Sucker wheel structure and unmanned aerial vehicle

Abstract

This invention provides a suction cup wheel structure and a drone. The suction cup wheel structure includes a main shaft, a wheel assembly, a motor, a friction plate, and an air guide component. The wheel assembly includes a wheel cover and a suction cup. The wheel cover is rotatably mounted on the main shaft. Several suction cups are spaced apart circumferentially along the wheel cover. Each suction cup has an adsorption surface facing away from the wheel cover, with an inner adsorption ring and an outer adsorption ring on the adsorption surface. The motor drives the wheel assembly to rotate relative to the main shaft. The friction plate is fixed on the main shaft and has a friction surface with a friction plate channel and an atmospheric channel. The air guide component is sleeved on the main shaft and has several circumferentially spaced air guide channels. The inner adsorption ring is connected to the air guide channels. Under the action of elasticity, the air guide component presses against the friction surface of the friction plate. The air guide component rotates together with the wheel assembly, so that each air guide channel is connected to the friction plate channel and the atmospheric channel respectively, thereby improving safety, flexibility, and adaptability.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV that uses a suction cup wheel mechanism to assist in climbing walls and differential steering. Background Technology

[0002] Drones with suction cup wheels combine "wall-climbing robots" with traditional drones. When moving on walls, glass, ceilings, or other vertical or inclined surfaces, drones with suction cup wheels do not need to use traditional flight methods. Instead, they use an air pressure system to create negative pressure to control the suction cups to attach to surfaces such as glass. This allows the drone to move on vertical or inclined surfaces. Furthermore, wall-climbing operations can be achieved by controlling the attachment and detachment of the suction cups and by rotating the wheels driven by the motor.

[0003] For example, utility model patent CN214451416U, published on October 22, 2021, discloses a method for controlling the suction cups on the wheels to be in an air-inhaling or air-out state, thereby enabling the robot to adhere to surfaces such as walls and move. During the wheel's rotation and adhesion process, it is necessary to air out the suction cup currently adhered to the wall surface and to prepare for air intake for the next suction cup to be adhered to. During these two processes, misoperation can easily lead to situations where the suction cups fail to adhere to the wall surface, thus posing a safety risk. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a suction cup wheel structure and a drone that effectively enhance safety, flexibility, and adaptability.

[0005] According to one objective of the present invention, a suction cup wheel structure is provided, comprising: spindle; A wheel assembly, comprising a wheel cover and a plurality of suction cups, wherein the wheel cover is rotatably mounted on the main shaft, and the plurality of suction cups are spaced apart circumferentially along the wheel cover, and each suction cup has an adsorption surface facing away from the wheel cover, wherein an adsorption inner ring and an adsorption outer ring are provided on the adsorption surface. An electric motor is connected to the wheel cover to drive the wheel assembly to rotate relative to the main shaft; A friction plate is fixed on the main shaft and located inside the wheel cover. The friction plate has a friction surface, and a friction plate channel and an atmospheric channel are provided on the friction surface. The friction plate channel is connected to an air pump and a solenoid valve in sequence. An air guide is sleeved on the main shaft and located inside the wheel cover. The air guide has several circumferentially spaced air channels. The adsorption inner ring is connected to the air channels. The air guide is pressed against the friction surface of the friction plate under the action of elasticity. The air guide rotates together with the wheel assembly so that each air channel is connected to the friction plate channel and the atmospheric channel respectively.

[0006] In a preferred embodiment, the wheel cover includes a wheel side plate and two wheel base plates. The wheel side plate is connected between the two wheel base plates. The main shaft passes through the two wheel base plates. The friction plate and the air guide are held between the two wheel base plates. The wheel side plate surrounds the periphery of the friction plate and the air guide respectively. The suction cup is disposed on the outer surface of the wheel side plate.

[0007] In a preferred embodiment, the roulette wheel assembly further includes: A connecting plate includes a plate body and a connecting platform connected together. The main shaft passes through the plate body. The air guide is held between the friction plate and the plate body. The air guide has a receiving groove on the side facing the plate body. Each connecting platform is inserted into one of the receiving grooves. Several connecting rods are provided, one of which connects the base plate of the wheel to the disc body, and another of which connects the base plate of the wheel to the disc body via the connecting rod.

