Triphibian multi-mode wall-climbing robot

Abstract

The invention relates to the technical field of robots, provides a water-land-air triphibian multi-mode wall-climbing robot, and aims to solve the problems that a traditional four-propeller unmanned aerial vehicle is generally only suitable for air flight, single in motion form and incapable of executing tasks in complex environments such as ground and water surface operation, vertical wall surfaces or narrow spaces. Comprising a first housing; the second shell is arranged on one side of the first shell, and the second shell and the first shell are combined to form a surrounding ring; the fixed machine body is arranged in the surrounding ring and is connected with the first shell; the movable machine body is arranged in the surrounding ring and is connected with the second shell; the fixed end of the overturning driver is arranged on the fixed machine body, the driving end of the overturning driver is connected with the movable machine body, and the overturning driver is used for driving the second shell to rotate relative to the first shell; and the first connecting seat is arranged below the fixed machine body and is in sliding connection with the first shell.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to an amphibious multimodal wall-climbing robot. Background Art

[0002] Traditional quad-propeller drones have good flight capabilities, but their functions are limited to aerial flight and cannot adapt to ground or water operations. In ground and underwater applications, additional equipment is usually required, such as wheeled or tracked robots, or the robot structure needs to be set up very complexly, which greatly increases the equipment cost of the robot. In addition, traditional quad-propeller drones are difficult to adapt to special environments such as vertical walls or narrow spaces, limiting their scope of application in multi-field tasks.

[0003] Therefore, how to design a simple robot that can be used for flying in the air, operating on the ground, on the water, and on vertical walls or in narrow spaces is an urgent problem to be solved in this application. Summary of the invention

[0004] The purpose of the present application is to provide a multi-modal wall-climbing robot that is amphibious on land, in water and in the air, so as to solve the problem that traditional four-propeller drones are generally only suitable for aerial flight, have a single movement form, and cannot perform tasks in complex environments such as ground, water operations, vertical walls or narrow spaces.

[0005] To achieve the above objectives, the technical solution adopted in the first aspect of the embodiment of the present application is: A multi-modal wall-climbing robot capable of amphibious operations on land, water and air, comprising: first shell; A second housing is disposed on one side of the first housing and is combined with the first housing to form a surrounding ring; A fixed body, which is disposed in the surrounding ring and connected to the first shell; A movable body is disposed in the surrounding circle and connected to the second outer shell; A flip driver, whose fixed end is arranged on the fixed body, and whose driving end is connected to the movable body and is used to drive the second housing to rotate relative to the first housing; A first connecting seat is disposed below the fixed body and is slidably connected to the first housing; A connecting rod, one end of which is hinged to the second housing, and the other end of which is hinged to an end of the first connecting seat away from the first housing; A wheel assembly is arranged on the first connecting seat; the second shell is flipped relative to the first shell by the driving of the flipping driver, and the flipped second shell drives the connecting rod to rotate, so as to drive the wheel assembly on the first connecting seat to extend out of the surrounding circle or retract into the surrounding circle.

[0006] According to the above-mentioned amphibious multi-modal wall-climbing robot, the fixed body includes: A second connecting seat is arranged in the middle of the surrounding ring, and a fixed end of the flip driver is arranged on the second connecting seat; A plurality of first rotary arms, one end of each of which is connected to the first housing, and the other end of each of which is connected to the second connecting seat; The movable body comprises a plurality of second rotary arms, one end of each of the second rotary arms is connected to the driving end of the flip driver, and the other end of each of the second rotary arms is connected to the second shell.

[0007] According to the above-mentioned amphibious multimodal wall-climbing robot, the second swing arm corresponds to the first swing arm one-to-one, and the second swing arm and the corresponding first swing arm are symmetrically arranged with respect to the center point of the orbiting circle and are located in the same horizontal plane.

[0008] According to the amphibious multimodal wall-climbing robot described above, the second connecting seat includes an upper base plate and a lower base plate, the lower base plate is arranged directly below the upper base plate, one end of the first swing arm is respectively connected to the upper base plate and the lower base plate, the fixed end of the flipping driver is located on the other side of the first swing arm and is connected to the upper base plate and the lower base plate, a plurality of notch grooves are opened on the side of the second connecting seat close to the flipping driver, the second swing arm is arranged in the corresponding notch grooves, and is connected to the driving end of the flipping driver.

