CN201380964Y - A Multifunctional Aerial Robot with Multi-Rotor Legs and Wheels - Google Patents

Abstract

The utility model discloses a multi-rotor leg-wheeled multifunctional aerial robot, which comprises a rotor, a rotor drive motor, a wall-climbing thigh, a wall-climbing calf, a hip joint drive motor, a knee joint drive motor, a rigidity reinforcing ring, a robot main body, and a wall surface. Walking wheels, floor support rods, rotor support rods. The main body of the robot is a circular disk-shaped structure, and the four rotor support rods are symmetrically distributed around the lower surface of the main body of the robot. The rotor drive motor is fixed on the outer end of the rotor support bar with screws, and the rotor is fixed on the rotating shaft of the rotor drive motor in turn. The ground support rod is fixedly connected below the rotor support rod. The rigidity reinforcing ring is fastened on the top of the rotor support bar. The robot of the utility model realizes the integration of the rotor-type aircraft and the leg-wheel type motion mechanism, and has a simple mechanical structure and is easy to realize. It has the advantages of strong barrier ability and wide application range.

Description

A Multifunctional Aerial Robot with Multi-Rotor Legs and Wheels

technical field

The utility model relates to an aerial robot, in particular to a multi-rotor leg-wheeled multifunctional aerial robot.

Background technique

At present, many application fields require the aircraft to be able to fly at low altitude and low speed, perform low-altitude operations, and have good maneuverability and concealment. Therefore, there has been an aircraft system based on a single-rotor helicopter. This kind of single-rotor aircraft can realize low-altitude and low-speed flight, and can also complete certain low-altitude operations. However, due to the use of one rotor, the size of the rotor is generally relatively large, and it is more dangerous when working, and the control mechanism for the angle of attack of the single-rotor wing surface is complicated. , and it is a single point of failure, so the fault tolerance is poor. The multi-rotor aircraft has good flight maneuverability and stability, can complete many complex low-altitude operations, has the characteristics of simple vertical take-off and landing, flexible hover acceleration, strong maneuverability, and strong ability to adjust attitude in the air. It is easier to achieve a larger thrust-to-weight ratio in the same operating space, increasing the proportion of task load in the overall load.

In the field of research on aerial robots based on aircraft platforms, aerial robots are mostly limited to a single task, which limits their application range. It is a development trend of aerial robots that the tasks of robots are developed from simplification to multi-function. Integrating flight and wall-climbing functions into one, and designing a multifunctional aerial robot with both flight and wall-climbing functions is a problem that needs to be solved at present.

Contents of the invention

The purpose of the utility model is to realize a multi-functional aerial robot with both flying and wall-climbing functions. A multi-rotor leg-wheeled multi-functional aerial robot is proposed based on the multi-rotor flight platform including the leg-wheel type wall-climbing structure. robot.

A multi-rotor leg-wheeled multifunctional aerial robot of the present invention comprises a rotor, a rotor drive motor, a wall-climbing thigh, a wall-climbing calf, a hip joint drive motor, a knee joint drive motor, a rigidity reinforcing ring, a robot main body, and a wall walking Wheels, landing support rods, rotor support rods.

The main body of the robot is a circular disk-shaped structure, and the four rotor support rods are symmetrically distributed around the lower surface of the main body of the robot, and are fixed on the main body of the robot with screws. The rotor drive motor is fixed on the outer end of the rotor support bar with screws, and the rotor is fixed on the rotating shaft of the rotor drive motor in turn. And the rotation plane of the rotor is located below the rotor support bar. The ground support rod is fixedly connected below the rotor support rod. Springs are installed on the landing support rods to support and buffer the robot when it lands. The rigidity reinforcing ring is concentric with the main body of the robot, and is fastened on the top of the rotor support bar.

The wall-climbing thighs are connected to the upper surface of the main body of the robot through hip joints, and the wall-climbing legs are connected to the wall-climbing thighs through knee joints. The two sets of wall-climbing thighs and wall-climbing calves are located in a symmetrical plane of the robot. Wall walking wheels are located at the end of the climbing shins.

A hip joint driving motor and a knee joint driving motor are respectively fixed on the hip joint and the knee joint.

