Multi-rotor obstacle avoidance climbing robot

Abstract

The invention discloses a multi-rotor obstacle-avoiding climbing robot. The multi-rotor obstacle-avoiding climbing robot comprises an encircling mechanism, a lifting mechanism and a pose adjusting mechanism, the upper layer and the lower layer of the encircling mechanism are arranged in parallel and are the same in structure, the encircling mechanism is connected with a semi-U-shaped component through a steering engine by a U-shaped component, and six universal balls are attached to the inner side of the U-shaped component and the inner side of the semi-U-shaped component respectively and used for assisting up-and-down and left-and-right movement; the lifting mechanisms are arranged in parallel on the upper layer and the lower layer, are the same in structure, consist of two rotor wings and provide power required by up-down and left-right movement of the whole robot; and the pose adjusting mechanism is composed of a rotor wing, is installed on the middle connecting piece through a single-shaft steering engine and is used for adjusting the pose of the robot in the obstacle avoidance process. Through the encircling mechanism, the lifting mechanism, the pose adjusting mechanism and the like, obstacle avoidance climbing and pose adjustment on a straight pipeline and a bent pipeline with a small space can be achieved.

Description

Technical Field

[0001] This invention relates to the field of climbing and obstacle avoidance technology, and specifically to a multi-rotor obstacle avoidance and climbing robot. Technical Background

[0002] With the rapid development of modern society, the robotics industry has gradually penetrated into various fields, and more and more manual tasks are being replaced by robots. Maintenance and debris removal of various high-altitude pipelines or power lines are typically high-risk operations, prone to accidents that can result in loss of life and property.

[0003] Currently, climbing robots mainly employ various climbing methods such as hugging, crawling, gripping, rolling, and alternating climbing. However, they generally have some drawbacks, such as poor obstacle-crossing ability, difficulty in passing through intersecting pipes and bends, poor load-bearing capacity, unstable movement, poor adaptability, and insufficient clamping force due to changes in the diameter of the object being climbed during movement, leading to the robot falling. Consequently, there are high requirements for the climbing diameter. Summary of the Invention

[0004] The main objective of this invention is to propose a multi-rotor obstacle avoidance climbing robot that can solve the problems of existing climbing robots, such as difficulty in passing through intersecting pipes, bends, and climbing with high diameter requirements.

[0005] To achieve the above objectives, the present invention proposes a multi-rotor obstacle avoidance and climbing robot, comprising: The encircling mechanism consists of two parallel layers with identical structures, namely the upper encircling mechanism and the lower encircling mechanism, which are used to assist the entire device in moving up, down, left, and right. The lifting mechanism, with two parallel and identical structures arranged on the upper and lower levels, is located on the right side of the U-shaped component of the encircling mechanism and is used to provide the power required for the robot to move up, down, left, and right. The pose adjustment mechanism is mounted on the U-shaped component of the encircling mechanism and is used to adjust the robot's pose during obstacle avoidance.

[0006] Furthermore, the encircling mechanism has the same structure, and includes: The first servo short bracket is installed on one side of the U-shaped component, the first servo short bracket is then connected to the first servo, the first servo is then connected to the first servo long bracket, the first servo long bracket is then connected to the semi-U-shaped component, and the universal ball is installed on the inner side of the U-shaped component and the semi-U-shaped component. The second servo short bracket is installed on the U-shaped component, the second servo short bracket is then connected to the second servo, and the second servo is then connected to the second servo long bracket.

[0007] Furthermore, the lifting mechanism includes: The third servo short bracket is installed on the right side of the U-shaped component. The third servo short bracket is then connected to the third servo. The third servo is then connected to the third servo long bracket. The twin-rotor frame is connected to the third servo long bracket. The first brushless motor is installed on the left side of the twin-rotor frame. The first wing is coaxially mounted and rotatable with the first brushless motor. The second brushless motor is installed on the right side of the twin-rotor frame. The second wing is coaxially mounted and rotatable with the second brushless motor.

[0008] Furthermore, the pose adjustment mechanism includes: The intermediate connector is installed and connected to the second servo long bracket, connecting the upper and lower ring mechanisms. The single-axis servo is installed in the groove of the intermediate connector and is installed and connected to the single rotor frame. The third brushless motor is installed inside the single rotor frame, and the third wing is coaxially mounted with the third brushless motor and can rotate.