[0009] According to the above-mentioned amphibious multi-modal wall-climbing robot, the multi-modal wall-climbing robot also includes: A plurality of propeller assemblies are correspondingly arranged on the first rotary arm or the second rotary arm.

[0010] According to the above-mentioned amphibious multi-modal wall-climbing robot, the propeller assembly includes: A driving member and, which is arranged at an end of the corresponding first swing arm away from the first connecting seat, or an end of the corresponding second swing arm away from the linkage rod; The propeller is arranged on the driving end of the corresponding driving member.

[0011] According to the above-mentioned amphibious multi-modal wall-climbing robot, the first housing is provided with a first installation slot, and the multi-modal wall-climbing robot further comprises: The guide rail assembly is arranged in the first installation groove and connected to the first connecting seat.

[0012] According to the above-mentioned amphibious multi-modal wall-climbing robot, the guide rail assembly includes: Two guide rails, which are respectively arranged on two sides of the first mounting groove; Two sliders are slidably arranged on corresponding guide rails, and the first connecting seats are connected to the two sliders; Two limit blocks are arranged at one end of the corresponding guide rail facing away from the first mounting groove and are connected to the first connecting seat.

[0013] For the amphibious multi-modal wall-climbing robot described above, the first connecting seat includes: Two first bending parts are respectively arranged on both sides of the first connecting seat, and the wheel assembly is arranged at one end of the first bending part; A rib, both ends of which are respectively connected to the first bending parts on both sides, two sliders and two limit blocks are respectively connected to both sides of the rib, and the end of the rib facing away from the guide rail has an inner cavity; A connecting rod is arranged on the inner cavity, and the linkage rod is hinged to the end of the connecting rod facing away from the inner cavity; Wherein, the slider is connected to the outermost end of the rib close to the first mounting groove, and the length of the rib is less than the length of the guide rail.

[0014] For the amphibious multi-modal wall-climbing robot described above, a relief groove is arranged at one end of the linkage rod close to the first connecting seat, and a plurality of second mounting grooves are formed on the first outer shell. The wheel assembly includes: A plurality of wheels are arranged at one end of the corresponding first bending part facing away from the rib.

[0015] The beneficial effects of an amphibious multi-modal wall-climbing robot provided by the present application are at least as follows: In the present application, the movable fuselage is driven to rotate by a flipping driver, and the second outer shell connected to the movable fuselage rotates relative to the first outer shell. In this way, the second outer shell will rotate to a posture in which it flips upward, is flush with, or flips downward relative to the first outer shell, thereby forming a flight mode, a single-wheel land rolling mode, a double-wheel land mode, a wall-climbing mode, or a water surface mode. Correspondingly, when the second outer shell rotates relative to the first outer shell, since the linkage rod on the second outer shell is hinged to the first connecting seat, and the first connecting seat is also slidably connected to the second outer shell, when the second outer shell rotates relative to the first outer shell, it will drive the first connecting seat and the wheel assembly on the first connecting seat to slide relative to the first outer shell, and make the wheel assembly extend out of the surrounding circle or retract into the surrounding circle to adapt to the operating states of each mode and ensure a smooth transition between each mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1Schematic diagram of one angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the wall-climbing mode.

[0018] Figure 2 Schematic diagram of another angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the wall-climbing mode.

[0019] Figure 3 Schematic diagram of yet another angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the wall-climbing mode.

[0020] Figure 4 Schematic diagram of one angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the flight mode.

[0021] Figure 5 Schematic diagram of one angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the single-wheel land rolling mode.

[0022] Figure 6 Schematic diagram of one angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the two-wheel land mode.

[0023] Figure 7 Schematic diagram of another angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the two-wheel land mode.

[0024] Figure 8 Schematic diagram of yet another angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the two-wheel land mode.

[0025] Figure 9 Schematic diagram of one angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the water mode.

[0026] Figure 10 Schematic diagram of another angle of a multi-modal wall-climbing robot that can operate on land, water, and air provided by an embodiment of the present application when the multi-modal wall-climbing robot is in the water mode.