[0008] As a preferred embodiment, it also includes: A first spring is sleeved on the main shaft and abuts against the disc body and the air guide; A second spring is fitted on each of the connecting platforms, and the second spring abuts against the disc body and the air guide.

[0009] In a preferred embodiment, the friction plate has a friction groove to form the friction surface at the bottom of the friction groove, and the air guide has an air guide boss embedded in the friction groove; The friction plate channel connects the inner wall of the friction plate and the friction surface, and the air guide channel connects the outer wall of the air guide component and the end face of the air guide boss.

[0010] In a preferred embodiment, the spindle includes: The shaft body, the friction plate and the air guide are sleeved on the shaft body; A step body is connected to the outer wall of the shaft body and is located inside the wheel cover. The friction plate is fixed to the step body to form the friction surface on the side of the friction plate away from the step body. The shaft body has a shaft body channel that connects the end of the shaft body and the outer wall of the shaft body, so as to form an opening on the outer wall of the shaft body that connects to the friction plate channel, and a port portion on the end of the shaft body, wherein the port portion is connected to an air pump and a solenoid valve in sequence.

[0011] As a preferred embodiment, it also includes: A connecting plate comprising two vertical plates and a horizontal plate, the horizontal plate being connected between the two vertical plates, the main shaft passing through the two vertical plates, and the wheel cover and the motor being held between the two vertical plates; Two rod fixing members are respectively sleeved on both ends of the main shaft, and the rod fixing members are fixed to the outside of the vertical plate; A drive shaft is sleeved on the main shaft and is drively connected to the motor and the wheel cover.

[0012] According to another objective of the present invention, the present invention also provides a drone, including the suction cup wheel structure of the above embodiment, the drone further comprising: The main frame has a suction cup wheel structure at its bottom, and the air pump and the solenoid valve are fixed on the main frame. The rotor is fixed to the main frame.

[0013] As a preferred embodiment, it also includes: A camera, which is fixed to the main frame.

[0014] Compared with existing technologies, this technical solution has the following advantages: When a drone needs to climb or move on a vertical or inclined wall, the suction cups of the suction wheel structure and the friction of the tires can be used to fix the drone to the wall, providing stable support and traction.

[0015] The suction cup includes an inner suction ring and an outer suction ring. The inner suction ring motor rotates relative to the friction plate via an air guide, connecting the air guide channel of the air guide to both the friction plate channel and the atmospheric channel of the friction plate. When the air guide channel and the friction plate channel are connected, the inner suction ring generates suction force under the action of the solenoid valve and the holding cylinder. Simultaneously, the outer suction ring, along with the inner suction ring, generates suction force, expelling the gas within it and thus generating suction force towards the wall. When the air guide channel and the atmospheric channel are connected, the pressure of the inner suction ring equals atmospheric pressure, causing the suction effect to fail. The inner suction ring then detaches from the wall, while the outer suction ring, under the rotation of the wheel assembly and the detachment of the inner suction ring from the wall, detaches from the wall, effectively improving the suction effect and thus enhancing safety.

[0016] With its flexible operation and suction cup wheels, the drone can move freely in vertical or tilted directions, enabling it to move across walls, glass surfaces, ceilings, and other wall surfaces, thus better adapting to various environments. Compared to traditional drones, in addition to performing tasks such as photography and monitoring, its wall-climbing capability allows it to enter building interiors or narrow spaces for cleaning and maintenance of high-altitude buildings, or for more comprehensive search and rescue missions.

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the UAV described in this invention; Figure 2 This is a cross-sectional view of the suction cup wheel structure described in this invention; Figure 3 This is a perspective view of the suction cup wheel structure described in this invention from one direction; Figure 4 This is a perspective view of the suction cup wheel structure described in this invention from another direction; Figure 5 This is an exploded view of the wheel assembly described in this invention; Figure 6 This is a schematic diagram of the structure of the connecting disk described in this invention; Figure 7 This is a schematic diagram of the suction cup described in this invention; Figure 8 This is a front view of the friction plate described in this invention; Figure 9 for Figure 8 Sectional view along the AA direction; Figure 10 This is a perspective view of the friction plate of the present invention in one direction; Figure 11 This is a perspective view of the friction plate described in this invention from another direction; Figure 12 This is a front view of the air guide component described in this invention; Figure 13 for Figure 12 Sectional view along the BB direction; Figure 14 This is a perspective view of the air guide component of the present invention in one direction; Figure 15 This is a perspective view of the air guide component of the present invention from another direction; Figure 16 This is a schematic diagram of the main shaft described in this invention.

