Crawling robot with rotor wing assistance
By installing a quadcopter system on top of the climbing robot and combining it with an environmental perception module to automatically switch working modes, the problem of insufficient stability and flexibility of traditional climbing robots on complex surfaces is solved, and efficient movement on complex surfaces is achieved.
Patent Information
- Application Number
- CN202520325855.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-27
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2035-02-27
AI Technical Summary
Traditional climbing robots lack stability and flexibility on complex or smooth surfaces, making it difficult to effectively adapt to walls of different materials.
A quadcopter system is installed on top of the crawling robot to provide additional downforce and stability. Combined with an environmental perception module, it automatically switches between three working modes: climbing, flying, and assist mode, enhancing the robot's ability to move on complex surfaces.
It improves the stability and flexibility of climbing robots, enabling them to move efficiently on complex surfaces and adapt to walls of different materials.
Smart Images
Figure CN223605702U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of robot, especially a kind of climbing robot with rotary wing auxiliary. BACKGROUND
[0002] Climbing robot (Robot) is a kind of intelligent machine capable of autonomously or semi-autonomously executing a series of complex tasks, with the basic characteristics of perception, decision-making, execution, etc., which can assist or even replace human to complete dangerous, heavy, complex work, improve work efficiency and quality, serve human life, expand or extend the activity and ability range of human. Among them, the climbing robot is a kind of climbing robot capable of moving on vertical or inclined surface, which is widely used in construction, rescue, inspection, maintenance and other fields, and the climbing robot can replace manual work for high-altitude operation, improve work efficiency and safety.
[0003] Traditional climbing robot mainly relies on suction cup, magnetic force or mechanical claw and other devices for fixing and moving, but these methods have limited effect on complex surface or smooth surface. How to improve the stability, adaptability and flexibility of climbing robot still needs further research and solution. UTILITY MODEL CONTENT
[0004] In view of the deficiencies of the prior art, the purpose of the utility model is to provide a climbing robot with rotary wing auxiliary and a control method thereof, by installing four rotary wings on the top of the climbing robot, the stability and flexibility of the climbing robot on the wall are enhanced.
[0005] On the one hand, a climbing robot with rotary wing auxiliary is provided, which comprises the following parts:
[0006] The climbing robot body and the four-rotor system are included; the climbing robot body is used for climbing on vertical or inclined wall surface, and the four-rotor system is installed on the top of the climbing robot and used for providing downward pressure to ensure the stability of the robot climbing.
[0007] Preferably, the climbing robot body comprises a fuselage, a driving device, a control unit and a fixing device; the fuselage is made of light weight high strength material; the driving device comprises a motor and a transmission mechanism, which is used to drive the climbing robot to move on the wall surface; the control unit is used to control the movement of the climbing robot and the operation of the four-rotor system; the fixing device is used to provide temporary fixing on the wall surface.
[0008] Preferably, the fixing device is one or a combination of vacuum suction cup, electromagnetic adsorption device or mechanical claw, which is used to adapt to different material wall surfaces.
[0009] Preferably, the quadcopter system includes four rotors, motors, a battery, and a controller; the rotors are driven by the motors, the battery powers the quadcopter system and the crawling robot body, and the controller is used to adjust the operating state of the quadcopter system.
[0010] Preferably, the controller of the quadcopter system is connected to the control unit of the crawling robot body through wired or wireless mode to realize cooperative control and data exchange.
[0011] Preferably, the crawling robot has three working modes:
[0012] Climbing mode: the quadcopter system is turned off, and the crawling robot moves on the wall surface by the fixed device and the driving device;
[0013] Flight mode: the quadcopter system is started, and the crawling robot is separated from the wall surface and flies in the air by the quadcopter system;
[0014] Auxiliary mode: the quadcopter system is partially started to provide additional downward pressure to help the crawling robot move on a complex surface.