[0027] Among them, the reference numerals in the figure: 1. First outer shell; 11. First installation groove; 12. Second installation groove; 2. Second outer shell; 3. Fixed fuselage; 31. Second connection seat; 311. Notch groove; 32. First swing arm; 4. Movable fuselage; 41. Second swing arm; 5. Flip drive; 6. First connection seat; 61. First bent part; 62. Rib; 63. Connecting rod; 7. Link rod; 71. Relief groove; 81. Wheel; 9. Propeller assembly; 91. Driving part; 92. Propeller; 10. Guide rail assembly; 101. Guide rail; 102. Slide block; 103. Limit block. Detailed implementation manners

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly or indirectly located on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component. The orientations or positions indicated by the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positions shown in the accompanying drawings, and are only for the convenience of description and cannot be construed as limiting the technical solutions of the present application. The terms "first" and "second" are only used for the purpose of convenient description and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. The meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0030] Traditional quadcopter drones have good flight capabilities, but their functions are limited to flying in the air and cannot adapt to ground or water operations. In ground and underwater applications, additional equipment such as wheeled or tracked robots is usually required, or the robot structure needs to be made very complex, which greatly increases the equipment cost of the robot. In addition, traditional quadcopter drones are difficult to adapt to special environments such as vertical walls or narrow spaces, restricting their application scope in multi-field tasks.

[0031] Therefore, how to design a simple robot that can be applied to air flight, ground, water surface, and vertical wall or narrow space operations at the same time is an urgent problem to be solved in the present application.

[0032] For this purpose, refer to Figure 1 and Figure 2The embodiment of the present application provides an amphibious multimodal wall-climbing robot, comprising a first shell 1, a second shell 2, a fixed body 3, a movable body 4, a flip driver 5, a first connecting seat 6, a connecting rod 7 and a wheel assembly, wherein the second shell 2 is arranged on one side of the first shell 1 and is combined with the first shell 1 to form a surrounding ring, the fixed body 3 is arranged in the surrounding ring and is connected to the first shell 1, the movable body 4 is arranged in the surrounding ring and is connected to the second shell 2, the fixed end of the flip driver 5 is arranged on the fixed body 3, and the driving end of the flip driver 5 is connected to the first connecting seat 6, the connecting rod 7 and the ... the fixed body 3, and the driving end of the flip driver 5 is connected to the first connecting seat 6, the connecting rod 7 and the wheel assembly, wherein the second shell 2 is arranged on the fixed body 3, and the driving end of the flip driver 5 is connected to the first connecting seat 6, the connecting rod 7 and the wheel assembly, wherein the second shell 2 is arranged on the fixed body 3, and the driving end of the flip driver 5 is connected to the first connecting seat 6, the connecting rod 7 and the wheel assembly, wherein the second shell 2 is arranged on the fixed body 3, and the driving end of the flip driver 5 is connected to the first connecting seat 6, the connecting rod 7 and the wheel assembly, wherein the second shell 2 is arranged on the fixed body 3, and the The movable body 4 is connected and is used to drive the second shell 2 to rotate relative to the first shell 1. The first connecting seat 6 is arranged below the fixed body 3 and is slidably connected to the first shell 1. One end of the connecting rod 7 is hinged to the second shell 2, and the other end is hinged to the end of the first connecting seat 6 away from the first shell 1. The wheel assembly is arranged on the first connecting seat 6. The second shell 2 is flipped relative to the first shell 1 by the driving of the flipping driver 5. The flipped second shell 2 drives the connecting rod 7 to rotate to drive the wheel assembly on the first connecting seat 6 to extend out of the surrounding circle or retract into the surrounding circle.

[0033] In this embodiment, the movable body 4 is driven to rotate by the flip driver 5, and the second shell 2 connected to the movable body 4 is driven to rotate relative to the first shell 1. In this way, the second shell 2 will rotate to a posture in which it is flipped upward, flush or flipped downward relative to the first shell 1, thereby forming a flight mode, a single-wheel land rolling mode, a double-wheel land mode, a wall climbing mode or a water surface mode. Correspondingly, when the second shell 2 rotates relative to the first shell 1, since the connecting rod 7 on the second shell 2 is hinged to the first connecting seat 6, and the first connecting seat 6 is slidingly connected to the second shell 2, when the second shell 2 rotates relative to the first shell 1, the first connecting seat 6 and the wheel assembly on the first connecting seat 6 will be driven to slide relative to the first shell 1, and the wheel assembly will be extended out of the surrounding circle or retracted into the surrounding circle to adapt to the operating state of each mode and ensure a smooth transition between the modes.