[0019] In the diagram: 100 Suction cup wheel structure, 110 Main shaft, 111 Shaft body, 111a Shaft body channel, 111a1 Opening, 111a2 Port end, 111b Annular groove, 112 Stepped body, 113 Stepped body groove, 114 Stepped body through hole, 120 Wheel assembly, 121 Wheel cover, 1211 Wheel side plate, 1211b Collection tube, 1211c Bend, 1212 Wheel base plate, 122 Suction cup, 122a Adsorption surface, 122a1 Inner adsorption ring, 122a2 Outer adsorption ring, 1221 Suction cup rod, 123 Connecting plate, 1231 Plate body, 1232 Connecting platform, 1233 Auxiliary plate, 124 Connecting rod, 130 Motor, 140 Friction plate, 140a Friction... Surface, 140b Friction plate channel, 140c Friction recess, 140d Atmospheric channel, 141 Friction groove, 142 Friction plate annular platform, 143 Friction plate threaded hole, 150 Air guide, 150a Air guide channel, 150b Receiving groove, 151 Air guide boss, 161 First spring, 162 Second spring, 171 Connecting plate, 1712 Vertical plate, 1711 Horizontal plate, 172 Rod fixing component, 173 Drive shaft, 174 Bearing, 175 Sealing ring, 210 Holding cylinder, 220 Air pump, 230 Solenoid valve, 240 Electrical board, 250 Camera, 260 Battery, 300 Main frame, 310 Square frame, 320 Frame side plate, 330 Support plate, 400 Rotor. Detailed Implementation

[0020] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0021] First Embodiment like Figure 1 , Figure 2and Figure 7 As shown, the suction cup wheel structure 100 includes: Spindle 110; The wheel assembly 120 includes a wheel cover 121 and a plurality of suction cups 122. The wheel cover 121 is rotatably mounted on the main shaft 110. The plurality of suction cups 122 are spaced apart circumferentially along the wheel cover 121. Each suction cup 122 has an adsorption surface 122a facing away from the wheel cover 121. An inner adsorption ring 122a1 and an outer adsorption ring 122a2 are provided on the adsorption surface 122a. Motor 130, which is connected to the wheel cover 121 to drive the wheel assembly 120 to rotate relative to the main shaft 110; Friction plate 140 is fixed on the main shaft 110 and located inside the wheel cover 121. The friction plate 140 has a friction surface 140a. A friction plate channel 140b and an atmospheric channel 140d are provided on the friction surface 140a. The friction plate channel 140b is connected in sequence to an air pump 220 and a solenoid valve 230. An air guide 150 is sleeved on the main shaft 110 and located inside the wheel cover 121. The air guide 150 has several circumferentially spaced air guide channels 150a. The adsorption inner ring 122a1 is connected to the air guide channels 150a. Under the action of elasticity, the air guide 150 presses on the friction surface 140a of the friction plate 140. The air guide 150 rotates together with the wheel assembly 120 so that each air guide channel 150a is connected to the friction plate channel 140b and the atmospheric channel 140d respectively.

[0022] In addition to the motor 130 driving the wheel assembly 120 to rotate and move it, when the suction cup 122 needs to be adsorbed onto a surface such as a wall, the motor 130 drives the air guide channel 150a of the air guide component 150 to connect with the friction plate channel 140b. At this time, the inner adsorption ring 122a1 is connected to the friction plate channel 140b. Under the action of the solenoid valve 230 and the air pump 220, the air in the inner adsorption ring 122a1 is discharged to form a negative pressure area, thereby generating an adsorption force towards the wall. At the same time, under the action of the adsorption force of the inner adsorption ring 122a1 towards the wall, the gas in the outer adsorption ring 122a2 is discharged, thereby forming a negative pressure area in the outer adsorption ring 122a2, thereby generating an adsorption force towards the wall, thus improving the adsorption effect and improving safety. When the suction cup 122 needs to detach from the wall, the motor 130 drives the air guide channel 150a to connect with the atmospheric channel 140d. The atmospheric channel 140d is connected to atmospheric pressure. At this time, the pressure of the inner suction ring 122a1 is equal to the atmospheric pressure, and the suction effect fails. The inner suction ring 122a1 then detaches from the wall. Under the action of the rotation of the wheel assembly 120 and the detachment of the inner suction ring 122a1 from the wall, the outer suction ring 122a2 also detaches from the wall, effectively improving the suction effect and thus enhancing safety.