In order to improve the safety of the robot, a protective device-protection frame can be installed on the periphery of the robot. The protective frame is composed of four U-shaped iron wires welded with a circular iron wire. One end of the U-shaped iron wire is fixed to the ground support pole of the robot, and the other end is welded with the circular iron wire. The height of the U-shaped iron wire reaches the plane where the rotor is located.

The airfoil of the rotor adopts the CLARK-Y airfoil. The profile cross-section of the rotor support rod is set to be circular. The distance between the rotors 1 of the robot is greater than twice the diameter of the rotors 1, and the distance is the distance from the center of rotation of the rotors.

The utility model has the advantages of:

(1) The utility model is a novel multi-rotor multi-functional aerial robot, which realizes the integration of the rotor-type aircraft and the leg-wheel type motion mechanism;

(2) The mechanical structure of the robot is simple and easy to implement;

(3) The robot has the advantages of high stability and small size during flight;

(4) The robot has the advantages of strong wall adaptability, strong obstacle surmounting ability and wide application range in wall climbing.

Description of drawings

Fig. 1 is a structural representation of a multi-rotor leg-wheeled multifunctional aerial robot of the present invention;

Fig. 2 is a schematic structural view of a multi-rotor leg-wheeled multifunctional aerial robot of the present invention with a protective frame;

In the picture:

1-rotor 2-rotor drive motor 3-climbing thigh 4-climbing calf

5- Hip drive motor 6- Knee drive motor 7- Rigidity reinforcement ring 8- Robot body

9-Wall walking wheel 10-Floor support rod 11-Rotor support rod 12-Protection frame

13-U-shaped wire 14-ring wire

Detailed ways

The utility model will be described in further detail below in conjunction with accompanying drawing.

The utility model is a multi-rotor leg-wheeled multifunctional aerial robot, as shown in Fig. Drive motor 6, rigidity reinforcing ring 7, robot main body 8, wall surface walking wheel 9, ground support rod 10, rotor support rod 11.

As shown in FIG. 1 , the robot main body 8 is a circular disk-shaped structure, and four rotor support rods 11 are symmetrically distributed around the lower surface of the robot main body 8 , and are fixed on the robot main body 8 with screws. Rotor drive motor 2 is fixed on the outer end of rotor support bar 11 with screw, and rotor 1 is fixed on the rotating shaft of rotor drive motor 2 successively, and its rotary power is provided by rotor drive motor 2. And the rotation plane of the rotor 1 is located below the rotor support bar 11 . The ground support rod 11 is fixedly connected below the rotor support rod 8 . Spring is installed on the ground support bar 11, plays support and cushioning effect when robot falls to the ground. The rigidity reinforcing ring 7 is concentric with the robot main body 8 and is fastened above the rotor support rod 11 for strengthening the rigidity of the rotor support rod 11 .

The wall-climbing thigh 3 is connected with the upper surface of the robot main body 8 through the hip joint, and the wall-climbing calf 4 is connected with the wall-climbing thigh 3 through the knee joint. Two groups of wall-climbing thighs 3 and the wall-climbing calf 4 are located in a symmetrical plane of the robot. The wall walking wheel 9 is positioned at the end of the wall climbing shank 4 . The wall walking wheel 9 is a passive walking wheel without motor drive.

A hip joint driving motor 5 and a knee joint driving motor 6 are respectively fixed on the hip joint and the knee joint. The hip joint between the wall-climbing thigh 4 and the robot main body 8, the knee joint between the wall-climbing thigh 4 and the wall-climbing calf 3, the rotation angle is driven by the hip joint drive motor 5 and the knee joint drive motor 6. The power equipment and onboard sensor system are placed on the robot main body 8, and the attitude angle of the robot main body 8 during flight can be precisely controlled through the joint control of the four rotors 1, and provide reliable guarantee for the robot to realize the wall climbing function.