[0034] Optional, see Figure 2 In one embodiment, both the first shell 1 and the second shell 2 can be configured as arc-shaped hard foam shells, and the shape of the first shell 1 is larger than that of the second shell 2. In this embodiment, the first shell 1 and the second shell 2 are configured as hard foam shells, which can provide buoyancy support to ensure the floating stability of the multimodal wall-climbing robot in the water surface mode. At the same time, the hard foam shell has sufficient rigidity to withstand the impact and pressure in the single-wheel land rolling mode. The combination of the first shell 1 and the second shell 2 can also be used as a single wheel to provide a ground motion mode for the multimodal wall-climbing robot, which is suitable for flexible movement in narrow spaces, so that the robot has higher adaptability and flexibility in ground tasks.

[0035] Optional, seeFigure 1 and Figure 2 In one embodiment, the fixed fuselage 3 includes a second connection seat 31 and a plurality of first rotating arms 32. The second connection seat 31 is disposed at the middle of the surrounding ring. The fixed end of the flipping driver 5 is disposed on the second connection seat 31. One end of each of the plurality of rotating arms is connected to the first housing 1, and the other end is connected to the second connection seat 31.

[0036] Optionally, referring to Figure 1 and Figure 2 In one embodiment, the movable fuselage 4 includes a plurality of second rotating arms 41. One end of each of the plurality of second rotating arms 41 is connected to the driving end of the flipping driver 5, and the other end is connected to the second housing 2. In this embodiment, driven by the flipping driver 5, the second rotating arms 41 are flipped, so as to drive the second housing 2 connected to the second rotating arms 41 to flip relative to the first housing 1.

[0037] Optionally, referring to Figure 5 In one embodiment, the surrounding ring can be set as a circle. The second rotating arms 41 and the first rotating arms 32 are in one-to-one correspondence. Based on the center point of the surrounding ring, the second rotating arms 41 and the corresponding first rotating arms 32 are symmetrically arranged and located on the same horizontal plane. Since the second rotating arms 41 and the first rotating arms 32 in this embodiment are provided with drivable propellers 92, by symmetrically arranging the second rotating arms 41 and the corresponding first rotating arms 32 and locating them on the same horizontal plane, it is convenient to control the motion form of the multi-modal wall-climbing robot.

[0038] Optionally, in one embodiment, both the first rotating arms 32 and the second rotating arms 41 can be set as lightweight carbon fiber rotating arms. By setting both the first rotating arms 32 and the second rotating arms 41 as lightweight carbon fiber rotating arms in this embodiment, it not only has high strength, but also can significantly reduce the mass, thereby improving the flexibility and controllability of the aircraft. Moreover, the lightweight design enables the multi-modal wall-climbing robot to fly more stably and efficiently in the air, and also reduces the energy consumption.

[0039] Optionally, referring to Figure 4 and Figure 5 In one embodiment, the plurality of first rotating arms 32 are arranged on the same horizontal plane. Correspondingly, the plurality of second rotating arms 41 are arranged on the same horizontal plane. By the above arrangement in this embodiment, it is further convenient to control the motion form of the multi-modal wall-climbing robot.

[0040] Optionally, referring to Figure 5, in one embodiment, the second connection base 31 includes an upper base plate (not shown in the figure) and a lower base plate (not shown in the figure). The lower base plate is disposed directly below the upper base plate. One end of the first swing arm 32 is connected to both the upper base plate and the lower base plate. The fixed end of the flipping driver 5 is located on the other side of the first swing arm 32 and is connected to both the upper base plate and the lower base plate. That is to say, the upper base plate is connected to the lower base plate through the first swing arm 32 and the flipping driver 5. On one side of the second connection base 31 close to the flipping driver 5, a plurality of notch grooves 311 are formed. The second swing arm 41 is disposed in the corresponding notch grooves 311 and is connected to the driving end of the flipping driver 5.

[0041] In this embodiment, by setting the second connection base 31 in a manner that the upper base plate is connected to the lower base plate, not only can a certain accommodation space be provided between the upper base plate and the lower base plate, but also the upper surface of the upper base plate and the lower surface of the lower base plate can be used as the accommodation space for installing other parts. The structure is simple and highly practical. Moreover, in this embodiment, by providing the notch grooves 311, not only can the second swing arm 41 be accommodated, but also the extra occupied space of the second swing arm 41 can be saved. When the flipping driver 5 drives the second swing arm 41 to rotate, the second swing arm 41 has sufficient space for operation, which is convenient and practical.

