A wall-climbing multi-habitat robot

Abstract

The present invention discloses a wall-climbing multi-functional robot, comprising a frame and a power supply. The frame is provided with rotating shafts disposed on both sides of the frame and a driving device for driving the rotating shafts to rotate. The rotating shafts are rotatably connected to the frame. A front arm frame and a rear arm frame are provided on the rotating shaft. The front arm frame is provided with a front drive wheel, a front propeller, and a front motor for driving the front propeller. The rear arm frame is provided with a rear drive wheel, a rear propeller, and a rear motor for driving the rear propeller and the rear drive wheel. The present invention facilitates the robot to switch between various modes, thereby adapting to the current environment.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to a wall-climbing multi-habitat robot. Background Art

[0002] Drones or various wall-climbing robots are now commonly used as inspection platforms for large building facades, industrial equipment, and tunnels. Current wall-climbing robots are capable of operating on complex surfaces, including flat, convex, concave, and inclined surfaces. Drone technology has also advanced rapidly in recent years, possessing autonomous positioning, navigation, control, and navigation capabilities. The increasing precision of various sensors (accelerometers, gyroscopes, magnetometers, cameras, etc.) has significantly enhanced robots' ability to determine their position, posture, and surrounding environment, leading to their widespread use across various industries. Wall-climbing robots and drones offer a wide range of advanced control algorithms and control system solutions. Through high-definition imagery and high-precision sensor acquisition, these robots can provide accurate information about the exterior walls of inspected objects, enabling them to detect subtle defects and damage. They can also capture panoramic images of exterior walls and generate stereoscopic images using 3D modeling, making defects and damage more readily apparent. In materials science, the emergence of various materials with high strength, light weight, flexibility, and wear resistance has enabled robots to be made smaller and more robust. However, both wall-climbing robots and drones have certain defects when performing the above operations.

[0003] Common wall-climbing robots today include wheeled, legged, suction-cup, and magnetic robots. Wheeled robots offer the advantage of simple control and stability, but their disadvantage is that they are not suitable for irregular or poorly shaped surfaces. Legged robots offer the advantage of good adaptability and gripping strength, but they are more difficult to control and have slightly lower control stability. Furthermore, since sufficient friction is required to maintain grip on all four legs, energy consumption is high. Both types of robots can also cause significant damage to the surface during operation. Suction-cup robots have similar advantages to legged robots, but their disadvantage is that they require high surface flatness and material quality. Furthermore, environmental changes significantly affect the suction cup's grip. The disadvantage of magnetic robots is even more pronounced, as they can only be used on smooth metal surfaces.

[0004] As for drones, thanks to the contributions of researchers around the world, drone technology is now very mature, and the control accuracy of drones has made a qualitative leap in all aspects. However, drones have high requirements for weather (wind is as low as possible). Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a wall-climbing multi-habitat robot that facilitates the robot to switch between various modes to adapt to the current environment.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] A wall-climbing amphibious robot comprises a frame and a power supply. The frame is provided with a rotating shaft respectively arranged on both sides of the frame and a driving device for driving the rotating shaft to rotate, and the rotating shaft is rotatably connected to the frame; a front arm frame and a rear arm frame are provided on the rotating shaft, the front arm frame is provided with a front driving wheel, a front propeller and a front motor for driving the front propeller to rotate, and the rear arm frame is provided with a rear driving wheel, a rear propeller, and a rear motor for driving the rear propeller and the rear driving wheel to rotate.

[0008] Optionally, the driving device includes a servo and a drive shaft, the servo is connected to the frame, and bevel gears are respectively provided on the output shaft of the servo, the rotating shaft and the drive shaft, and the drive shaft is meshed and connected with the rotating shaft through the bevel gears, and the output shaft of the servo is meshed and connected with the drive shaft through the bevel gears.