[0009] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention provides a multi-rotor obstacle avoidance climbing robot, comprising: a hugging mechanism, a lifting mechanism, and a posture adjustment mechanism; during the climbing process, the U-shaped and semi-U-shaped components in the hugging mechanism hug the climbing object, assisting the robot to move along the climbing object, while the omnidirectional ball allows the inside to roll with the surface of the climbing object, reducing friction generated during movement; the four rotors of the lifting mechanism are activated, which can drive the entire robot to move up, down, left and right, breaking away from the original limitation of being unable to climb due to insufficient grip; the speed of climbing can be controlled by controlling the speed of the brushless motor, improving the climbing efficiency.

[0010] 2. When encountering obstacles or bends, circumferential movement can be achieved by controlling the single-axis servo motor and rotor speed of the attitude adjustment mechanism, and straight-line obstacle avoidance and right-angle obstacle avoidance by controlling the servo motor on the circumferential mechanism. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of a multi-rotor obstacle avoidance and climbing robot according to the present invention from one perspective;

[0012] Figure 2 This is a schematic diagram of the embracing mechanism and lifting mechanism of the present invention from one perspective.

[0013] Figure 3 This is a schematic diagram of the pose adjustment mechanism of the present invention from one perspective;

[0014] Figure 4 This is a schematic diagram illustrating the implementation of the upper encircling mechanism through an obstacle in the linear obstacle avoidance and climbing of a multi-rotor obstacle avoidance and climbing robot according to the present invention;

[0015] Figure 5This is a schematic diagram of the upper embracing mechanism of a multi-rotor obstacle avoidance and climbing robot after it has passed through an obstacle in a straight obstacle avoidance and climbing process according to the present invention;

[0016] Figure 6 This is a schematic diagram illustrating the implementation of the lower encircling mechanism of a multi-rotor obstacle avoidance and climbing robot in linear obstacle avoidance and climbing according to the present invention.

[0017] Figure 7 This is a schematic diagram illustrating the implementation of the upper encircling mechanism in the right-angle obstacle avoidance and climbing of a multi-rotor obstacle avoidance and climbing robot of the present invention, allowing it to cross obstacles to the other side.

[0018] Figure 8 This is a schematic diagram illustrating the movement of the lower encircling mechanism in a curved pipe right-angle obstacle avoidance and climbing robot according to the present invention, in preparation for the next obstacle crossing step.

[0019] Figure 9 This is a schematic diagram illustrating the implementation of a multi-rotor obstacle avoidance and climbing robot of the present invention, which moves left and right after overcoming obstacles at right angles on a curved pipe.

[0020] The attached figures are labeled as follows: 1-Encircling mechanism; 1-1-Upper encircling mechanism; 1-2-Lower encircling mechanism; 2-Lifting mechanism; 3-Position adjustment mechanism; 10-Semi-U-shaped component; 11-First servo long bracket; 12-First servo; 13-First servo short bracket; 14-Universal ball; 15-U-shaped component; 16-Second servo long bracket; 17-Second servo; 18-Second servo short bracket; 19-Third servo short bracket; 20-Third servo; 21-Third servo long bracket; 22-First wing; 23-First brushless motor; 24-Dual rotor frame; 25-Second brushless motor; 26-Second wing; 30-Intermediate connector; 31-Single-axis servo; 32-Single rotor frame; 33-Third wing; 34-Third brushless motor. Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the embodiments of this invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a mechanical connection or an electrical connection; they can be a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0024] Please refer to Figure 1 A preferred embodiment of the present invention provides a multi-rotor obstacle avoidance and climbing robot, comprising: a hugging mechanism 1, consisting of two parallel and identical upper and lower layers, namely an upper hugging mechanism 1-1 and a lower hugging mechanism 1-2, used to assist the entire device in moving up, down, left, and right; a lifting mechanism 2, consisting of two parallel and identical upper and lower layers, disposed on the right side of the U-shaped component 15 of the hugging mechanism 1, used to provide the power required for the entire robot to move up, down, left, and right; and a posture adjustment mechanism 3, disposed on the U-shaped component 15 of the hugging mechanism 1, used to adjust the robot's posture during obstacle avoidance.