[0023] like Figures 2 to 5 As shown, the wheel cover 121 includes a wheel side plate 1211 and two wheel base plates 1212. The wheel side plate 1211 is connected between the two wheel base plates 1212. The main shaft 110 passes through the two wheel base plates 1212. The friction plate 140 and the air guide 150 are held between the two wheel base plates 1212. The wheel side plate 1211 surrounds the periphery of the friction plate 140 and the air guide 150 respectively. The suction cup 122 is disposed on the outer surface of the wheel side plate 1211.

[0024] One of the wheel base plates 1212 can be integrally connected to the wheel side plate 1211, and the other wheel base plate 1212 can be fastened to the wheel side plate 1211 to facilitate the arrangement of the friction plate 140 and the air guide 150 inside the wheel cover 121. Furthermore, the wheel base plates 1212 are respectively sleeved on the main shaft 110 via bearings 174, allowing the wheel cover 121 to rotate relative to the main shaft 110.

[0025] refer to Figure 5The suction cups 122 are divided into multiple groups, with each group of three suction cups 122 spaced apart along the outer circumference of the wheel side plate 1211. The wheel side plate 1211 has several circumferentially spaced conduit pipes 1211b inside, each connected to a bent pipe 1211c. The bent pipe 1211c is connected to the air guide channel 150a via a flexible hose, and each conduit pipe 1211b is connected to a group of suction cups 122. Therefore, the adsorption and detachment actions of the inner adsorption ring 122a1 of each group of suction cups 122 can be performed simultaneously, and similarly, the adsorption and detachment actions of the outer adsorption ring 122a2 of each group of suction cups 122 can also be performed simultaneously.

[0026] like Figure 1 and Figure 7 As shown, the suction cup 122 includes a suction cup rod 1221 connected to each other. The inner ring 122a1 of the suction cup is connected to the suction cup rod 1221, and the outer ring 122a2 of the suction cup surrounds the inner ring 122a1. The suction cup rod 1221 can be fixed to the wheel side plate 1211 by means of screws or other methods. The height of the suction cup 122 can be adjusted to increase maneuverability. The inner ring 122a1 and the outer ring 122a2 of the suction cup can be made of flexible material, with the middle part being elastic and able to slightly change angle. The suction cup rod 1221 can be a hollow structure. The inner ring 122a1 of the suction cup is directly connected to the suction cup rod 1221, and the suction cup rod 1221 is connected to the collection pipe 1211b to realize the connection between the inner ring 122a1 of the suction cup and the air guide channel 150a.

[0027] like Figure 2 and Figure 16 As shown, the spindle 110 includes: Shaft 111, the friction plate 140 and the air guide 150 are sleeved on the shaft 111; Step body 112 is connected to the outer wall of shaft body 111 and is located inside wheel cover 121. Friction plate 140 is fixed to step body 112 to form friction surface 140a on the side of friction plate 140 away from step body 112. The shaft 111 has a shaft channel 111a, which connects the end of the shaft 111 and the outer wall of the shaft 111, so as to form an opening 111a1 on the outer wall of the shaft 111 that connects to the friction plate channel 140b, and a port 111a2 on the end of the shaft 111, which is connected to the air pump 220 and the solenoid valve 230 in sequence.

[0028] The opening 111a1 of the shaft channel 111a is exposed on the outer wall of the shaft 111, and the shaft 111 exposes the opening 111a1 at the end of the shaft channel 111a, which is located away from the motor 130. The opening 111a1 is connected in sequence to the air pump 220 and the solenoid valve 230.

[0029] refer to Figure 1 Two sealing rings 175 are fitted between the friction plate 140 and the shaft 111, and the opening 111a1 is maintained between the two sealing rings 175 to ensure sealing. (Reference) Figure 16 The outer wall of the shaft 111 is provided with an annular groove 111b for accommodating the sealing ring 175.

[0030] like Figure 2 , Figures 8 to 11 As shown, the friction plate 140 has a friction groove 141 to form the friction surface 140a at the bottom of the friction groove 141, and the air guide 150 has an air guide boss 151 embedded in the friction groove 141. The friction plate channel 140b connects the inner wall of the friction plate 140 and the friction surface 140a, and the air guide channel 150a connects the outer wall of the air guide component 150 and the end face of the air guide boss 151.

