CN107539054A - A kind of fly able Climbing Robot - Google Patents
A kind of fly able Climbing Robot Download PDFInfo
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- CN107539054A CN107539054A CN201710781943.6A CN201710781943A CN107539054A CN 107539054 A CN107539054 A CN 107539054A CN 201710781943 A CN201710781943 A CN 201710781943A CN 107539054 A CN107539054 A CN 107539054A
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- metope
- robot
- fly
- bouncer
- regulating arm
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Abstract
A kind of fly able Climbing Robot, belong to robotic technology field, including adapting table, caterpillar driving device, regulating arm, induction installation, bouncer, wing, controller and battery.The left and right sides that transmission device is placed in adapting table is carried out, caterpillar driving device includes belt and drive, multiple adsorbent equipments are provided with the outer surface of belt；The rear end of adapting table is provided with regulating arm, and the end of regulating arm is provided with power set.Controller carries out image recognition by induction installation can identify the environment of surrounding, and under the control action of controller, adsorbent equipment can be adsorbed on metope, and robot walks on metope.When robot needs to enter state of flight, bouncer hits metope and leaves metope；In the air, the position of regulating arm motivation of adjustment device adjusts the center of gravity of robot, and power set are providing flying power for robot.The Climbing Robot glided of the present invention, can walk freely, while can also fly in the air on metope.
Description
Technical field
A kind of fly able Climbing Robot, belong to robotic technology field, more particularly to a kind of fly able wall-climbing machine
Device people.
Background technology
, there is increasing intelligence in fast development and the intelligent continuous progress with modernization with science and technology
Robot, these intelligent robots have been commonly available people with its intelligent, high efficiency and the convenience brought to people's life
Receiving and like, some intelligent robots can substitute manually carries out operation in some dangerous environment, so as to drop
The low intensity and danger of hand labor, ensure that the personal safety of operating personnel.Climbing Robot can be up in metope
Walk freely, the work such as cleaning and maintenance exploration available for external wall of high-rise building, avoid the danger of manual work.But this
A little robots can only walk on metope, greatly reduce the scope of application.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of above-mentioned Climbing Robot, invents a kind of wall-climbing machine that can be flown in the air
Device people.
A kind of fly able Climbing Robot, including adapting table, caterpillar driving device, regulating arm, induction installation, spring dress
Put, wing, controller and battery.The left and right sides carried out transmission device and be placed in adapting table, caterpillar driving device include belt
And drive, multiple adsorbent equipments are provided with the outer surface of belt；Adsorbent equipment can follow the rotation of belt and followed by shifting
Move and can be adsorbed when being contacted with metope on metope.Regulating arm is provided with the rear end of adapting table, the end of regulating arm is provided with
Power set, power set use the motor driven propeller of high-speed rotation or turbogenerator to be carried for robot in state of flight
For flying power.The regulating arm passes through the position that carried drive device can drive joint motions come motivation of adjustment device
Put, the center of gravity of robot can also change therewith, so as to change the flight attitude of robot.The induction installation is positioned at undertaking
Platform front end, camera and position indicator are carried on induction installation.The bouncer is placed in the middle part of adapting table, and bouncer passes through
Hitting metope causes robot to obtain elastic force and leave metope.The wing is located at the top of adapting table, is carried in robot flight
For lift.The controller is connected with drive device, adsorbent equipment, induction installation and bouncer, and controller passes through shooting
Head, which carries out image recognition, can identify the environment of surrounding and drive device, adsorbent equipment and bouncer are controlled so that
Robot can complete required work.The battery is drive device, bouncer, adsorbent equipment and induction installation power supply.
Preferably, adsorbent equipment is adsorbed on metope by the way of suction, and adsorbent equipment includes sucker and mechanical valve, is led to
The vacuum valve opening closure state for the spring effect control machinery valve crossed in mechanical valve so that sucker suction is on metope.
Preferably, bouncer obtains elastic force by release spring shock metope Climbing Robot and leaves metope.
Preferably, controller can also be connected by wireless signal with mobile phone, and robot can be controlled by mobile phone
System.
