A multi-modal wall-climbing robot that can operate on land, water, and air

Abstract

The present application relates to the field of robotics technology and provides a multi-modal wall-climbing robot capable of amphibious operations on land, water, and air. The invention aims to solve the problem that conventional four-propeller drones are generally only suitable for air flight, have a single motion form, and are unable to perform tasks in complex environments such as ground or water operations, vertical walls, or narrow spaces. The invention comprises: a first shell; a second shell, which is arranged on one side of the first shell and is combined with the first shell to form a surrounding ring; a fixed fuselage, which is arranged in the surrounding ring and connected to the first shell; a movable fuselage, which is arranged in the surrounding ring and connected to the second shell; a flip driver, whose fixed end is arranged on the fixed fuselage, and whose driving end is connected to the movable fuselage and is used to drive the second shell to rotate relative to the first shell; and a first connecting seat, which is arranged below the fixed fuselage and is slidably connected to the first shell.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a multimodal wall-climbing robot that is amphibious and capable of climbing on land, water, and air. Background Art

[0002] Traditional quad-propeller drones offer excellent flight capabilities, but their capabilities are limited to aerial flight and are not adaptable to ground or surface operations. Ground and underwater applications often require additional equipment, such as wheeled or tracked robots, or require complex robot configurations, significantly increasing equipment costs. Furthermore, traditional quad-propeller drones struggle to adapt to specialized environments like vertical walls or confined spaces, limiting their application across a wide range of missions.

[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 narrow spaces is an urgent problem that needs to be solved in this application. Summary of the Invention

[0004] The purpose of this application is to provide a multimodal wall-climbing robot that is amphibious and can climb walls in water, on land, and in air, so as to solve the problem that traditional four-propeller drones are generally only suitable for air 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:

[0006] A multimodal wall-climbing robot capable of amphibious operations on land, water, and air, comprising:

[0007] first shell;

[0008] A second housing is provided on one side of the first housing and is combined with the first housing to form a surrounding ring;

[0009] a fixed body disposed within the surrounding ring and connected to the first housing;

[0010] a movable body disposed within the surrounding ring and connected to the second housing;

[0011] A flip driver, whose fixed end is disposed 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;

[0012] A first connecting seat is provided below the fixed body and is slidably connected to the first housing;

[0013] 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 base facing away from the first housing;

[0014] 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 flip driver, and the flipped second shell drives the connecting rod to rotate, thereby driving the wheel assembly on the first connecting seat to extend out of the surrounding circle or retract into the surrounding circle.

[0015] According to the above-mentioned amphibious multimodal wall-climbing robot, the fixed body includes:

[0016] A second connecting seat is provided in the middle of the surrounding ring, and a fixed end of the flip driver is provided on the second connecting seat;

[0017] 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 base;

[0018] 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.

[0019] According to the above-described amphibious multimodal wall-climbing robot, the second rotary arm corresponds one-to-one to the first rotary arm. Taking the center point of the orbiting circle as a reference, the second rotary arm and the corresponding first rotary arm are symmetrically arranged and located in the same horizontal plane.

[0020] According to the above-described amphibious multimodal wall-climbing robot, 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 connected to the upper base plate and the lower base plate respectively, 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 opened on the 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.

[0021] According to the above-mentioned amphibious multimodal wall-climbing robot, the multimodal wall-climbing robot further includes:

[0022] A plurality of propeller assemblies are correspondingly arranged on the first rotary arm or the second rotary arm.

[0023] According to the above-mentioned amphibious multimodal wall-climbing robot, the propeller assembly includes:

[0024] A driving member is provided at an end of the corresponding first rotary arm away from the first connecting seat, or at an end of the corresponding second rotary arm away from the linkage rod;

[0025] The propeller is arranged on the driving end of the corresponding driving member.

[0026] According to the above-described amphibious multimodal wall-climbing robot, the first housing is provided with a first mounting slot, and the multimodal wall-climbing robot further comprises:

[0027] The guide rail assembly is arranged in the first installation groove and connected to the first connecting seat.

[0028] According to the above-mentioned amphibious multimodal wall-climbing robot, the guide rail assembly includes:

[0029] Two guide rails, which are respectively arranged on both sides of the first mounting groove;

[0030] Two sliders are slidably arranged on corresponding guide rails, and the first connecting seat is connected to the two sliders;

[0031] Two limiting blocks are arranged on one end of the corresponding guide rail away from the first installation groove and are connected to the first connecting seat.