[0015] Preferably, the control unit automatically switches the working mode according to sensor data; the sensors include but are not limited to pressure sensors, gyroscopes, accelerometers, and cameras.
[0016] Preferably, the rotors of the quadcopter system are foldable or detachable to reduce the volume and weight of the crawling robot in the climbing mode.
[0017] Preferably, the crawling robot body further includes an environment perception module for detecting wall surface material, inclination angle, and obstacle information and transmitting data to the control unit to adjust the motion strategy of the crawling robot.
[0018] Preferably, the battery of the quadcopter system is detachable or supports wireless charging to prolong the working time of the crawling robot.
[0019] The crawling robot with rotor assistance provided by the utility model switches three working modes automatically by the control unit based on sensor data of the environment perception module, in the climbing mode, the quadcopter system is turned off, and the crawling robot moves on the wall surface by the fixed device and the driving device, in the flight mode, the quadcopter system is started, and the crawling robot is separated from the wall surface and flies in the air by the quadcopter system; in the auxiliary mode, the quadcopter system is started, and four rotors provide additional downward pressure in the clockwise / counter-clockwise direction to help the crawling robot move on a complex surface, thereby enhancing the stability and flexibility of the crawling robot in wall climbing. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1The utility model provides a kind of crawling robot schematic diagram with rotor auxiliary provided by the utility model;
[0021] Figure 2 The utility model provides four-rotor system structure schematic diagram provided by the utility model;
[0022] Figure 3 The utility model provides crawling robot main body structure schematic diagram provided by the utility model;
[0023] Figure 4 The utility model provides a kind of crawling robot main body structure fixing device's schematic diagram provided by the utility model. DETAILED DESCRIPTION
[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.
[0025] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.
[0026] Embodiment one
[0027] As Figure 1 shown, the embodiment provides a kind of crawling robot with rotor auxiliary, the crawling robot includes crawling robot main body 102 and four-rotor system 101.Crawling robot main body 102 is used to climb on vertical or inclined wall, and the four-rotor system 101 is installed on the top of crawling robot, for providing down pressure to ensure the stability of machine climbing.
[0028] The crawling robot main body 102 includes a fuselage, a drive device, a control unit and a fixing device; the fuselage is made of lightweight high-strength material; the drive device includes a motor and a transmission mechanism for driving the crawling robot to move on the wall; the control unit is used to control the movement of the crawling robot and the operation of the four-rotor system; the fixing device is used to provide temporary fixation on the wall. The fixing device is one or more combinations of a track, a vacuum suction cup, an electromagnetic suction device or a mechanical claw, for adapting to different material walls.
[0029] If the fixing device is a track, the body is a rectangular shell structure, an installation cavity is formed in the body, the driving device is a pair and is arranged on both sides of the body in the width direction, the track is a pair and is arranged on both sides of the body in the width direction and is connected with the driving device in one-to-one correspondence, the electromagnetic adsorption device is two pairs and is arranged on the bottom plate of the body in opposite pairs, one end of the electromagnetic adsorption device penetrates into the installation cavity, the other end penetrates out of the bottom plate, the end of the electromagnetic adsorption device penetrating out of the bottom plate is not higher than the height at which the track lifts the bottom plate of the body, and the electromagnetic adsorption device is used for being powered and adsorbed on a metal material crawling wall surface. A control unit is arranged in the installation cavity and is electrically connected with the electromagnetic adsorption device and the driving device, the electromagnetic adsorption device is powered and de-energized by the control unit, and the driving device drives the track to drive the body to move on the crawling wall surface. A power supply is connected with the control unit, the driving device and the electromagnetic adsorption device. The track comprises a track body, connecting blocks and permanent magnet blocks, the track body is a chain track and is connected with the driving device, the connecting blocks and the permanent magnet blocks are alternately arranged in an annular array on the outer circumferential side of the track body, in addition, the same magnetic poles of adjacent permanent magnet blocks face each other, and the end face of the connecting block away from the track body is flush with or higher than the end face of the permanent magnet block away from the track body.