[0009] Optionally, the front motor is connected to the upper end of the front arm, the front propeller is connected to the output shaft of the front motor, the rear motor is connected to the upper end of the rear arm, the rear propeller is connected to the output shaft of the rear motor, the front drive wheel is rotatably connected to the lower end of the front arm, and the rear drive wheel is rotatably connected to the lower end of the rear arm.

[0010] Optionally, a reduction mechanism is provided on the rear arm, and the rear motor drives the rear drive wheel to rotate through the reduction mechanism.

[0011] Optionally, the deceleration mechanism includes a first gear, a second gear, a third gear, a fourth gear, a connecting shaft and a planetary reducer, the first gear and the second gear are arranged below the rear arm frame, the third gear and the fourth gear are arranged above the rear arm frame, the first gear is arranged on the output shaft of the rear motor, the connecting shaft passes through the rear arm frame and is rotatably connected to the rear arm frame, the second gear and the third gear are respectively arranged at both ends of the connecting shaft, the fourth gear is arranged on the input shaft of the planetary reducer, and the output shaft of the planetary reducer is connected to the rear drive wheel.

[0012] Optionally, the diameter of the second gear is larger than the diameters of the first gear and the third gear; and the diameter of the fourth gear is larger than the diameter of the third gear.

[0013] Optionally, a linkage mechanism for driving the front drive wheel to rotate is provided between the front arm and the rear arm.

[0014] Optionally, the linkage mechanism includes a synchronous belt and a synchronous pulley, the synchronous pulleys are respectively arranged on the central axes of the front drive wheel and the rear drive wheel, and the synchronous pulleys are rollingly connected to the synchronous belt.

[0015] Optionally, the linkage mechanism also includes a guide wheel and a mounting frame for installing the guide wheel, the two ends of the mounting frame are respectively connected to the front arm frame and the rear arm frame on the same side of the frame, the guide wheel is rotatably connected to the mounting frame, and the guide wheel is rollingly connected to the synchronous belt.

[0016] Optionally, the rack is provided with a controller, a GPS module for positioning, a receiver for receiving signals, a digital image transmission module for data image transmission, and a camera module for taking pictures. The controller is electrically connected to the GPS module, the receiver, the digital image transmission module, the camera module, the driving device, the front motor and the rear motor respectively, and the digital image transmission module is electrically connected to the camera module.

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

[0018] The present invention provides a wall-climbing multi-habitat robot. A driving device drives a rotating shaft to rotate, thereby realizing the folding and lowering of a front arm frame and a rear arm frame. In response to different environments, the robot can select two modes: flying or walking on land, thereby improving the robot's adaptive ability, thereby ensuring that the robot firmly adheres to the building surface or hovers on the building surface.

[0019] The reduction mechanism allows the rear motor to simultaneously drive the rear drive wheel and rear propeller, reducing the weight of the robot itself.

[0020] The linkage mechanism facilitates the rotation of the front drive wheels, improving the stability of the robot when walking on land. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a flight mode of a wall-climbing multi-habitat robot according to an embodiment of the present invention;

[0022] Figure 2 for Figure 1 Bottom view of

[0023] Figure 3 This is a schematic diagram of a wall-climbing amphibious robot in land walking mode according to an embodiment of the present invention;

[0024] Figure 4 for Figure 3 Side view of;

[0025] Figure 5 for Figure 1A partial enlarged view of the middle reduction mechanism;

[0026] Figure 6 for Figure 1 A partial enlarged view of the middle forearm frame;

[0027] Figure 7 This is a control flow chart of a wall-climbing multi-habitat robot according to an embodiment of the present invention.

[0028] Among them: 1. Frame; 2. Power supply; 3. Rotating shaft; 4. Front arm frame; 5. Rear arm frame; 6. Front drive wheel; 7. Servo; 8. Bevel gear; 9. Camera module; 10. Rear drive wheel; 11. Synchronous belt; 12. Rear motor; 13. Digital image transmission module; 14. Drive shaft; 15. Controller; 16. Front motor; 17. Front propeller; 18. Receiver; 19. First gear; 20. Second gear; 21. Third gear; 22. Fourth gear; 23. Connecting shaft; 24. Planetary reducer; 25. Synchronous pulley; 26. Guide wheel; 27. Mounting frame; 28. Rear propeller; 29. ​​GPS module. DETAILED DESCRIPTION

[0029] 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 solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0030] 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 orientations or positional relationships based on the orientations 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", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. 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.