[0032] According to the above-mentioned amphibious multimodal wall-climbing robot, the first connecting base includes:

[0033] Two first bending portions are respectively arranged on both sides of the first connecting seat, and the wheel assembly is arranged on one end of the first bending portion;

[0034] The convex strip has two ends connected to the first bending portions on both sides respectively, the two sliders and the two limit blocks are connected to the two sides of the convex strip respectively, and the end of the convex strip away from the guide rail has an inner cavity;

[0035] A connecting rod is provided on the inner cavity, and the linkage rod is hinged to an end of the connecting rod facing away from the inner cavity;

[0036] The sliding block is connected to the end portion of the protruding strip close to the first mounting groove, and the length of the protruding strip is smaller than the length of the guide rail.

[0037] According to the multimodal wall-climbing robot capable of amphibious operations, a clearance groove is provided at one end of the linkage rod close to the first connecting seat, a plurality of second mounting grooves are provided on the first housing, and the wheel assembly includes:

[0038] A plurality of wheels are arranged at one end of the corresponding first bending portion away from the convex strip.

[0039] The multi-modal wall-climbing robot provided by the present application has at least the following beneficial effects:

[0040] In the present application, the movable fuselage is driven to rotate by a flipping drive, and the second shell connected to the movable fuselage is driven to rotate relative to the first shell. In this way, the second shell will rotate to a posture in which it is flipped upward, flush or flipped downward relative to the first 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. Accordingly, when the second shell rotates relative to the first shell, since the connecting rod on the second shell is hinged to the first connecting seat, and the first connecting seat is slidingly connected to the second shell, when the second shell rotates relative to the first shell, it will drive the first connecting seat and the wheel assembly on the first connecting seat to slide relative to the first shell, and make the wheel assembly extend out of the surrounding circle or retract into the surrounding circle to adapt to the operating status of each mode and ensure a smooth transition between adjustments of each mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 This is a structural schematic diagram of one angle of a multimodal wall-climbing robot in an amphibious, land, and air embodiment of the present application when the multimodal wall-climbing robot is in wall-climbing mode.

[0043] Figure 2 A schematic structural diagram from another angle of a multimodal wall-climbing robot that is amphibious and capable of climbing on land, water, and air provided in an embodiment of the present application when the multimodal wall-climbing robot is in wall-climbing mode.

[0044] Figure 3 A structural schematic diagram of another angle of a multimodal wall-climbing robot in an amphibious multimodal wall-climbing robot provided in an embodiment of the present application when the multimodal wall-climbing robot is in wall-climbing mode.

[0045] Figure 4 This is a structural schematic diagram of one angle of a multimodal wall-climbing robot in flight mode provided in an embodiment of the present application.

[0046] Figure 5 This is a structural schematic diagram of one angle of a multimodal wall-climbing robot that is amphibious on land, water and air provided in an embodiment of the present application when the multimodal wall-climbing robot is in a single-wheel land rolling mode.

[0047] Figure 6A schematic structural diagram of one angle of a multimodal wall-climbing robot in a two-wheeled land mode provided in an embodiment of the present application.

[0048] Figure 7 A schematic structural diagram of another angle of a multimodal wall-climbing robot in a two-wheeled land mode provided in an embodiment of the present application.

[0049] Figure 8 A structural schematic diagram of another angle of a multimodal wall-climbing robot that is amphibious and can climb on land, water, and air provided in an embodiment of the present application when the multimodal wall-climbing robot is in a two-wheeled land mode.

[0050] Figure 9 This is a structural schematic diagram of one angle of a multimodal wall-climbing robot in an amphibious, land, and air mode provided in an embodiment of the present application when the multimodal wall-climbing robot is in a water surface mode.

[0051] Figure 10 This is a structural schematic diagram from another angle of a multimodal wall-climbing robot that is amphibious and can climb on land, water, and air, provided in an embodiment of the present application, when the multimodal wall-climbing robot is in water surface mode.

[0052] Among them, the reference numerals in the figures are:

[0053] 1. First shell; 11. First mounting slot; 12. Second mounting slot; 2. Second shell; 3. Fixed body; 31. Second connecting seat; 311. Notch slot; 32. First swing arm; 4. Movable body; 41. Second swing arm; 5. Flip actuator; 6. First connecting seat; 61. First bending portion; 62. Raised strip; 63. Connecting rod; 7. Linking rod; 71. Giving slot; 81. Wheel; 9. Propeller assembly; 91. Driving member; 92. Propeller; 10. Guide rail assembly; 101. Guide rail; 102. Slider; 103. Limit block. DETAILED DESCRIPTION

[0054] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is 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 this application and are not intended to limit this application.