[0025] Please refer to Figure 2 In a preferred embodiment, the encircling mechanism 1 has the same structure and includes: a first servo short bracket 13 installed on one side of the U-shaped component 15, the first servo short bracket 13 then connected to the first servo 12, the first servo 12 then connected to the first servo long bracket 11, the first servo long bracket 11 then connected to the semi-U-shaped component 10, and a universal ball 14 installed on the inner side of the U-shaped component 15 and the semi-U-shaped component 10;

[0026] The second servo short bracket 18 is mounted on the U-shaped component 15, and the second servo short bracket 18 is then connected to the second servo 17, which in turn is connected to the second servo long bracket 16.

[0027] In this exemplary embodiment, the lifting mechanism 2 includes: a third servo short bracket 19 installed on the right side of the U-shaped component 15, the third servo short bracket 19 then connected to the third servo 20, the third servo 20 then connected to the third servo long bracket 21, the dual-rotor frame 24 connected to the third servo long bracket 21, the first brushless motor 23 installed on the left side of the dual-rotor frame 24, the first wing 22 coaxially installed with the first brushless motor 23, the second brushless motor 25 installed on the right side of the dual-rotor frame 24, and the second wing 26 coaxially installed with the second brushless motor 25.

[0028] Please refer to Figure 3 In a preferred embodiment, the attitude adjustment mechanism 3 includes: an intermediate connector 30 connected to the second servo long bracket 16, connecting the upper ring mechanism 1-1 and the lower ring mechanism 1-2; a single-axis servo 31 installed in the groove of the intermediate connector 30; the single-axis servo 31 connected to the single rotor frame 32; a third brushless motor 34 installed inside the single rotor frame 32; and a third wing 33 coaxially installed with the third brushless motor 34.

[0029] Please refer to Figures 4 to 6 The following describes the linear climbing and circumferential movement process of a multi-rotor obstacle avoidance climbing robot according to the present invention: By controlling the rotation of the first servo motor 12, the semi-U-shaped components 10 of the upper embracing mechanism 1-1 and the lower embracing mechanism 1-2 are opened, and then the robot is brought into contact with the climbing object. Then, the rotation of the first servo motor 12 is controlled to merge the semi-U-shaped components 10 of the upper embracing mechanism 1-1 and the lower embracing mechanism 1-2, so that the entire robot is holding the climbing object. Then, the first brushless motor 23 and the second brushless motor 25 are started. By controlling their speed, the robot can move up and down. When circumferential movement is required, the single-axis servo motor 31 is controlled to make the single rotor frame 32 perpendicular to the horizontal plane, and then the third brushless motor 34 is started, so that the robot can move around the climbing object in a circumferential direction to reach the required position.

[0030] Please refer to Figures 7 to 9The following describes the linear obstacle avoidance and climbing process of a multi-rotor obstacle avoidance and climbing robot according to the present invention: When encountering an obstacle, firstly, by controlling the rotation of the first servo motor 12, the semi-U-shaped component 10 of the upper clamping mechanism 1-1 is opened and rotated to the left side of the U-shaped component 15. Then, the second servo motor 17 is controlled to keep the dual-rotor body 24 parallel to the horizontal plane and the upper clamping mechanism 1-1 is moved back a certain distance. Then, it climbs upward to pass through the obstacle section. Then, the second servo motor 17 is controlled to move the upper clamping mechanism 1-1 to a position that can clamp the climbing object. Finally, the first servo motor 12 is controlled to move the robot to a position that can clamp the climbing object. The rotation of the first servo motor 12 merges the semi-U-shaped component 10, then opens the semi-U-shaped component 10 of the lower circling mechanism 1-2, rotates it to the right side of the U-shaped component 15, and then controls the second servo motor 17 to keep the twin rotor body 24 parallel to the horizontal plane and move the lower circling mechanism 1-2 back a certain distance, then climbs upward to pass through the obstacle section. Then, the second servo motor 17 is controlled to move the lower circling mechanism 1-2 to a position that can clamp the climbing object. Finally, the rotation of the first servo motor 12 is controlled to merge the semi-U-shaped component 10, realizing the robot's straight-line obstacle avoidance and climbing.