[0030] As Figure 2 shown, the four-rotor system structure schematic diagram provided by the utility model, the four-rotor system includes four rotors 203, connecting rod 202, four-rotor system main body 201, the four-rotor system main body includes motor, battery and controller, the rotor 203 is driven through motor, the battery is powered for four-rotor system and crawling robot main body, the controller is used for adjusting the operating state of four-rotor system. The controller of four-rotor system and the control unit of crawling robot main body are connected through wired or wireless mode, realize collaborative control and data exchange. The rotor of four-rotor system can be folded or detached, to reduce the volume and weight of crawling robot in the climbing mode.
[0031] As Figure 3 shown, the crawling robot main body structure schematic diagram provided by the utility model, the crawling robot main body includes environmental perception module 306, control unit 305, fixing device 304, transmission device 303, motor 302 and battery module 301. Wherein, the environmental perception module 305 is used for detecting wall surface material, inclination angle and obstacle information, and transmitting data to control unit to adjust the motion strategy of crawling robot. The battery module 301 is shared with the battery of four-rotor system, the battery module can be detached or support wireless charging, to prolong the working time of crawling robot.
[0032] The control unit 305 automatically switches operating modes based on sensor data from the environmental perception module 306; these sensors include, but are not limited to, pressure sensors, gyroscopes, accelerometers, and cameras. The operating modes include climbing mode, flight mode, and assist mode. In climbing mode, the quadcopter system is off, and the crawling robot moves on the wall using the fixing and drive mechanisms. In flight mode, the quadcopter system is activated, and the crawling robot detaches from the wall and flies in the air using the quadcopter system. In assist mode, the quadcopter system is activated, and the four rotors provide additional downforce in a clockwise / counterclockwise direction, helping the crawling robot move on complex surfaces. In this embodiment, the controller of the quadcopter system and the control unit 305 of the crawling robot body are connected via wired or wireless means to achieve coordinated control and data exchange.
[0033] like Figure 4 The diagram shows a schematic of a fixing device for the main structure of a crawling robot provided by this utility model. The fixing device includes a cable 401, a power cable 402, a fan 403, a Mecanum wheel 404, and a grinder 405. The cable 401 is selected from high-load-bearing steel wire rope, lightweight synthetic fiber rope, or high-strength, low-weight carbon fiber cable according to load requirements. The cable suspends the crawling robot body, using a high-precision servo motor or hydraulic cylinder as the power source. A winch mechanism is used to wind and unwind the cable, providing controllable tension. The cable hoisting system provides efficient and safe tension support for the crawling robot and is suitable for various scenarios such as industry, rescue, and entertainment. In this embodiment, external AC power (such as 220V AC) is converted into the DC voltage required by the crawling robot, and power is supplied to the crawling robot through the power cable 402. Fan 403 is an ultra-high-speed electric ducted fan. This fan accelerates air by rotating blades, utilizes the duct to constrain the airflow direction, reduces energy loss, and generates high-velocity, high-thrust airflow. By controlling the airflow direction (e.g., vertical downward jet), the fan thrust is converted into downward pressure perpendicular to the surface of the crawling robot. Mecanum wheels 404 adopt a standard four-wheel layout, rectangular in shape, with wheels symmetrically distributed diagonally. The rollers are mirror-symmetrical in tilt direction; the left front wheel roller tilts 45° to the left, the right front wheel tilts 45° to the right, and the left rear wheel roller layout is the same as the left rear wheel roller layout, and the right rear wheel roller layout is the same as the right rear wheel roller layout. Grinding machine 405 is a 3D pneumatic flexible grinding machine. The core components of this grinding machine are a pneumatic motor and a rotor. Compressed air enters the pneumatic motor, driving the rotor to rotate at high speed, which in turn drives the grinding head to rotate. Due to the interaction between the pneumatic motor and the rotor, and the instability of the compressed air, the grinding machine will oscillate within a certain angle range.