[0055] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0056] Traditional quad-propeller drones offer excellent flight capabilities, but their capabilities are limited to aerial flight and are not adaptable to ground or surface operations. Ground and underwater applications often require additional equipment, such as wheeled or tracked robots, or require complex robot configurations, significantly increasing equipment costs. Furthermore, traditional quad-propeller drones struggle to adapt to specialized environments like vertical walls or confined spaces, limiting their application across a wide range of missions.

[0057] 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 narrow spaces is an urgent problem that needs to be solved in this application.

[0058] For this purpose, see Figure 1 and Figure 2 The embodiment of the present application provides a multimodal wall-climbing robot capable of amphibious operation on land, water and 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 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 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 slidingly 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. By driving the flipping driver 5, the second shell 2 is flipped relative to the first shell 1. 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.

[0059] 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. Accordingly, 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, it will drive the first connecting seat 6 and the wheel assembly on the first connecting seat 6 to slide relative to the first shell 1, and make the wheel assembly extend out of the surrounding circle or retract into the surrounding circle to adapt to the operating state of each mode and ensure a smooth transition between adjustments of each mode.

[0060] 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, with the outer shape of the first shell 1 being 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 and ensure the stability of the multimodal wall-climbing robot floating 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 serve as a single wheel, providing a ground motion mode for the multimodal wall-climbing robot, which is suitable for flexible movement in narrow spaces, making the robot more adaptable and flexible in ground tasks.

[0061] Optional, see Figure 1 and Figure 2 In one embodiment, the fixed body 3 includes a second connecting seat 31 and a plurality of first rotating arms 32. The second connecting seat 31 is arranged in the middle of the surrounding circle. The fixed end of the flip driver 5 is arranged on the second connecting seat 31. One end of the plurality of rotating arms is connected to the first shell 1, and the other end is connected to the second connecting seat 31.

[0062] Optional, see Figure 1 and Figure 2 In one embodiment, the movable body 4 includes a plurality of second rotating arms 41, each of which has one end connected to the driving end of the flip actuator 5 and the other end connected to the second housing 2. In this embodiment, the flip actuator 5 drives the second rotating arms 41 to flip, thereby causing the second housing 2 connected to the second rotating arms 41 to flip relative to the first housing 1.

[0063] Optional, see Figure 5In one embodiment, the encircling ring can be configured as a circle, with the second encircling arm 41 corresponding one-to-one with the first encircling arm 32. With the center point of the encircling ring as a reference, the second encircling arm 41 and the corresponding first encircling arm 32 are symmetrically arranged and located in the same horizontal plane. Because the second encircling arm 41 and the first encircling arm 32 of this embodiment are provided with drivable propellers 92, by arranging the second encircling arm 41 and the corresponding first encircling arm 32 symmetrically and in the same horizontal plane, the motion configuration of the multimodal wall-climbing robot can be easily controlled.

[0064] Optionally, in one embodiment, the first swing arm 32 and the second swing arm 41 can be configured as lightweight carbon fiber swing arms. This embodiment not only has high strength but also significantly reduces weight by configuring the first swing arm 32 and the second swing arm 41 as lightweight carbon fiber swing arms, thereby improving the flexibility and maneuverability of the aircraft. Moreover, the lightweight design enables the multimodal wall-climbing robot to be more stable and efficient when flying in the air, while also reducing energy consumption.

[0065] Optional, see Figure 4 and Figure 5 In one embodiment, several first rotary arms 32 are arranged on the same horizontal plane, and correspondingly, several second rotary arms 41 are arranged on the same horizontal plane. Through the above arrangement, this embodiment can further facilitate the control of the motion form of the multimodal wall-climbing robot.

[0066] Optional, see Figure 5 In one embodiment, the second connecting 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 arranged directly below the upper base plate, one end of the first rotary arm 32 is connected to the upper base plate and the lower base plate respectively, and the fixed end of the flip driver 5 is located on the other side of the first rotary arm 32 and is connected to the upper base plate and the lower base plate, that is, the upper base plate is connected to the lower base plate through the first rotary arm 32 and the flip driver 5, and a plurality of notches 311 are opened on the side of the second connecting base 31 close to the flip driver 5, and the second rotary arm 41 is arranged in the corresponding notches 311 and is connected to the driving end of the flip driver 5.