[0042] Optionally, referring to Figure 5 , in one embodiment, both the upper base plate and the lower base plate can be set in a convex shape, and the thickness of the lower base plate is greater than that of the upper base plate. In this embodiment, by setting the thickness of the lower base plate to be greater than that of the upper base plate, not only the weight of the second connection base 31 can be balanced, but also the center of gravity of the second connection base 31 can be lowered, improving the structural stability of the second connection base 31.

[0043] Optionally, referring to Figure 1 , in one embodiment, the multi-modal wall-climbing robot further includes a plurality of propeller assemblies 9. The plurality of propeller assemblies 9 are correspondingly disposed on the first swing arm 32 or the second swing arm 41. That is to say, the number of the propeller assemblies 9 is equal to the sum of the numbers of the first swing arm 32 and the second swing arm 41. That is to say, one propeller assembly 9 is disposed on each first swing arm 32 and each second swing arm 41.

[0044] Optionally, referring to Figure 1 , in one embodiment, the propeller assembly 9 includes a driving member 91 and a propeller 92. The driving member 91 is disposed at one end of the corresponding first swing arm 32 away from the first connection base 6, or at one end of the corresponding second swing arm 41 away from the linkage rod 7. The propeller 92 is disposed on the driving end of the corresponding driving member 91. In this embodiment, the driving member 91 drives the propeller 92 to rotate to achieve lifting, hovering, translation, and attitude adjustment through the propeller 92.

[0045] Optionally, referring to Figure 1 andFigure 2 In one embodiment, the driving member 91 is disposed at the middle of the corresponding first swing arm 32 away from one end of the first connecting seat 6, or at the middle of the corresponding second swing arm 41 away from one end of the linkage rod 7. In this embodiment, by disposing the driving member 91 at the middle of the corresponding first swing arm 32 or the corresponding second swing arm 41, the control of the motion form of the multi-modal wall-climbing robot can be further facilitated.

[0046] Optionally, in one embodiment, the driving member 91 can be set as a brushless motor.

[0047] Optionally, refer to Figure 1 In one embodiment, two second swing arms 41 are provided, and the flipping driver 5 can be set as a servo motor with bidirectional rotation.

[0048] Optionally, refer to Figure 2 and Figure 8 In one embodiment, the first housing 1 is provided with a first installation groove 11. The multi-modal wall-climbing robot further includes a guide rail assembly 10. The guide rail assembly 10 is disposed in the first installation groove 11 and is connected to the first connecting seat 6. In this embodiment, by providing the guide rail assembly 10, the first connecting seat 6 is slidably connected to the first housing 1.

[0049] Optionally, refer to Figure 2 , Figure 4 and Figure 8 In one embodiment, the guide rail assembly 10 includes two guide rails 101 and two sliders 102. The two guide rails 101 are respectively disposed on both sides of the first installation groove 11. The slider 102 is slidably disposed on the corresponding guide rail 101. The first connecting seat 6 is connected to both sliders 102.

[0050] Optionally, refer to Figure 2 , Figure 4 and Figure 8 In one embodiment, the guide rail assembly 10 further includes two limit blocks 103. The limit blocks 103 are disposed at one end of the corresponding guide rail 101 away from the first installation groove 11 and are connected to the first connecting seat 6. In this embodiment, by providing the limit blocks 103, the slider 102 can be prevented from detaching from the guide rail 101 at one end of the guide rail 101 away from the first installation groove 11.

[0051] Optionally, refer to Figure 2 and Figure 4, in one embodiment, the first connecting seat 6 includes two first bending portions 61, a rib 62, and a connecting rod 63. The two first bending portions 61 are respectively disposed on both sides of the first connecting seat 6. The wheel assembly is disposed at one end of the first bending portion 61. The two ends of the rib 62 are respectively connected to the first bending portions 61 on both sides. The two sliders 102 and the two limiting blocks 103 are respectively connected to both sides of the rib 62. The end of the rib 62 facing away from the guide rail 101 has an inner cavity (not shown in the figure). The connecting rod 63 is disposed on the inner cavity. The linkage rod 7 is hinged to the end of the connecting rod 63 facing away from the inner cavity.

