller (the so-called PPM is to merge multiple PWMs into one signal) and decomposes it into multiple PWM signals and then transmits it to the control board. This signal is settled by the control program of the single-chip microcomputer in the multi-habitat robot to obtain a reasonable PWM signal and then outputs it to the corresponding electric regulator and servo.

[0053] The flight state of the multi-rotor robot is basically similar to that of an ordinary four-rotor drone, the only difference being the control of the servo. Most of the landing gear and rotors of the four-rotor drone are fixed. For the multi-rotor robot, the landing gear 29 must first be lowered and the arms 11 on both sides must be turned to be parallel to the top plate of the support frame 1, and then the multi-rotor robot can be rolled, pitched, yawed and hovered in the air by controlling the rotation speed of the first motor, the second motor and the third motor. The most important thing about the robot in the flying state is its posture. Only by mastering the posture information can the robot be better controlled to move to the desired position through the program. The calculation of the aerial posture of the robot is completed by the MPU (inertial measurement unit) and the GPS module 9 in the single-chip microcomputer, and the Kalman filter algorithm is used to calculate relatively accurate posture and position information.

[0054] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-robot capable of climbing a wall, characterized in that: It comprises a supporting frame and a tilt-rotor motion mechanism; the tilt-rotor motion mechanism is movably connected to the swing arm fixing brackets on both sides of the supporting frame; the tilt-rotor motion mechanism comprises an arm, a front driving wheel, a rear driving wheel and a dual-axis digital servo; the dual-axis digital servo is fixed to the swing arm fixing bracket; the servo disc of the dual-axis digital servo drives the arm to rotate; the front driving wheel and the rear driving wheel are respectively arranged at the front and rear ends of the arm; the front driving wheel is provided with a first propeller and a first motor that drives the first propeller to rotate; the rear driving wheel is provided with a second propeller, a gear set and a second motor that drives the second propeller to rotate; the gear set is driven by the second motor; the second motor drives the gear set to drive the rear driving wheel to rotate; When the servo disk of the dual-axis digital servo drives the arm to rotate to be perpendicular to the ground, at the same time, the second motor drives the gear set to drive the rear drive wheel to rotate, so that the multi-habitat robot moves forward or backward; When the servo disk of the dual-axis digital servo drives the arm to rotate parallel to the ground, at the same time, the first motor drives the first propeller to rotate, and the second motor drives the second propeller to rotate, so that the multi-habitat robot rises or falls; When the servo disk of the dual-axis digital servo drives the arm to rotate to an angle of 20-45° with the wall surface, at the same time, the first motor drives the first propeller to rotate and the second motor drives the second propeller to rotate, generating a positive pressure thrust, so that the multi-habitat robot is adsorbed on the wall, and the second motor drives the gear set to drive the rear drive wheel to rotate, so that the multi-habitat robot moves forward or backward on the wall; Wherein, the arm frame includes arm frame sections; the two arm frame sections are butt-jointed by butt folding plates; the arm frame sections include an upper arm plate and a lower arm plate connected up and down; the lower arm plates are respectively connected to the outer sides of the wheel hubs of the front drive wheel and the rear drive wheel; the upper arm plate includes a disconnected first segment and a second segment; the first segment is connected to the lower arm plate; the second segment is respectively arranged in the front drive wheel and the rear drive wheel; It also includes a forward thrust module; the forward thrust module is arranged at both ends of the support frame; the forward thrust module includes a third propeller, a third motor, a bearing seat, a first single-axis digital steering gear, a fixed folding plate and a second duct; the bearing seat and the first single-axis digital steering gear are fixed to the support frame and are used to flexibly connect the second duct; one end of the fixed folding plate is fixed to the second duct through the first single-axis digital steering gear, and the other end is fixedly connected to the third motor, and the third motor is connected to the third propeller, so as to drive the third propeller to rotate in the second duct; It also includes an automatic lifting mechanism arranged at the bottom of the supporting frame; the automatic lifting mechanism includes a landing gear, a ball head buckle and a second single-axis digital servo; the second single-axis digital servo is arranged in the supporting frame; one end of the ball head buckle is connected to the landing gear, and the other end is connected to the servo disk on the second single-axis digital servo.

2. The multi-habitat robot capable of climbing a wall according to claim 1, characterized in that: The front driving wheel and the rear driving wheel are respectively provided with a first duct.

3. The multi-habitat robot capable of climbing a wall according to claim 1, characterized in that: The gear set includes a planetary gear reducer, a first belt gear, a second belt gear, a third belt gear, a fourth belt gear and a fixed plate; the second motor is fixed on the second segment, and the planetary gear reducer is fixed by passing through the second segment and the fixed plate; a support column is provided between the second segment and the fixed plate; the first belt gear and the second belt gear are arranged at both ends of the planetary gear reducer; the third belt gear is fixed between the second motor and the second propeller; one end of the shoulder bolt is fixed to the fixed plate, and the other end passes through the fourth belt gear and the hub of the rear drive wheel and is fixed to the lower arm plate; the first belt gear is meshed with the third belt gear; the second belt gear is meshed with the fourth belt gear.

4. The multi-habitat robot capable of climbing a wall according to claim 1, characterized in that: The landing gear is provided with a hook, and the buoyancy rod is fixed on the hook through a rubber ring.

5. The multi-habitat robot capable of climbing a wall according to claim 1, characterized in that: It also includes a GPS module and a receiver connected to the single-chip microcomputer; a camera module is provided on the top of the frame and is also connected to the single-chip microcomputer; the receiver is arranged inside the supporting frame and is used to receive instructions issued by the remote control. The receiver receives the signal, processes it through the single-chip microcomputer, and then generates a corresponding pulse width modulation signal to control and drive the first motor, the second motor, the third motor, the dual-axis digital servo, the first single-axis digital servo and the second single-axis digital servo.

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