[0067] This embodiment arranges the second connecting seat 31 to connect the upper base plate and the lower base plate, which not only allows the upper base plate and the lower base plate to have a certain accommodation space, but also the upper surface of the upper base plate and the lower surface of the lower base plate can be used as accommodation space for installing other parts. The structure is simple and practical. Moreover, this embodiment provides the notch groove 311, which not only makes way for the second swing arm 41, but also saves the extra space occupied by the second swing arm 41. When the flip driver 5 drives the second swing arm 41 to rotate, the second swing arm 41 has enough space for operation, which is convenient and practical.

[0068] Optional, see Figure 5 In one embodiment, both the upper base plate and the lower base plate can be set to a convex shape, and the thickness of the lower base plate is greater than that of the upper base plate. This embodiment not only balances the weight of the second connecting seat 31, but also lowers the center of gravity of the second connecting seat 31, thereby improving the structural stability of the second connecting seat 31 by setting the thickness of the lower base plate to be greater than that of the upper base plate.

[0069] Optional, see Figure 1 In one embodiment, the multimodal wall-climbing robot further includes a plurality of propeller assemblies 9, and the plurality of propeller assemblies 9 are correspondingly arranged on the first swing arm 32 or the second swing arm 41, that is, the number of propeller assemblies 9 is equal to the sum of the number of the first swing arm 32 and the second swing arm 41, that is, each first swing arm 32 and each second swing arm 41 is provided with a propeller assembly 9.

[0070] Optional, see Figure 1 In one embodiment, the propeller assembly 9 includes a driving member 91 and a propeller 92. The driving member 91 is arranged at the end of the corresponding first swing arm 32 away from the first connecting seat 6, or the end of the corresponding second swing arm 41 away from the connecting rod 7. The propeller 92 is arranged on the driving end of the corresponding driving member 91. In this embodiment, the propeller 92 is driven to rotate by the driving member 91 to achieve lifting, hovering, translation and attitude adjustment through the propeller 92.

[0071] Optional, see Figure 1 and Figure 2 In one embodiment, the driving member 91 is arranged on the middle part of the end of the corresponding first swing arm 32 away from the first connecting seat 6, or on the middle part of the end of the corresponding second swing arm 41 away from the connecting rod 7. By arranging the driving member 91 on the middle part of the corresponding first swing arm 32 or the corresponding second swing arm 41, this embodiment can further facilitate the control of the motion form of the multimodal wall-climbing robot.

[0072] Optionally, in one embodiment, the driving member 91 may be configured as a brushless motor.

[0073] Optional, see Figure 1 In one embodiment, two second rotary arms 41 are provided, and the flip drive 5 can be provided as a servo with bidirectional rotation.

[0074] Optional, see Figure 2 and Figure 8 In one embodiment, the first housing 1 defines a first mounting slot 11. The multimodal wall-climbing robot further includes a guide rail assembly 10 disposed within the first mounting slot 11 and connected to the first connecting base 6. In this embodiment, the guide rail assembly 10 is provided to achieve a sliding connection between the first connecting base 6 and the first housing 1.

[0075] Optional, see 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 arranged on both sides of the first mounting groove 11. The sliders 102 are slidably arranged on the corresponding guide rails 101. The first connecting seat 6 is connected to the two sliders 102.

[0076] Optional, see Figure 2 、 Figure 4 and Figure 8 In one embodiment, the guide rail assembly 10 further includes two limit blocks 103, which are arranged on the end of the corresponding guide rail 101 away from the first mounting groove 11 and connected to the first connecting seat 6. By setting the limit block 103, this embodiment can prevent the slider 102 from detaching from the guide rail 101 from the end of the guide rail 101 away from the first mounting groove 11.

[0077] Optional, see Figure 2 and Figure 4 In one embodiment, the first connecting seat 6 includes two first bending portions 61, a convex strip 62 and a connecting rod 63. The two first bending portions 61 are respectively arranged on both sides of the first connecting seat 6, the wheel assembly is arranged on one end of the first bending portion 61, the two ends of the convex strip 62 are respectively connected to the first bending portions 61 on both sides, the two sliders 102 and the two limit blocks 103 are respectively connected to the two sides of the convex strip 62, the end of the convex strip 62 away from the guide rail 101 has an inner cavity (not shown in the figure), the connecting rod 63 is arranged on the inner cavity, and the connecting rod 7 is hinged to the end of the connecting rod 63 away from the inner cavity.

