Four-rotor two-wheel type wall climbing aircraft

Abstract

The invention belongs to the technical field of ground-air dual-purpose robots, and relates to a four-rotor two-wheel type wall climbing aircraft which comprises a rotor module, a wall climbing module, a motion control module, a suspension module and a main body rack. According to the wall climbing module, upward wall climbing power is provided through driving wheel driving and suspension design to achieve the wall climbing function, modular design is adopted for the main body rack, different functional modules can be rapidly combined, and the multi-scene rescue requirement is met. By integrating the wall climbing stability performance of the wall climbing module and the flight capacity of the rotor wing module, the unmanned aerial vehicle can smoothly switch from the flight attitude to the wall climbing mode to realize wall climbing, climbing and other tasks, and has great application potential in wall detection, unmanned aerial vehicle inspection, unmanned aerial vehicle investigation, unmanned aerial vehicle disaster search and rescue and other scenes.

Description

Technical Field

[0001] The invention belongs to the technical field of ground-air dual-purpose robots and relates to a four-rotor two-wheel wall-climbing aircraft. Background Art

[0002] In recent years, with the rapid development of robotics and drone technology, traditional quadcopters have high mobility in the air and are suitable for tasks such as inspection, rescue and exploration, but are limited by battery life and adaptability to complex terrain. Two-wheeled robots have flexible ground mobility and are suitable for narrow spaces and ground environments with many obstacles, but cannot cope with complex terrain such as vertical walls. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention proposes an aircraft that combines a quad-rotor with a two-wheel wall-climbing function. The aircraft provides aerial maneuverability through the rotor module, and the wall-climbing module enables it to move on a vertical wall, thereby achieving seamless switching between the ground and air environments, expanding the application scenarios of the robot, and is particularly suitable for inspection, rescue and exploration tasks in complex environments. It has the characteristics of high efficiency, reliability, and easy maintenance. The specific technical solution is as follows: A four-rotor two-wheel wall-climbing aircraft, comprising a rotor module, a wall-climbing module, a motion control module, a suspension module and a main frame, wherein the rotor modules are mounted at the four corners of the main frame to provide lift in the air and horizontal thrust when sticking to a wall; the wall-climbing modules are mounted on both sides of the main frame to provide power support for climbing on the wall; the motion control module is mounted at the center of the main frame to obtain sensor data and connect the rotor module and the wall-climbing module through signal control to control the attitude of the aircraft; the suspension module is mounted on the center line of the main frame to enable the aircraft to land smoothly on the wall.

[0004] Furthermore, the main frame is made of lightweight carbon fiber material and has a hollow design structure, including an upper frame and a lower frame, and the upper frame and the lower frame are connected by copper columns.

[0005] Furthermore, the rotor module includes a propeller and a brushless motor, the brushless motor is fixed to the lower frame by screws, and the propeller is fixedly connected to the output end of the brushless motor and is located below the upper frame.

[0006] Furthermore, the suspension module is a symmetrical structure, installed on the center line of the upper frame, and the structure includes: a joint bearing, a sleeve, a hinge, and a universal wheel. The universal wheel is provided with a tire connecting shaft and the hinge, sleeve and joint bearing are installed and connected on both sides of it in sequence through the tire connecting shaft, and the joint bearing is fixed to the upper frame by screws.

[0007] Furthermore, a spring is arranged in the sleeve and is elastically connected to the hinge and the joint bearing by means of the spring.

[0008] Furthermore, the wall climbing module and the universal wheel constitute a chassis model of the differential vehicle, so as to realize operations such as upright walking and turning on the wall.

[0009] Furthermore, the wall climbing module includes a flange, a sticky tire, a servo signal conversion board and a bus servo. The bus servo and the sticky tire are connected via a flange. The servo signal conversion board is responsible for converting the control signal from the motion control module into an operating instruction for the bus servo.

[0010] Furthermore, the motion control module includes a flight control and a shock absorbing bracket, and the flight control is installed on the shock absorbing bracket.

[0011] Furthermore, the motion control module uses an embedded control system to control the rotor module and the wall climbing module, so that the aircraft can switch between the aerial flight mode and the wall climbing mode, and adjust the flight path and climbing angle according to the sensor data.