[0052] Optionally, referring to Figure 8 , in one embodiment, the first connecting seat 6 can be set to be similar to an "E" shape. Wherein, the slider 102 is connected to the outermost end of the rib 62 close to the first mounting groove 11, and the length of the rib 62 is less than the length of the guide rail 101. With the above settings in this embodiment, it is possible to prevent the slider 102 from detaching from the guide rail 101 at the end of the guide rail 101 close to the first mounting groove 11.

[0053] Optionally, referring to Figure 1 and Figure 8 , in one embodiment, a relief groove 71 is provided at one end of the linkage rod 7 close to the first connecting seat 6. By providing the relief groove 71 in this embodiment, when the linkage rod 7 rotates, there is space for the second connecting seat 31 above it, so as to prevent the linkage rod 7 from colliding with the second connecting seat 31 during rotation and affecting the movement of the linkage rod 7.

[0054] Optionally, referring to Figure 2 、 Figure 4 and Figure 8 , in one embodiment, a plurality of second mounting grooves 12 are provided on the first housing 1. The wheel assembly includes a plurality of wheels 81. The wheels 81 are disposed at the end of the corresponding first bending portion 61 facing away from the rib 62, and are driven by the flipping driver 5 to drive the wheels 81 to extend out of the first mounting groove 11 or retract into the first housing 1.

[0055] Optionally, referring to Figure 1 and Figure 2 , in one embodiment, the multi-modal wall-climbing robot further includes a control board (not shown in the figure) and a power module (not shown in the figure). The control board is disposed between the upper bottom plate and the lower bottom plate. The control board is electrically connected to the flipping driver 5 and the driving member 91 respectively. The power module is disposed on the end face of the lower bottom plate facing away from the upper bottom plate and is connected to the control board. The power module is used to supply power to the control board.

[0056] It should be noted that when the second housing 2 is folded (rotated) upward or downward, the linkage rod 7 on the second housing 2 will drive the first connecting seat 6 to slide relative to the first housing 1, thereby driving the wheel 81 on the first connecting seat 6 to slide, realizing the telescopic function of the wheel 81 (extending out of the first mounting groove 11 or retracting into the first housing 1). In this embodiment, through mechanical coupling, the bending action of the propeller 92 is associated with the telescopic movement of the wheel 81. When the multi-modal wall-climbing robot switches to the two-wheel land mode or the wall-climbing mode, the propeller 92 can be bent and the wheel 81 can be telescoped simultaneously to ensure a smooth transition of the attitude adjustment.

[0057] The working principle of the multi-modal wall-climbing robot capable of operating in water, land, and air in this embodiment: When the flipping driver 5 does not control the second housing 2 to flip, the multi-modal wall-climbing robot is in the flight mode and the single-wheel land rolling mode. In the flight mode, refer to Figure 4 , based on the coordinated operation of the four propellers 92, each propeller 92 is driven by a corresponding driving member 91 and is divided into two groups. Two propellers 92 on one diagonal rotate clockwise, and two propellers 92 on the other diagonal rotate counterclockwise. By adjusting the rotation speed of each propeller 92, the multi-modal wall-climbing robot can achieve lifting, moving forward, backward, left, and right, as well as rotation. When ascending, the thrust of all propellers 92 increases; when descending, the thrust of all propellers 92 decreases; by increasing the rotation speed of one group of propellers 92 and decreasing the rotation speed of the other group of propellers 92, the pitch, roll, and yaw of the multi-modal wall-climbing robot can be controlled; In the single-wheel land rolling mode, refer to Figure 5 , movement is achieved through the low-speed rotation of the four propellers 92. Specifically, it is similar to the yaw movement of a drone. When the rotation speed of two propellers 92 on the diagonal increases, a reverse torque will be generated, and this torque is sufficient to push the multi-modal wall-climbing robot to roll without generating enough thrust to knock it down. This design enables the multi-modal wall-climbing robot to move as a roller on the ground. By controlling the rotation speed difference of the propellers 92, the multi-modal wall-climbing robot can achieve flexible clockwise or counterclockwise rolling, thus rolling freely in a narrow or complex ground environment.