[0078] Optional, see Figure 8 In one embodiment, the first connecting base 6 can be configured to be similar to an "E" shape. The slider 102 is connected to the end of the protrusion 62 near the first mounting groove 11, and the length of the protrusion 62 is less than the length of the guide rail 101. This configuration prevents the slider 102 from detaching from the guide rail 101 at the end near the first mounting groove 11.

[0079] Optional, see Figure 1 and Figure 8 In one embodiment, a clearance groove 71 is provided at one end of the connecting rod 7 close to the first connecting seat 6. By providing the clearance groove 71, this embodiment can provide space for the second connecting seat 31 above the connecting rod 7 when the connecting rod 7 rotates, thereby preventing the connecting rod 7 from colliding with the second connecting seat 31 during rotation and affecting the movement of the connecting rod 7.

[0080] Optional, see Figure 2 、 Figure 4 and Figure 8 In one embodiment, a plurality of second mounting grooves 12 are provided on the first housing 1, and the wheel assembly includes a plurality of wheels 81. The wheels 81 are arranged at the end of the corresponding first bending portion 61 away from the protrusion 62, and are driven by the flip driver 5 to extend out of the first mounting groove 11 or retract into the first housing 1.

[0081] Optional, see Figure 1 and Figure 2 In one embodiment, the multimodal wall-climbing robot further includes a control board (not shown in the figure) and a power supply module (not shown in the figure). The control board is arranged between the upper base plate and the lower base plate, and the control board is electrically connected to the flip driver 5 and the driving member 91 respectively. The power supply module is arranged on the end surface of the lower base plate facing away from the upper base plate and is connected to the control board. The power supply module is used to supply power to the control board.

[0082] It is worth noting that when the second shell 2 is folded upward or downward (rotated), the connecting rod 7 on the second shell 2 will drive the first connecting seat 6 to slide relative to the first shell 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 slot 11 or retracting into the first shell 1). This embodiment uses mechanical coupling to link the bending action of the propeller 92 with the telescopic movement of the wheel 81. When the multimodal wall-climbing robot switches to the two-wheel land mode or wall-climbing mode, the propeller 92 can be bent and the wheel 81 can be extended and retracted at the same time, ensuring a smooth transition of posture adjustment.

[0083] The working principle of the multi-modal wall-climbing robot of this embodiment is as follows: when the flip driver 5 does not control the second shell 2 to flip, the multi-modal wall-climbing robot is in the flight mode and the single-wheel land rolling mode. Figure 4 Based on the coordinated operation of four propellers 92, each driven by a corresponding drive element 91, the propellers 92 are divided into two groups. The two propellers 92 on the diagonal of one group rotate clockwise, while the two propellers 92 on the diagonal of the other group rotate counterclockwise. By adjusting the speed of each propeller 92, the multimodal wall-climbing robot can achieve lifting, forward and backward movement, left and right movement, and rotation. When rising, the thrust of all propellers 92 increases; when descending, the thrust of all propellers 92 decreases. By increasing the speed of one group of propellers 92 and reducing the speed of another group of propellers 92, the pitch, roll, and yaw of the multimodal wall-climbing robot can be controlled.

[0084] In single wheel land rolling mode, refer to Figure 5, movement is achieved through the low-speed rotation of four propellers 92. Specifically, it is similar to the yaw motion of a drone. When the speed of the two propellers 92 on the diagonal line increases, a reverse torque is generated. This torque is sufficient to push the multimodal wall-climbing robot to roll without generating enough thrust to push it over. This design enables the multimodal wall-climbing robot to move on the ground as a roller. By controlling the speed difference of the propellers 92, the multimodal wall-climbing robot can achieve flexible clockwise or counterclockwise rolling, thereby rolling freely in narrow or complex ground environments.

[0085] When the flip 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 8 The multimodal wall-climbing robot primarily relies on two propellers 92 near wheels 81 to provide lift, preventing the rear side from contacting the ground. Simultaneously, the folded propellers 92 primarily provide horizontal thrust, propelling the multimodal wall-climbing robot forward. By adjusting the thrust of the two folded propellers 92, the multimodal wall-climbing robot can be maneuvered around corners, precisely controlling the coordination of lift and thrust, enabling the multimodal wall-climbing robot to quickly and flexibly navigate the ground.