[0012] The advantages and beneficial effects of the present invention are: The four-rotor two-wheel wall-climbing aircraft of the present invention can flexibly switch between flying in the air and climbing vertical walls. It combines the maneuverability of the four-rotor with the strong ground adaptability of the two-wheel wall-climbing system, expanding the application scope of the robot in complex environments. The aircraft will adjust the thrust on the vertical plane according to the characteristics of the wall and environmental changes to ensure that the aircraft can stably perform operations on the wall. At the same time, because the suspension module can largely solve the unevenness of the wall and overcome the impact force of the wall when switching from flight mode to climbing mode, the aircraft is particularly suitable for tasks such as inspection, rescue and exploration, especially for performing difficult tasks on vertical walls and complex obstacle environments, providing a more efficient and reliable solution, greatly enhancing the actual value of the robot in multi-scenario applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 2 is a schematic diagram of the structure of a four-rotor two-wheel wall-climbing aircraft according to an embodiment of the present invention; Figure 2 yes Figure 1 Bottom view of Figure 3 Schematic diagram of the structure of the wall climbing module of the robot in an embodiment of the present invention; Figure 4 is a schematic structural diagram of a suspension module of a robot in an embodiment of the present invention; Explanation of the reference numerals: 1. upper frame, 2. brushless motor, 3. servo signal conversion board, 4. spherical bearing, 5. sleeve, 6. hinge, 7. tire link shaft, 8. universal wheel, 9. sticky tire, 10. flange, 11. propeller, 12. lower frame, 13. shock-absorbing bracket, 14. aluminum column, 15. bus servo, 16. flight control. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical scheme and technical effect of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0015] like Figures 1 to 4 As shown, a four-rotor two-wheel wall-climbing aircraft according to an embodiment of the present invention includes a main frame, a rotor module, a wall-climbing module, a motion control module and a suspension module. The rotor modules are installed at the four corners of the main frame to provide lift and thrust in the air; the wall-climbing module is installed on both sides of the main frame to provide power support for climbing on the wall; the motion control module is installed at the center of the main frame to obtain sensor data and connect the rotor module and the wall-climbing module through signal control to control the attitude of the aircraft; the suspension module is installed on the center line of the main frame to enable the aircraft to land on the wall smoothly.

[0016] The main frame adopts a modular design and a double-layer copper column connection structure, including an upper frame 1 and a lower frame 12, and the two frames are connected by copper columns. The whole is made of lightweight carbon fiber material and has a hollow design, which reduces the weight of the drone and improves the endurance performance.

[0017] The rotor module is installed at the four corners of the main frame to provide lift and thrust in the air. The rotor module includes a propeller 11 and a brushless motor 2. The brushless motor 2 is fixed to the lower frame 12 by screws. The propeller 11 is fixedly connected to the output end of the brushless motor 2, and the upper frame 1 protects the propeller 11 to a certain extent. In this embodiment, the upper frame 1 is processed with 3mm carbon fiber material. Since the lower frame 12 is directly installed and connected with the brushless motor, 4mm carbon fiber material is used to increase strength.

[0018] refer to Figure 3 The wall climbing module is installed on both sides of the main frame, including flange 10, sticky tire 9, servo signal conversion board 3 and bus servo 15. The servo signal conversion board 3 is responsible for converting the control signal from the motion control module into precise servo operation instructions to ensure smooth and stable movement of the aircraft on the wall. Through this series of cooperation, the wall climbing module can provide stable power support for the aircraft, ensuring its smooth movement on the vertical plane and completing complex tasks in different environments.

[0019] The suspension module is a symmetrical structure and is installed on the center line of the upper frame 1. Figure 4 , including: a joint bearing 4, a sleeve 5, a hinge 6, and a universal wheel 8. The universal wheel 8 is provided with a tire connecting shaft 7, and the hinge 6, the sleeve 5 and the joint bearing 4 are sequentially installed and connected on both sides thereof through the tire connecting shaft 7, and the joint bearing 4 is fixed to the upper frame 1 by screws. When the aircraft contacts the wall, the thrust provided by the propeller 11 will directly act on the structure of the aircraft. In order to reduce this impact force and protect the equipment, a spring is arranged in the sleeve 5, and the spring will be compressed as the thrust increases, thereby effectively absorbing the impact force and achieving buffering. This design can smoothly transition the contact process of the aircraft and avoid damage or instability of the aircraft structure due to sudden impact.

[0020] The motion control module is located at the center of the main frame, including a flight control 16 and a shock-absorbing bracket 13. The flight control 16 is installed on the shock-absorbing bracket 13 to effectively reduce the impact of vibration on the stability of the equipment. The motion control module realizes the attitude detection and control of the drone, and reduces the impact of vibration during flight through the shock-absorbing bracket 13; the motion control module realizes the full-automatic flight control of the aircraft through the embedded control system, and can flexibly capture sensor data and judge the conditions for mode switching, thereby controlling the brushless motor 2 and the bus servo 15 to realize the switching between the wall climbing mode and the flight mode, and adjust the flight path and climbing angle. For example, when approaching the wall plane, the rotor module will be controlled to adjust the thrust direction and size to achieve rapid wall adhesion, and the suspension module will be used to achieve stable wall landing. Finally, the wall climbing module is called, and based on the chassis model of the differential car composed of the wall climbing module and the universal wheels in the suspension module, the tasks of upright walking and turning on the wall are completed.