A kind of fly able Climbing Robot is so to climb wall and flight：Under the control action of controller, robot
Crawl under corner, the adsorbent equipment on caterpillar driving device can be adsorbed on metope so that the suction that robot can be steadily
It is attached on metope and can be walked on metope.When robot needs to enter state of flight, bouncer hits metope, simultaneously
Adsorbent equipment on belt unclamps adsorbed metope.In the air, regulating arm adjusts machine by the position of motivation of adjustment device
The center of gravity of device people, while power set are started working, and the flight of robot is adjusted while flying power is provided for robot
Posture so that robot can be flown in the air under the auxiliary of wing.
The Climbing Robot glided of the present invention, can walk freely on metope, while can also fly in the air, can
The work such as cleaning and maintenance exploration for external wall of high-rise building, avoid the danger of manual work.
Brief description of the drawings
Fig. 1 is fly able Climbing Robot structural representation；Fig. 2 is adsorbent equipment structure enlargement diagram；Fig. 3 is energy
The Climbing Robot schematic perspective view of flight；Fig. 4 is schematic diagram after fly able Climbing Robot regulating arm regulation.
In figure, 1- adapting tables, 2- caterpillar driving devices, 21- belts, 22- drives, 23- adsorbent equipments, 24- suckers,
25- mechanical valves, 3- regulating arms, 31- power set, 32- motors, 33- drive devices, 34- joints, 35 propellers, 4- sensing dresses
Put, 5- bouncers, 6- wings, 7- controllers, 8- batteries.
Embodiment
The present invention is illustrated below in conjunction with the accompanying drawings：A kind of fly able Climbing Robot, including adapting table 1, shoe
Belt driver 2, regulating arm 3, induction installation 4, bouncer 5, wing 6, controller 7 and battery 8.The shoe transmission device 2
The left and right sides of adapting table 1 is placed in, caterpillar driving device 2 includes belt 21 and drive 22, set on the outer surface of belt 21
There are multiple adsorbent equipments 23；Adsorbent equipment 23 can follow the rotation of belt 21 and move and can be adsorbed when being contacted with metope
On metope.Adsorbent equipment 23 is adsorbed on metope by the way of suction, and adsorbent equipment 23 includes sucker 24 and mechanical valve 25, is led to
The vacuum valve opening closure state for the spring effect control machinery valve 25 crossed in mechanical valve 25 so that sucker 24 is adsorbed in metope
On.Regulating arm 3 is provided with the rear end of adapting table 1, the end of regulating arm 3 is provided with power set 31, and power set 31 are using at a high speed
The motor 32 of rotation drives propeller 35 to provide flying power in state of flight for robot.The regulating arm 3, which passes through, to be carried
Drive device 33 motion of joint 34 can be driven to come the position of motivation of adjustment device 31, the center of gravity of robot can also occur therewith
Change, so as to change the flight attitude of robot.The induction installation 4 is located at the front end of adapting table 1, carries and takes the photograph on induction installation 4
As head and position indicator.The bouncer 5 is placed in the middle part of adapting table 1, and bouncer 5 hits metope by release spring
Climbing Robot obtains elastic force and leaves metope.The wing 6 is located at the top of adapting table 1, and lift is provided in robot flight.
The controller 7 is connected with drive device 33, adsorbent equipment 23, induction installation 4 and bouncer 5, and controller 7 passes through shooting
Head, which carries out image recognition, can identify the environment of surrounding and to drive device 33, bouncer 5, adsorbent equipment 23 and bouncer
5 are controlled so that robot can complete required work.The battery 8 is drive device 33, adsorbent equipment 23 and sensing dress
Put 4 power supplies.
A kind of fly able Climbing Robot is so to climb wall and flight：Under the control action of controller 7, robot
Crawl under corner, the adsorbent equipment 23 on caterpillar driving device 2 can be adsorbed on metope so that what robot can be steadily
Absorption is on metope and can be walked on metope.When robot needs to enter state of flight, bouncer 5 hits metope,
The adsorbent equipment 23 on belt 21 unclamps adsorbed metope simultaneously.In the air, the position that regulating arm 3 passes through motivation of adjustment device 31
Put to adjust the center of gravity of robot, while power set 31 are started working, and are adjusted while flying power is provided for robot
The flight attitude of robot so that robot can be flown in the air under the auxiliary of wing 6.