[0086] 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 degrees 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 The folded propellers 92 are primarily responsible for providing downward thrust. The horizontal component of this thrust keeps the multimodal wall-climbing robot clinging to the wall, while the vertical component of this thrust, working in conjunction with the propellers 92 located near the wheels 81, counteracts gravity. This thrust adjustment ensures the multimodal wall-climbing robot remains firmly attached to the vertical wall, preventing it from sliding. Furthermore, by adjusting the thrust differential between the propellers 92, the multimodal wall-climbing robot can control its direction of movement and achieve steering.

[0087] When the angle is equal to 90°, it can be switched to surface mode. In surface mode, refer to Figure 9 and Figure 10 When the second housing 2 is completely submerged in the water, the first housing 1 provides sufficient buoyancy to keep the multimodal wall-climbing robot above the surface. The thrust generated by the propellers 92 near the wheels 81 helps the robot float stably on the water. The submerged wheels 81 provide propulsion to propel the multimodal wall-climbing robot forward. Adjusting the thrust differential of the propellers 92 below the surface allows the robot to change its direction.

[0088] In summary, the present application provides a multimodal wall-climbing robot that is amphibious and can be used on land, water and air, including a first shell 1, a second shell 2, a fixed body 3, a movable body 4, a flipping 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 flipping driver 5 has a fixed end arranged on the fixed body 3, and a driving end of the flipping 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 the end of the first connecting seat 6 facing away from the first shell 1. The wheel assembly is arranged on the first connecting seat 6.

[0089] In the present application, the movable fuselage 4 is driven to rotate by the flip driver 5, and the second shell 2 connected to the movable fuselage 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. Accordingly, 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, it will drive the first connecting seat 6 and the wheel assembly on the first connecting seat 6 to slide relative to the first shell 1, and make the wheel assembly extend out of the surrounding circle or retract into the surrounding circle to adapt to the operating state of each mode and ensure a smooth transition between adjustments of each mode.

[0090] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A multi-modal wall-climbing robot capable of amphibious operations on land, water, and air, characterized in that: include: first shell; a second housing, which 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 disposed within the surrounding ring and connected to the second housing; a flip actuator, 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 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 base facing away from the first housing; a wheel assembly, which is disposed 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, thereby driving the wheel assembly on the first connecting seat to extend out of the surrounding circle or retract into the surrounding circle; The first housing is provided with a first mounting slot, and the multimodal wall-climbing robot further comprises: a guide rail assembly, which is disposed in the first mounting groove and connected to the first connecting seat; The guide rail assembly comprises: Two guide rails, which are respectively arranged on both sides of the first mounting slot; Two sliders are slidably disposed on the corresponding guide rails, and the first connecting seat is connected to the two sliders; Two limit blocks, which are arranged on the ends of the corresponding guide rails away from the first mounting slot and connected to the first connecting seat; The first connecting seat includes: Two first bending portions, 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 portion; A convex strip, both 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 both 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 one end of the connecting rod away from the inner cavity; The sliding block is connected to the end portion 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.

2. The multi-modal wall-climbing robot capable of amphibious operations according to claim 1, characterized in that: 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 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 base; The movable body includes 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.

3. The multi-modal wall-climbing robot capable of amphibious operations according to claim 2, characterized in that: The second spiral arm corresponds to the first spiral arm one by one. Taking the center point of the orbiting circle as a reference, the second spiral arm and the corresponding first spiral arm are symmetrically arranged and located in the same horizontal plane.

4. The multi-modal wall-climbing robot capable of amphibious operations according to claim 2, characterized in that: 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 rotary arm is connected to the upper base plate and the lower base plate respectively, the fixed end of the flip driver is located on the other side of the first rotary arm, and is connected to the upper base plate and the lower base plate, and the second connecting seat is provided with a plurality of notch grooves on the side close to the flip driver, the second rotary 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 amphibious operations according to claim 2, characterized in that: The multimodal wall-climbing robot further comprises: A plurality of propeller assemblies are correspondingly arranged on the first rotary arm or the second rotary arm.

6. The multi-modal wall-climbing robot capable of amphibious operations according to claim 5, characterized in that: The propeller assembly comprises: a driving member, which is provided at an end of the corresponding first rotary arm away from the first connecting seat, or at an end of the corresponding second rotary arm away from the connecting rod; The propeller is arranged on the driving end of the corresponding driving member.

7. The amphibious multimodal wall-climbing robot according to claim 1, characterized in that: The end of the connecting rod close to the first connecting seat is provided with a clearance groove, the first housing is provided with a plurality of second mounting grooves, and the wheel assembly includes: A plurality of wheels are arranged at one end of the corresponding first bending portion away from the convex strip.

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