[0031] The following describes the right-angle obstacle avoidance process of a multi-rotor obstacle avoidance climbing robot according to the present invention: Upon reaching the corner, firstly, by controlling the rotation of the first servo motor 12, the semi-U-shaped component 10 of the upper clamping mechanism 1-1 is opened and rotated to the left side of the U-shaped component 15. Then, the second servo motor 17 and the third servo motor 20 are controlled to keep the dual-rotor body 24 parallel to the horizontal plane and the upper clamping mechanism 1-1 is moved back a certain distance. Then, it climbs upward to a position where the other end can clamp the climbing object. Finally, the rotation of the first servo motor 12 is controlled to close the semi-U-shaped component 10. Then, the semi-U-shaped component 10 of the lower clamping mechanism 1-2 is opened and rotated to the right side of the U-shaped component 15. Then, the second servo motor 17 is controlled to tilt the dual rotor body 24 of the upper clamping mechanism 1-1 at a certain angle, so that the robot moves away from the object it was climbing at the beginning. After reaching a certain distance, the second servo motor 17 is controlled to keep the dual rotor body 24 parallel to the horizontal plane and the lower clamping mechanism 1-2 is moved to a position that can clamp the object. Finally, the rotation of the first servo motor 12 is controlled to merge the semi-U-shaped component 10, so that the robot can avoid obstacles at right angles in curved pipes.

[0032] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-rotor obstacle avoidance and climbing robot, characterized in that, Including: The encircling mechanism (1) consists of two parallel layers with identical structures, namely the upper encircling mechanism (1-1) and the lower encircling mechanism (1-2), which are used to assist the entire device in moving up, down, left, and right. The lifting mechanism (2) is arranged in parallel on the upper and lower levels and has the same structure. It is located on the right side of the U-shaped component (15) of the encircling mechanism (1) and is used to provide the power required for the robot to move up, down, left, and right. The pose adjustment mechanism (3) is installed on the U-shaped component (15) of the encircling mechanism (1) and is used to adjust the robot's pose during obstacle avoidance.

2. The multi-rotor obstacle avoidance and climbing robot according to claim 1, characterized in that: The encircling mechanism (1) has the same structure and includes: The first servo short bracket (13) is installed on one side of the U-shaped component (15), the first servo short bracket (13) is then connected to the first servo (12), the first servo (12) is then connected to the first servo long bracket (11), the first servo long bracket (11) is then connected to the semi-U-shaped component (10), and the universal ball (14) is installed on the inside of the U-shaped component (15) and the semi-U-shaped component (10); The second servo short bracket (18) is installed on the U-shaped component (15), and the second servo short bracket (18) is then connected to the second servo (17), and the second servo (17) is then connected to the second servo long bracket (16).

3. The multi-rotor obstacle avoidance and climbing robot according to claim 1, characterized in that: The lifting mechanism (2) includes: The third servo short bracket (19) is installed on the right side of the U-shaped component (15). The third servo short bracket (19) is then connected to the third servo (20). The third servo (20) is then connected to the third servo long bracket (21). The twin rotor frame (24) is connected to the third servo long bracket (21). The first brushless motor (23) is installed on the left side of the twin rotor frame (24). The first wing (22) is coaxially mounted and rotatable with the first brushless motor (23). The second brushless motor (25) is installed on the right side of the twin rotor frame (24). The second wing (26) is coaxially mounted and rotatable with the second brushless motor (25).

4. The multi-rotor obstacle avoidance and climbing robot according to claim 1, characterized in that: The pose adjustment mechanism (3) includes: The intermediate connector (30) is installed and connected to the second servo long bracket (16), connecting the upper ring mechanism (1-1) and the lower ring mechanism (1-2). The single-axis servo (31) is installed in the groove of the intermediate connector (30). The single-axis servo (31) is installed and connected to the single rotor frame (32). The third brushless motor (34) is installed inside the single rotor frame (32). The third wing (33) and the third brushless motor (34) are coaxially mounted and rotatable.

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