[0031] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] Example 1

[0033] like Figures 1 to 7 As shown, a wall-climbing multi-functional robot includes a frame 1 and a power supply 2, the power supply 2 is a lithium battery, the frame 1 is provided with a rotating shaft 3 respectively arranged on both sides of the frame 1 and a driving device for driving the rotating shaft 3 to rotate, and the rotating shaft 3 is rotatably connected to the frame 1; the driving device includes a steering gear 7 and a driving shaft 14, the steering gear 7 is connected to the frame 1, and the output shaft of the steering gear 7, the rotating shaft 3 and the driving shaft 14 are respectively provided with a bevel gear 8, and the driving shaft 14 is meshed with the rotating shaft 3 through the bevel gear 8, and the output shaft of the steering gear 7 is meshed with the driving shaft 14 through the bevel gear 8.

[0034] A front arm 4 and a rear arm 5 are provided at both ends of the rotating shaft 3. The front arm 4 is provided with a front drive wheel 6, a front propeller 17 and a front motor 16 for driving the front propeller 17 to rotate. The rear arm 5 is provided with a rear drive wheel 10, a rear propeller 28, and a rear motor 12 for driving the rear propeller 28 and the rear drive wheel 10 to rotate; the front motor 16 is connected to the upper end of the front arm 4, the front propeller 17 is connected to the output shaft of the front motor 16, the rear motor 12 is connected to the upper end of the rear arm 5, the rear propeller 28 is connected to the output shaft of the rear motor 12, the front drive wheel 6 is rotatably connected to the lower end of the front arm 4, and the rear drive wheel 10 is rotatably connected to the lower end of the rear arm 5.

[0035] A reduction mechanism is provided on the rear arm 5, and the rear motor 12 drives the rear drive wheel 10 to rotate through the reduction mechanism; the reduction mechanism includes a first gear 19, a second gear 20, a third gear 21, a fourth gear 22, a connecting shaft 23 and a planetary reducer 24. The first gear 19 and the second gear 20 are arranged below the rear arm 5, and the third gear 21 and the fourth gear 23 are arranged above the rear arm 5. The first gear 19 is arranged on the output shaft of the rear motor 12, and the connecting shaft 23 passes through the rear arm 5 and is rotatably connected to the rear arm 5. The second gear 20 and the third gear 21 are respectively arranged at both ends of the connecting shaft 23, and the fourth gear 22 is arranged on the input shaft of the planetary reducer 24. The output shaft of the planetary reducer 24 is connected to the rear drive wheel 10; the transmission ratio of the reduction mechanism is 1:45.

[0036] Example 2

[0037] like Figures 1 to 7As shown, unlike the first embodiment, a linkage mechanism for driving the front drive wheel 6 to rotate is provided between the front arm frame 4 and the rear arm frame 5 in this embodiment; the linkage mechanism includes a synchronous belt 11, a synchronous pulley 25, three guide wheels 26 and a mounting frame 27 for mounting the guide wheels. The synchronous pulley 25 is provided on the central axis of the front drive wheel 6 and the rear drive wheel 10. The synchronous pulley 25 is rollingly connected to the synchronous belt 11. The two ends of the mounting frame 17 are respectively connected to the front arm frame 4 and the rear arm frame 5 on the same side of the frame 1. The guide wheel 26 is rotationally connected to the mounting frame 27. The three guide wheels 26 are respectively provided below the front arm frame 4, below the rear arm frame 5 and between the front arm frame 4 and the rear arm frame 5. The guide wheel 26 is rollingly connected to the synchronous belt 11.