Claims (5)
- A kind of 1. fly able Climbing Robot, it is characterised in that：Including adapting table（1）, caterpillar driving device（2）, regulating arm （3）, induction installation（4）, bouncer（5）, wing（6）, controller（7）And battery（8）；Carry out transmission device（2）It is placed in undertaking Platform（1）The left and right sides, caterpillar driving device（2）Including belt（21）And drive（22）, in belt（21）Outer surface on Provided with multiple adsorbent equipments（23）；Adsorbent equipment（23）It can adsorb on metope；In adapting table（1）Rear end be provided with regulating arm （3）, regulating arm（3）End be provided with power set（31）, power set（31）Flight is provided for robot in state of flight to move Power；Regulating arm（3）Pass through carried drive device（33）Drive joint（34）Motion carrys out motivation of adjustment device（31）Position； Induction installation（4）Positioned at adapting table（1）Front end, induction installation（4）It is upper to carry camera and position indicator；Bouncer（5）It is placed in Adapting table（1）Middle part；Wing（6）Positioned at adapting table（1）Top；Controller（7）With drive device（33）, adsorbent equipment （23）, induction installation（4）And bouncer（5）It is connected；Controller（7）Week can be identified by carrying out image recognition by camera The environment enclosed；Battery（8）For drive device（33）, bouncer（5）, adsorbent equipment（23）And induction installation（4）Power supply.
- A kind of 2. fly able Climbing Robot according to claim 1, it is characterised in that：Power set（31）Using height The motor that speed rotates（32）Drive propeller（35）Or turbogenerator.
- A kind of 3. fly able Climbing Robot according to claim 1 or 2, it is characterised in that：Bouncer（5）Pass through Release spring hits metope and causes Climbing Robot to obtain elastic force and leave metope.
- A kind of 4. fly able Climbing Robot according to claim 1 or 2, it is characterised in that：Adsorbent equipment（23）Adopt Adsorbed with the mode of suction on metope, adsorbent equipment（23）Including sucker（24）And mechanical valve（25）.
- A kind of 5. fly able Climbing Robot according to claim 1 or 2, it is characterised in that：Controller（7）It can also lead to Cross wireless signal with mobile phone to be connected, robot is controlled by mobile phone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710781943.6A CN107539054A (en) | 2017-09-02 | 2017-09-02 | A kind of fly able Climbing Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710781943.6A CN107539054A (en) | 2017-09-02 | 2017-09-02 | A kind of fly able Climbing Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107539054A true CN107539054A (en) | 2018-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710781943.6A Pending CN107539054A (en) | 2017-09-02 | 2017-09-02 | A kind of fly able Climbing Robot |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108944304A (en) * | 2018-06-25 | 2018-12-07 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734299A (en) * | 2009-12-18 | 2010-06-16 | 东南大学 | Gliding robot capable of autonomously flying in salutatory mode |
| CN101941522A (en) * | 2010-09-13 | 2011-01-12 | 朱晓义 | Flying device |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN205554355U (en) * | 2016-04-05 | 2016-09-07 | 浙江科技学院 | Hollowing is surveyed and is climbed wall robot |
| CN105966482A (en) * | 2016-06-12 | 2016-09-28 | 重庆大学 | Multi-connection-rod jumping mechanism |
-
2017
- 2017-09-02 CN CN201710781943.6A patent/CN107539054A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734299A (en) * | 2009-12-18 | 2010-06-16 | 东南大学 | Gliding robot capable of autonomously flying in salutatory mode |
| CN101941522A (en) * | 2010-09-13 | 2011-01-12 | 朱晓义 | Flying device |
| CN205554355U (en) * | 2016-04-05 | 2016-09-07 | 浙江科技学院 | Hollowing is surveyed and is climbed wall robot |
| CN105799805A (en) * | 2016-05-06 | 2016-07-27 | 吉林大学 | Modular flight wall-climbing robot |
| CN105966482A (en) * | 2016-06-12 | 2016-09-28 | 重庆大学 | Multi-connection-rod jumping mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108944304A (en) * | 2018-06-25 | 2018-12-07 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
| CN108944304B (en) * | 2018-06-25 | 2019-06-18 | 西安理工大学 | A kind of amphibious robot having both flight and wall climbing function |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180105 |