[0031] refer to Figure 2 , Figure 11 and Figure 16 The friction plate 140 is fixed to the spindle 110. A friction plate annular platform 142 is provided on the side of the friction plate 140 away from the friction surface 140a. A step body 112 has a step body groove 113, and the friction plate annular platform 142 is embedded in the step body groove 113. The friction plate 140 and the step body 112 can be reinforced and fixed with bolts or other fasteners to improve structural stability. A friction plate threaded hole 143 is provided on the side of the friction plate 140 away from the friction surface 140a. The friction plate threaded hole 143 does not penetrate into the friction groove 141. A step body through hole 114 is provided on the step body 112 opposite to the friction plate threaded hole 143. The bolt passes through the step body through hole 114 and is screwed into the friction plate threaded hole 143 to fix the friction plate 140 and the spindle 110.

[0032] The friction plate channel 140b connects the inner wall of the friction plate 140 and the friction surface 140a. The friction plate channel 140b is exposed in the opening of the inner wall of the friction plate 140, which is correspondingly connected to the opening 111a1 of the shaft channel 111a, so that the friction plate channel 140b is connected to the shaft channel 111a.

[0033] like Figure 10 As shown, a friction recess 140c is provided on the friction surface 140a. The friction recess 140c is arc-shaped and has a shallow depth. The friction plate channel 140b is opened at the bottom of the friction recess 140c. It can be seen that when the air guide channel 150a rotates to face the friction recess 140c, the inner ring 122a1 of the suction cup can generate a suction force. The arc length of the friction recess 140c can define the suction time of the inner ring 122a1 of the suction cup. An atmospheric channel 140d is provided on each side of the friction recess 140c.

[0034] like Figures 12 to 15 As shown, the shapes of the air guide boss 151 and the friction groove 141 are matched, and both are annular. The air guide 150 is sleeved on the main shaft 110 and rotates relative to the friction plate 140.

[0035] refer to Figure 5 , Figure 14 and Figure 15 Several air guide channels 150a are arranged at circumferential intervals, and each group of suction cups 122 is arranged at circumferential intervals. The number of air guide channels 150a is equal to the number of suction cups 122 in each group. The air guide channels 150a and their corresponding groups of suction cups 122 are connected.

[0036] like Figure 2 , Figure 5 , Figure 6 , Figures 12 to 14 As shown, the roulette wheel assembly 120 further includes: A connecting plate 123 includes a plate body 1231 and a connecting platform 1232 connected to each other. The spindle 110 passes through the plate body 1231. The air guide 150 is held between the friction plate 140 and the plate body 1231. The air guide 150 has a receiving groove 150b on the side facing the plate body 1231. Each connecting platform 1232 is inserted into one of the receiving grooves 150b.

[0037] The air guide 150 is held between the friction plate 140 and the connecting plate 123. The connecting plate 123 inserts the connecting platform 1232 into the receiving groove 150b of the air guide 150, allowing the air guide 150 to rotate together with the wheel cover 121. (Reference) Figure 14 There are four receiving slots 150b, and the four receiving slots 150b are arranged at circumferential intervals.

[0038] refer to Figure 2 , Figure 5 and Figure 6 The wheel assembly 120 further includes: Several connecting rods 124 are provided. One of the wheel base plates 1212 is connected to the disc body 1231, and another wheel base plate 1212 and the disc body 1231 are connected by the connecting rod 124.

[0039] The disc body 1231 is circular, and its outer edge is provided with a plurality of auxiliary discs 1233. The auxiliary discs 1233 are used to connect the connecting rods 124, so that the connecting rods 124 surround the air guide 150 and the friction plate 140 respectively. The structural strength is improved by providing the connecting rods 124.

[0040] like Figure 2 As shown, the suction cup wheel structure further includes: A first spring 161 is sleeved on the main shaft 110 and abuts against the disc 1231 and the air guide 150. A second spring 162 is respectively fitted on each of the connecting platforms 1232, and the second spring 162 abuts between the disc body 1231 and the air guide 150.

[0041] Using the first spring 161 and the second spring 162, the air guide 150 is pressed onto the friction surface 140a of the friction plate 140, without affecting the rotation of the air guide 150 relative to the friction plate 140.