[0021] In summary, the aircraft of the present invention has a main frame with a modular design, which can quickly combine different functional modules to meet the rescue needs of multiple scenarios. Its rotor module realizes lift in the air and horizontal thrust output when sticking to the wall through the motion control module, and the wall climbing module provides the aircraft with upward climbing power to realize the wall climbing function through the coordinated design of the active wheel drive and the suspension module. By integrating the wall climbing stability performance of the wall climbing module and the flight ability of the rotor module, the present invention can smoothly switch from the flight posture to the wall climbing mode to realize tasks such as wall climbing and crawling, and has great application potential in scenarios such as wall detection, drone inspection, drone survey, and drone disaster search and rescue.

[0022] The above is only a preferred implementation case of the present invention and does not limit the present invention in any form. Although the implementation process of the present invention is described in detail above, for those familiar with the art, they can still modify the technical solutions recorded in the above examples, or replace some of the technical features therein with equivalents. All modifications, equivalent replacements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A four-rotor two-wheel wall-climbing aircraft, comprising a rotor module, a wall-climbing module, a motion control module, a suspension module and a main frame, characterized in that: The rotor modules are installed at the four corners of the main frame to provide lift in the air and horizontal thrust when sticking to the wall; the wall-climbing module is installed on both sides of the main frame to provide power support for climbing on the wall; the motion control module is installed at the center of the main frame to obtain sensor data and connect the rotor module and the wall-climbing module through signal control to control the attitude of the aircraft; the suspension module is installed on the center line of the main frame to ensure the smooth landing of the aircraft on the wall.

2. A four-rotor two-wheel wall-climbing aircraft as claimed in claim 1, characterized in that: The main frame is made of lightweight carbon fiber material and has a hollow design structure, comprising an upper frame (1) and a lower frame (12), wherein the upper frame (1) and the lower frame (12) are connected via copper columns.

3. A four-rotor two-wheel wall-climbing aircraft as claimed in claim 2, characterized in that: The rotor module comprises a propeller (11) and a brushless motor (2); the brushless motor (2) is fixed to the lower frame (12) by means of screws; the propeller (11) is fixedly connected to the output end of the brushless motor (2) and is located below the upper frame (1).

4. A four-rotor two-wheel wall-climbing aircraft as claimed in claim 2, characterized in that: The suspension module is a symmetrical structure, mounted on the center line of the upper frame (1), and comprises: a joint bearing (4), a sleeve (5), a hinge (6), and a universal wheel (8). The universal wheel (8) is provided with a tire link shaft (7) and the hinge (6), the sleeve (5), and the joint bearing (4) are sequentially mounted and connected on both sides of the universal wheel through the tire link shaft (7), and the joint bearing (4) is fixed to the upper frame (1) by screws.

5. A four-rotor two-wheel wall-climbing aircraft as claimed in claim 4, characterized in that: A spring is arranged in the sleeve (5) and is elastically connected to the hinge (6) and the joint bearing (4) by means of the spring.

6. A four-rotor two-wheel wall-climbing aircraft as claimed in claim 4, characterized in that: The wall climbing module and the universal wheel constitute a chassis model of the differential vehicle.

7. A four-rotor two-wheel wall-climbing aircraft as claimed in claim 1, characterized in that: The wall climbing module comprises a flange (10), a sticky tire (9), a steering engine signal conversion board (3) and a bus steering engine (15); the bus steering engine (15) and the sticky tire (9) are connected via the flange (10); and the steering engine signal conversion board (3) converts a control signal from the motion control module into an operating instruction for the bus steering engine 15.

8. The four-rotor two-wheel wall-climbing aircraft according to claim 1, characterized in that: The motion control module comprises a flight control (16) and a shock absorbing bracket (13), wherein the flight control (16) is mounted on the shock absorbing bracket (13).

9. A four-rotor two-wheel wall-climbing aircraft as claimed in claim 1, characterized in that: The motion control module uses an embedded control system to control the rotor module and the wall climbing module, so that the aircraft can switch between the air flight mode and the wall climbing mode, and adjust the flight path and climbing angle according to the sensor data.

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