For improving the safety of robot, a protective device-protective frame 12 can be installed on the periphery of robot. As shown in Figure 2, the protective frame 12 is welded by four U-shaped iron wires 13 and a circular iron wire 14. When the protective frame 12 is installed, the spring of the ground support bar 10 is removed, and then the U-shaped iron wire 13 of the protective frame 12 One end is fixed with the ground support rod 10 of the robot, and the other end is welded with a circular iron wire 14, and the height of the U-shaped iron wire 13 reaches the plane where the rotor 1 is located. The added protective device can effectively prevent the rotor 1 of the robot from hurting surrounding people and objects during flight, and can also prevent the rotor 1 from colliding and interfering with the wall when the robot is climbing the wall. In order to increase the practicability of the robot, operating devices, such as grippers, can also be added to the two wall-climbing legs 4 of the robot, so that the robot can perform simple clamping operations on objects on the wall during the wall-climbing process. .

In order to improve the aerodynamic performance and the overall thrust-to-weight ratio of a multi-rotor leg-wheeled multifunctional aerial robot of the present utility model in flight, the airfoil of the rotor 1 adopts the CLARK-Y airfoil. It is characterized by the design of wide blades and small blade angles under the condition of constant power, which enables the robot to achieve the maximum thrust under certain conditions and improves the overall thrust-to-weight ratio of the robot.

The cross-section of the rotor support rod 11 is set as a circle, and the numerical solution of the N-S equation is used to numerically simulate the flow field around the rotor to simulate the influence of the rotor support rod 11 on the rotor flow field. The analysis results show that setting the outer 11-shaped cross section of the rotor support rod as a circle can effectively reduce the adverse effects of the rotor support rod on the rotor flow field.

The distance between the rotors 1 of the robot is greater than twice the diameter of the rotors 1, and the distance is the distance from the center of rotation of the rotors 1. The numerical solution of the N-S equation is used to simulate the mutual aerodynamic interference between the rotors, and the distance between the rotors 1 is analyzed. The effect of the mutual spacing on the flow field of the respective rotors. The analysis results show that the distance between the rotors 1 of the robot is greater than twice the diameter of the rotors 1, so as to effectively avoid the aerodynamic interference between the rotors 1.

The weight of the components such as the rotor support rod 11, the robot main body 8, the wall-climbing thigh 3, and the wall-climbing shank 4 is optimized. That is, on the premise of satisfying the strength of the robot, the weight of the above-mentioned components should be reduced to a minimum.

Claims (3)

1. A multi-rotor leg-wheeled multifunctional aerial robot, characterized in that: comprising rotor, rotor drive motor, robot main body, floor support rod, rotor support rod, wall-climbing thigh, wall-climbing calf, hip joint drive motor, knee Joint drive motor, rigidity strengthening ring, wall walking wheel; The main body of the robot is a circular disk-shaped structure, and the four rotor support rods are symmetrically distributed around the lower surface of the robot main body, and are fixed on the robot main body with screws; the rotor drive motor is fixed to the outer end of the rotor support rods with screws, and the rotors are Fixed on the rotation shaft of the rotor drive motor; and the rotation plane of the rotor is located below the rotor support rod; the landing support rod is fixedly connected to the bottom of the rotor support rod; springs are installed on the landing support rod to support and buffer the robot when it lands; The rigidity reinforcing ring is concentric with the main body of the robot and fastened above the rotor support bar; The wall-climbing thighs are connected to the upper surface of the main body of the robot through hip joints, and the wall-climbing legs are connected to the wall-climbing thighs through knee joints. The two sets of wall-climbing thighs and wall-climbing calves are located in a symmetrical plane of the robot; The end; a hip joint driving motor and a knee joint driving motor are respectively fixed on the hip joint and the knee joint. 2. A multi-rotor leg-wheeled multifunctional aerial robot according to claim 1, characterized in that: the rotors are CLARK-Y airfoils; the cross-section of the rotor support rods is circular; the distance between the rotors is Greater than twice the diameter of the rotor, the distance is the distance from the center of rotation of the rotor. 3. A multi-rotor leg-wheeled multifunctional aerial robot according to claim 1, characterized in that: one end of the U-shaped iron wire is connected to the ground support rod, and the other end of the U-shaped iron wire is welded with a circular iron wire to form a protective frame. shroud on the exterior of the aerial robot.

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