[0042] like Figure 2 , Figure 3 and Figure 4 As shown, the suction cup wheel structure further includes: A connecting plate 171 includes two vertical plates 1712 and a horizontal plate 1711. The horizontal plate 1711 is connected between the two vertical plates 1712. The main shaft 110 passes through the two vertical plates 1712. The wheel cover 121 and the motor 130 are held between the two vertical plates 1712. Two rod fixing members 172 are respectively sleeved on both ends of the main shaft 110, and the rod fixing members 172 are fixed to the outside of the vertical plate 1712; A drive shaft 173 is sleeved on the main shaft 110 and is drively connected to the motor 130 and the wheel cover 121.

[0043] The rod fixing member 172 can be fixed to the vertical plate 1712 by fasteners to fix the main shaft 110 to the connecting plate 171. The motor 130 can be a small servo motor, and the motor 130 is connected to the wheel cover 121 through the transmission shaft 173. (Reference) Figure 1 The horizontal plate 1711 is used to connect the main frame 300 of the UAV. By setting the connecting plate 171, a firm and stable installation is provided for the operation of the suction cup wheel structure.

[0044] refer to Figure 1 The air pump 220 can be a powerful micro air pump. The air pump 220 and the solenoid valve 230 are fixed on the main frame 300. An electrical board 240 and a holding cylinder 210 are also fixed on the main frame 300. The electrical board 240 controls the solenoid valve 230 as a switch, thereby controlling the air pump 220 to extract gas from the holding cylinder 210 connected to the adsorption inner ring 122a1. When the adsorption inner ring 122a1 needs to be adsorbed onto the wall, the electrical board 240 controls the solenoid valve 230 to open, thereby controlling the air pump 220 to extract gas from the holding cylinder 210, so that the pressure inside the holding cylinder 210 reaches a negative pressure. Since the holding cylinder 210 is connected to the adsorption inner ring 122a1, the adsorption inner ring 122a1 generates a negative pressure, which allows the adsorption inner ring 122a1 to be adsorbed onto the wall. The number of retaining cylinders 210 is not limited to two, and the retaining cylinders are connected to ensure that the gear train synchronization requirements are met when the pressure is low.

[0045] In summary, when a drone needs to climb or move on a vertical or inclined wall, the suction cup structure 100 utilizes the suction force of the suction cup and the friction of the tires to fix the drone to the wall, providing stable support and traction. The suction cup includes an inner suction ring 122a1 and an outer suction ring 122a2. The inner suction ring 122a1 is rotated relative to the friction plate 140 by a motor 130 through an air guide 150, causing the air guide channels 150a of the air guide 150 to respectively... The friction plate channel 140b and the atmospheric channel 140d of the friction plate 140 are connected. When the air guide channel 150a and the friction plate channel 140b are connected, under the action of the solenoid valve 230 and the holding cylinder 210, the inner adsorption ring 122a1 generates an adsorption force. At this time, the outer adsorption ring 122a2 generates an adsorption force along with the inner adsorption ring 122a1, and the gas in the outer adsorption ring 122a2 is discharged, thereby causing the outer adsorption ring 122a2 to generate an adsorption force towards the wall. When the air guide channel 150a and the atmospheric channel 140d are connected, the pressure of the inner adsorption ring 122a1 is equal to the atmospheric pressure, and the adsorption effect fails. The inner adsorption ring 122a1 then detaches from the wall, while the outer adsorption ring 122a2 detaches from the wall under the action of the rotation of the wheel assembly 120 and the detachment of the inner adsorption ring 122a1 from the wall. This effectively improves the adsorption effect and thus enhances safety.

[0046] Second Embodiment like Figure 1 As shown, the drone includes the suction cup wheel structure 100 of the above embodiment, and the drone also includes: The main frame 300 has the suction cup wheel structure 100 at its bottom and the air pump 220 and the solenoid valve 230 fixed on it. Rotor 400, which is fixed to the main frame 300.

[0047] The drone flies using the rotor 400. When the drone needs to climb or move on a vertical or inclined wall, the suction force of the suction cup structure 100 and the friction of the tires can be used to fix the drone to the wall, providing stable support and traction. Since the drone includes the suction cup structure 100, the beneficial effects of the drone are related to the suction cup structure 100.