[0034] In summary, the utility model provides a kind of with the auxiliary of rotor crawl robot, it is based on the sensor data of environmental perception module to the control unit automatically switches three kinds of working mode, in the climbing mode, four rotor system is closed, and crawl robot moves on wall surface by fixed device and driving device, in flight mode, four rotor system starts, and crawl robot is separated from wall surface, and it flies in the air by four rotor system;In auxiliary mode, four rotor system starts, and four rotors provide additional down pressure according to clockwise / counter-clockwise direction, help crawl robot to move on complex surface, enhance the stability and flexibility of crawl robot on wall surface.
[0035] It should be noted that the technical features in the above embodiments can be combined arbitrarily, and the technical solutions formed by the combination belong to the protection scope of the present application. In this document, terms such as "include", "contain" or any other variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.
[0036] In the description of the utility model, it should be understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model.
[0037] The above only describes some embodiments of the utility model, and does not limit the protection scope of the utility model, and any equivalent device or equivalent process conversion using the contents of the utility model specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the utility model.
[0038] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.
Claims
1. A crawling robot with rotor assistance, characterized by, The wall climbing robot comprises a climbing robot body and a quadcopter system; the climbing robot body is used for climbing on a vertical or inclined wall surface, and the quadcopter system is installed on the top of the climbing robot body and used for providing a downward pressure to ensure the stability of the climbing robot.
2. The crawlbot with rotor assistance of claim 1, wherein, The climbing robot body comprises a body, a driving device, a control unit and a fixing device; the body is made of a lightweight and high-strength material; the driving device comprises a motor and a transmission mechanism and is used for driving the climbing robot to move on the wall surface; the control unit is used for controlling the movement of the climbing robot and the operation of the quadcopter system; and the fixing device is used for providing temporary fixing on the wall surface.
3. The crawlbot with rotor assistance of claim 2, wherein, The fixing device comprises a super-high-speed electric ducted fan, which converts the fan thrust into a downward pressure perpendicular to the surface of the climbing robot by controlling the airflow direction.
4. The crawlbot with rotor assistance of claim 2, wherein, The fixing device is one or a combination of a track, a wheel type, a vacuum chuck, an electromagnetic adsorption device and a mechanical claw, which are used for adapting to different materials of the wall surface.
5. The crawlbot with rotor assistance of claim 1, wherein, The quadcopter system comprises four rotors, a motor, a battery and a controller; the rotors are driven by the motor, the battery is used for supplying power to the quadcopter system and the climbing robot body, and the controller is used for adjusting the operating state of the quadcopter system.
6. The crawlbot with rotor assistance of claim 5, wherein, The controller of the quadcopter system is connected to the control unit of the climbing robot body in a wired or wireless manner to realize cooperative control and data exchange.
7. The crawlbot with rotor assistance of claim 6, wherein, The climbing robot has three working modes: Climbing mode: the quadcopter system is turned off, and the climbing robot moves on the wall surface by means of the fixing device and the driving device; Flight mode: the quadcopter system is started, and the climbing robot is separated from the wall surface and flies in the air by means of the quadcopter system; Auxiliary mode: the quadcopter system is partially started to provide additional downward pressure to help the climbing robot move on a complex surface.
8. The crawlbot with rotor assistance of claim 7, wherein, The control unit automatically switches the working mode according to sensor data; the sensors include but are not limited to a pressure sensor, a gyroscope, an accelerometer and a camera.
9. The crawlbot with rotor assistance of claim 1, wherein, The rotors of the quadcopter system are foldable or detachable to reduce the volume and weight of the climbing robot in the climbing mode.
10. The crawlbot with rotor assistance of claim 1, wherein, The climbing robot body further comprises an environment perception module, which is used for detecting the material, inclination angle and obstacle information of the wall surface and transmitting the data to the control unit to adjust the movement strategy of the climbing robot.