[0038] The frame 1 is provided with a controller 15, a GPS module 29 for positioning, a receiver 18 for receiving signals, a digital image transmission module 19 for data image transmission, and a camera module 9 for taking pictures. The controller 15 is electrically connected to the GPS module 29, the receiver 18, the digital image transmission module 19, the camera module 9, the driving device, the front motor 16 and the rear motor 12 respectively, and the digital image transmission module 19 is electrically connected to the camera module 9.

[0039] 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 wall-climbing multi-habitat robot, characterized by: The machine comprises a frame and a power supply, wherein the frame is provided with a rotating shaft respectively arranged on both sides of the frame and a driving device for driving the rotating shaft to rotate, and the rotating shaft is rotatably connected to the frame; a front arm frame and a rear arm frame are provided on the rotating shaft, the front arm frame is provided with a front driving wheel, a front propeller and a front motor for driving the front propeller to rotate, and the rear arm frame is provided with a rear driving wheel, a rear propeller, and a rear motor for driving the rear propeller and the rear driving wheel to rotate; The driving device includes a steering gear and a drive shaft, the steering gear is connected to the frame, and the output shaft of the steering gear, the rotating shaft and the drive shaft are respectively provided with bevel gears, the drive shaft is meshed and connected with the rotating shaft through the bevel gears, and the output shaft of the steering gear is meshed and connected with the drive shaft through the bevel gears; The front motor is connected to the upper end of the front arm, the front propeller is connected to the output shaft of the front motor, the rear motor is connected to the upper end of the rear arm, the rear propeller is connected to the output shaft of the rear motor, the front drive wheel is rotatably connected to the lower end of the front arm, and the rear drive wheel is rotatably connected to the lower end of the rear arm; A linkage mechanism for driving the front drive wheel to rotate is provided between the front arm frame and the rear arm frame; The linkage mechanism includes a synchronous belt and a synchronous pulley, wherein the synchronous pulleys are respectively arranged on the central shafts of the front drive wheel and the rear drive wheel, and the synchronous pulleys are rollingly connected to the synchronous belt; The linkage mechanism also includes a guide wheel and a mounting frame for mounting the guide wheel, the two ends of the mounting frame are respectively connected to the front arm frame and the rear arm frame on the same side of the frame, the guide wheel is rotatably connected to the mounting frame, and the guide wheel is rollingly connected to the synchronous belt.

2. The wall-climbing multi-habitat robot according to claim 1, characterized in that: The rear arm is provided with a speed reduction mechanism, and the rear motor drives the rear drive wheel to rotate through the speed reduction mechanism.

3. The wall-climbing multi-habitat robot according to claim 2, characterized in that: The deceleration mechanism includes a first gear, a second gear, a third gear, a fourth gear, a connecting shaft and a planetary reducer. The first gear and the second gear are arranged below the rear arm frame, and the third gear and the fourth gear are arranged above the rear arm frame. The first gear is arranged on the output shaft of the rear motor, and the connecting shaft passes through the rear arm frame and is rotatably connected to the rear arm frame. The second gear and the third gear are respectively arranged at both ends of the connecting shaft. The fourth gear is arranged on the input shaft of the planetary reducer, and the output shaft of the planetary reducer is connected to the rear drive wheel.

4. The wall-climbing multi-habitat robot according to claim 3, characterized in that: The diameter of the second gear is larger than the diameters of the first gear and the third gear; the diameter of the fourth gear is larger than the diameter of the third gear.

5. The wall-climbing multi-habitat robot according to claim 1, characterized in that: The frame is provided with a controller, a GPS module for positioning, a receiver for receiving signals, a digital image transmission module for data image transmission, and a camera module for taking pictures. The controller is electrically connected to the GPS module, the receiver, the digital image transmission module, the camera module, the driving device, the front motor and the rear motor respectively, and the digital image transmission module is electrically connected to the camera module.

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