[0048] refer to Figure 1The main frame 300 includes a square frame 310, two frame side plates 320, and at least one support plate 330. The two frame side plates 320 are respectively connected to two sets of opposite corners of the square frame 310, i.e., the two frame side plates 320 are arranged in an X-shape. The support plate 330 is connected at the intersection of the two frame side plates 320 and is used to fix the air pump 220 and the solenoid valve 230 on the support plate 330. While ensuring that the main frame 300 is lightweight, the overall thickness can also be reduced, making it suitable for operation in confined or hard-to-reach places, such as inside buildings or narrow spaces, for cleaning and maintaining high-altitude buildings, or for more comprehensive search and rescue missions.

[0049] like Figure 1 As shown, four rotors 400 are mounted on the upper surface of the main frame 300, respectively arranged at the four apex corners of the square-shaped main frame 300. Four suction wheel structures 100 are mounted on the lower surface of the main frame 300, also arranged at the four apex corners of the square-shaped main frame 300. Of course, the number of rotors 400 and suction wheel structures 100 can be different, arranged in different square configurations to adapt to different environments and tasks. For example, the number of suction wheel structures 100 can be increased according to differential speed, steering, and safety requirements. Furthermore, the motors of different suction wheel structures 100 can have different speeds.

[0050] Continue to refer to Figure 1 The drone also includes a camera 250 and a battery 260, etc. The camera 250 and the battery 260 are fixed on the main frame 300. The battery 260 can provide power for the drone to work, and the camera 250 is used to acquire images.

[0051] In addition, the suction cup wheel structure 100 can be equipped with a lifting component to achieve high-altitude obstacle crossing.

[0052] When the drone needs to climb a wall, it needs to move longitudinally and hover at the target position before landing at that position and being secured with a suction cup to perform the climbing motion. The drone's hovering first requires the drone to use sensors such as GPS or inertial measurement unit installed on the drone to determine its own position and shape. The controller receives data from the sensors, calculates the drone's position, attitude and speed, and sends control commands to the actuators. The "position control algorithm" is used to make the drone hover at the target position by utilizing the position error.

[0053] The drone's longitudinal movement is also controlled by the controller, which obtains the drone's position and attitude information from the sensors and uses an "altitude control algorithm" to calculate the pitch angle to be adjusted based on the current altitude difference. The controller then sends control commands to adjust the drone's actuator outputs to adjust and maintain the required lateral angle and move the drone.

[0054] When the drone moves longitudinally and hovers at the target location, it lands at the target location. The suction cup wheel structure is the core component for the drone to adhere to the wall and move along it. Specifically, the inner suction ring 122a1 and the outer suction ring 122a2 of the suction cup wheel structure work together to enhance adhesion, thereby improving safety and increasing flexibility. Simultaneously, the rotation of the suction cup wheel structure propels the drone to climb the wall in the desired direction. By precisely controlling the rotation speed and direction of the air guide 150, the adhesion effect of the outer suction cup can be precisely controlled and adjusted to meet various application requirements.