[0058] When the flipping driver 5 controls the second housing 2 to flip to one side, it can be switched to the two-wheel land mode. In the two-wheel land mode, refer to Figure 6 , Figure 7 and Figure 8The multimodal wall-climbing robot mainly relies on the two propellers 92 near the wheels 81 to provide lift to prevent the rear side from contacting the ground. At the same time, the folded propellers 92 are mainly used to provide horizontal thrust to push the multimodal wall-climbing robot forward. By adjusting the thrust of the two folded propellers 92, the turning control of the multimodal wall-climbing robot can be achieved, and the coordination of lift and thrust can be accurately controlled, so that the multimodal wall-climbing robot can move quickly and flexibly on the ground.

[0059] When the flip driver 5 controls the second housing 2 to flip to one side at a certain angle, when the angle is between 0-90° and the wheel 81 is fully extended out of the second mounting slot 12, the system can switch to the wall climbing mode. In the wall climbing mode, refer to Figure 1 , Figure 2 and Figure 3 , mainly relying on the folded propeller 92 to provide the oblique downward thrust, the horizontal component of the thrust makes the multimodal wall-climbing robot cling to the wall, and the vertical component of the thrust works together with the propeller 92 near the wheel 81 to balance the gravity. This thrust adjustment ensures that the multimodal wall-climbing robot can be firmly attached to the vertical wall without slipping. At the same time, by adjusting the thrust difference of the propeller 92, the multimodal wall-climbing robot can control its own moving direction and achieve steering.

[0060] When the angle is equal to 90°, you can switch to the surface mode. In the surface mode, refer to Figure 9 and Figure 10 , the second housing 2 is completely immersed in the water, the first housing 1 provides sufficient buoyancy to keep the multimodal wall-climbing robot on the water surface, and the thrust generated by the propeller 92 close to the wheel 81 helps it to float stably on the water surface. The wheel 81 under the water surface is responsible for providing propulsion to push the multimodal wall-climbing robot forward, and the forward direction can also be changed by adjusting the thrust difference of the propeller 92 under the water surface.

[0061] In summary, the present application provides a multimodal wall-climbing robot that is amphibious on land, in water and in the air, comprising a first shell 1, a second shell 2, a fixed body 3, a movable body 4, a flip driver 5, a first connecting seat 6, a connecting rod 7 and a wheel assembly. The second shell 2 is arranged on one side of the first shell 1 and is combined with the first shell 1 to form a surrounding circle. The fixed body 3 is arranged in the surrounding circle and is connected to the first shell 1. The movable body 4 is arranged in the surrounding circle and is connected to the second shell 2. The flip driver 5 has a fixed end arranged on the fixed body 3, and a driving end of the flip driver 5 is connected to the movable body 4 and is used to drive the second shell 2 to rotate relative to the first shell 1. The first connecting seat 6 is arranged below the fixed body 3 and is slidably connected to the first shell 1. One end of the connecting rod 7 is hinged to the second shell 2, and the other end is hinged to one end of the first connecting seat 6 away from the first shell 1. The wheel assembly is arranged on the first connecting seat 6.

[0062] In this application, the movable fuselage 4 is driven to rotate by the flipping driver 5, and the second housing 2 connected to the movable fuselage 4 is driven to rotate relative to the first housing 1. In this way, the second housing 2 will rotate to a posture where it flips upward, is flush with, or flips downward relative to the first housing 1, thereby forming a flight mode, a single-wheel land rolling mode, a double-wheel land mode, a wall-climbing mode, or a water surface mode. Correspondingly, when the second housing 2 rotates relative to the first housing 1, since the linkage rod 7 on the second housing 2 is hinged to the first connecting seat 6, and the first connecting seat 6 is also slidably connected to the second housing 2, when the second housing 2 rotates relative to the first housing 1, it will drive the first connecting seat 6 and the wheel assembly on the first connecting seat 6 to slide relative to the first housing 1, and make the wheel assembly extend outside the surrounding circle or retract inside the surrounding circle to adapt to the operating states of each mode and ensure a smooth transition between each mode.

[0063] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-modal wall-climbing robot capable of operating on land, water, and air, characterized in that, include: first shell; A second housing is disposed on one side of the first housing and is combined with the first housing to form a surrounding ring; A fixed body, which is disposed in the surrounding ring and connected to the first shell; A movable body, which is disposed in the surrounding circle and connected to the second shell; A flip driver, a fixed end of which is disposed on the fixed body, a driving end of which is connected to the movable body and is used to drive the second housing to rotate relative to the first housing; A first connecting seat, which is disposed below the fixed body and is slidably connected to the first shell; A connecting rod, one end of which is hinged to the second housing, and the other end of which is hinged to an end of the first connecting seat away from the first housing; A wheel assembly, which is arranged on the first connecting seat; The flip driver drives the second housing to flip relative to the first housing, and the flipped second housing drives the linkage rod to rotate, so as to drive the wheel assembly on the first connecting seat to extend out of the surrounding circle or retract into the surrounding circle.

2. The multi-modal wall-climbing robot capable of operating on land, in water and in air according to claim 1, wherein, The fixed fuselage comprises: A second connecting seat, which is arranged in the middle of the surrounding ring, and the fixed end of the flip actuator is arranged on the second connecting seat; A plurality of first rotary arms, one end of each of which is connected to the first housing, and the other end of each of which is connected to the second connecting seat; The movable body comprises a plurality of second rotary arms, one end of each of the plurality of second rotary arms is connected to the driving end of the flip actuator, and the other end of each of the plurality of second rotary arms is connected to the second housing.

3. The multi-modal wall-climbing robot capable of operating on land, water and air according to claim 2, wherein, The second spiral arm corresponds to the first spiral arm one by one, and the second spiral arm is symmetrically arranged with respect to the corresponding first spiral arm along the center point of the orbit as a reference, and is located in the same horizontal plane.

4. The amphibious and multimodal wall-climbing robot capable of operating on land, in water, and in the air according to claim 2, wherein, The second connecting seat includes an upper base plate and a lower base plate, the lower base plate is arranged directly below the upper base plate, one end of the first swing arm is respectively connected to the upper base plate and the lower base plate, the fixed end of the flip driver is located on the other side of the first swing arm, and is connected to the upper base plate and the lower base plate, and a plurality of notch grooves are provided on a side of the second connecting seat close to the flip driver, the second swing arm is arranged in the corresponding notch grooves, and is connected to the driving end of the flip driver.

5. The multi-modal wall-climbing robot capable of operating on land, water, and air according to claim 2, wherein The multimodal wall-climbing robot also includes: A plurality of propeller assemblies are correspondingly arranged on the first rotary arm or the second rotary arm.

6. The amphibious and multimodal wall-climbing robot capable of operating on land, in water, and in the air according to claim 5, wherein The propeller assembly comprises: A driving member and, which is arranged at an end of the corresponding first swing arm away from the first connecting seat, or an end of the corresponding second swing arm away from the connecting rod; The propeller is arranged on the driving end of the corresponding driving member.

7. The amphibious and multimodal wall-climbing robot capable of operating on land, in water and in the air according to claim 1, wherein, The first housing is provided with a first mounting slot, and the multimodal wall-climbing robot further comprises: The guide rail assembly is arranged in the first installation groove and connected to the first connecting seat.

8. The amphibious and multimodal wall-climbing robot capable of operating on land, in water, and in the air according to claim 7, wherein, The guide rail assembly comprises: Two guide rails, which are respectively arranged on two sides of the first mounting groove; Two sliders are slidably disposed on the corresponding guide rails, and the first connecting seat is connected to the two sliders; Two limit blocks are arranged on the ends of the corresponding guide rails away from the first installation slot and connected to the first connecting seat.

9. The amphibious and multimodal wall-climbing robot capable of operating on land, in water, and in the air according to claim 8, wherein, The first connection base comprises: Two first bending parts, which are respectively arranged on both sides of the first connecting seat, and the wheel assembly is arranged on one end of the first bending part; A convex strip, two ends of which are respectively connected to the first bending portions on both sides, the two sliders and the two limit blocks are respectively connected to the two sides of the convex strip, and the end of the convex strip away from the guide rail has an inner cavity; A connecting rod, which is arranged on the inner cavity, and the linkage rod is hinged to an end of the connecting rod away from the inner cavity; Wherein, the sliding block is connected to the end of the convex strip close to the first mounting groove, and the length of the convex strip is smaller than the length of the guide rail.

10. The multi-modal wall-climbing robot capable of operating on land, in water, and in the air according to claim 9, wherein, The end of the linkage rod close to the first connection seat is provided with a clearance groove, the first housing is provided with a plurality of second installation grooves, and the wheel assembly comprises: A plurality of wheels are arranged at the corresponding end of the first bending portion away from the convex strip.

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