[0055] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The scope of patent application of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. A suction cup wheel structure (100), characterized in that, include: Main spindle (110); A wheel assembly (120) includes a wheel cover (121) and a plurality of suction cups (122). The wheel cover (121) is rotatably mounted on the main shaft (110). The plurality of suction cups (122) are spaced apart circumferentially along the wheel cover (121). Each suction cup (122) has an adsorption surface (122a) facing away from the wheel cover (121). An adsorption inner ring (122a1) and an adsorption outer ring (122a2) are provided on the adsorption surface (122a). A motor (130) is connected to the wheel cover (121) to drive the wheel assembly (120) to rotate relative to the main shaft (110); Friction plate (140), the friction plate (140) is fixed on the main shaft (110) and located inside the wheel cover (121), the friction plate (140) has a friction surface (140a), the friction surface (140a) is provided with a friction plate channel (140b) and an atmospheric channel (140d), the friction plate channel (140b) is connected in sequence to an air pump (220) and a solenoid valve (230). An air guide (150) is sleeved on the main shaft (110) and located inside the wheel cover (121). The air guide (150) has several circumferentially spaced air guide channels (150a). The adsorption inner ring (122a1) is connected to the air guide channels (150a). The air guide (150) is pressed on the friction surface (140a) of the friction plate (140) under the action of elasticity. The air guide (150) rotates together with the wheel assembly (120) so that each air guide channel (150a) is connected to the friction plate channel (140b) and the atmospheric channel (140d) respectively. The first spring (161) is sleeved on the main shaft (110) and abuts between the disc body (1231) and the air guide (150); A second spring (162) is fitted on each connecting platform (1232), and the second spring (162) abuts against the disc body (1231) and the air guide (150); The wheel cover (121) includes a wheel side plate (1211) and two wheel base plates (1212), wherein the wheel side plate (1211) is connected between the two wheel base plates (1212); The roulette wheel assembly (120) also includes: A connecting plate (123) includes a plate body (1231) and a connecting platform (1232) connected to each other. A plurality of connecting rods (124), one of the wheel base plates (1212) is connected to the disc body (1231), and another wheel base plate (1212) and the disc body (1231) are connected by the connecting rods (124); The spindle (110) passes through the disc body (1231), the air guide (150) is held between the friction plate (140) and the disc body (1231), and the air guide (150) has a receiving groove (150b) on the side facing the disc body (1231), and each connecting platform (1232) is inserted into one of the receiving grooves (150b); The spindle (110) includes: The shaft (111), the friction plate (140) and the air guide (150) are sleeved on the shaft (111); A step body (112) is connected to the outer wall of the shaft body (111) and is located inside the wheel cover (121). The friction plate (140) is fixed to the step body (112) to form the friction surface (140a) on the side of the friction plate (140) away from the step body (112). The step body (112) is provided with a step body groove (113), and the friction plate (140) is provided with a friction plate annular platform (142) on the side away from the friction surface (140a). The friction plate annular platform (142) is embedded in the step body groove (113), and the friction plate (140) and the step body (112) are fixed together by bolts.

2. The suction cup wheel structure (100) as described in claim 1, characterized in that, The main shaft (110) passes through the two wheel base plates (1212), the friction plate (140) and the air guide (150) are held between the two wheel base plates (1212), the wheel side plate (1211) surrounds the periphery of the friction plate (140) and the air guide (150) respectively, and the suction cup (122) is disposed on the outer surface of the wheel side plate (1211).

3. The suction cup wheel structure (100) as described in claim 1, characterized in that, The friction plate (140) has a friction groove (141) to form the friction surface (140a) at the bottom of the friction groove (141), and the air guide (150) has an air guide boss (151) embedded in the friction groove (141). The friction plate channel (140b) connects the inner wall of the friction plate (140) and the friction surface (140a), and the air guide channel (150a) connects the outer wall of the air guide (150) and the end face of the air guide boss (151).

4. The suction cup wheel structure (100) as described in claim 1, characterized in that, The shaft (111) has a shaft channel (111a) that connects the end of the shaft (111) and the outer wall of the shaft (111) to form an opening (111a1) on the outer wall of the shaft (111) that connects to the friction plate channel (140b), and a port (111a2) is formed on the end of the shaft (111). The port (111a2) is connected in sequence to the air pump (220) and the solenoid valve (230).

5. The suction cup wheel structure (100) as described in claim 1, characterized in that, Also includes: A connecting plate (171) includes two vertical plates (1712) and a horizontal plate (1711), the horizontal plate (1711) being connected between the two vertical plates (1712), the main shaft (110) passing through the two vertical plates (1712), and the wheel cover (121) and the motor (130) being held between the two vertical plates (1712); Two rod fixing members (172) are respectively sleeved on both ends of the main shaft (110), and the rod fixing members (172) are fixed to the outside of the vertical plate (1712); A drive shaft (173) is sleeved on the main shaft (110) and is drively connected to the motor (130) and the wheel cover (121).

6. A drone, characterized in that, Including the suction cup wheel structure (100) as described in any one of claims 1 to 5, the drone further includes: The main frame (300) has a suction cup wheel structure (100) at its bottom, and the air pump (220) and the solenoid valve (230) are fixed on the main frame (300). Rotor (400), which is fixed to the main frame (300).

7. The UAV as described in claim 6, characterized in that, The main frame (300) includes a square frame (310), two frame side plates (320) and at least one support plate (330). The two frame side plates (320) are respectively connected to two sets of opposite corners of the square frame (310). The support plate (330) is connected at the intersection of the two frame side plates (320) and is used to fix the air pump (220) and the solenoid valve (230) on the support plate (330).

8. The drone as described in claim 6, characterized in that, Also includes: A camera (250) is fixed to the main frame (300).

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