The invention relates to a rotor flying and magnetic wheel crawling robot. Comprising a base, a folding and unfolding tilting rotor module, a front arm swinging wheel set module, a rear arm swinging wheel set module and a controller. The folding, unfolding and tilting rotor modules are installed on the two sides of the base respectively, the inner side of the base is hinged to one end of the front/rear arm swinging and rotating wheel set module, and the other end of the front/rear arm swinging and rotating wheel set module is provided with a wheel set. The folding and unfolding tilting rotor modules are matched with the front/rear arm swinging wheel group modules to change the pitching angle, so that the robot can smoothly and excessively crawl, fly, land and other cross-domain motions; under the action of the rotary magnetic array module, the robot can be stably adsorbed on various wall surfaces; an object clamping function can be realized by changing an included angle between the front and rear arm swinging wheel group modules; in the flight mode, pitching control based on the variable centroid is achieved through swinging of the front/rear arm swinging wheel set module, the pitching angle can be adjusted in the hovering state, and smooth cross-domain movement between the air and the wall faces of all phases is achieved.
本发明涉及一种旋翼飞行及磁轮爬行机器人。包括基座、折展倾转旋翼模块、前臂摆转轮组模块、后臂摆转轮组模块以及控制器;基座的两侧分别安装折展倾转旋翼模块,基座内侧分别与前/后臂摆转轮组模块的一端铰接,前/后臂摆转轮组模块的另一端均设有轮组。折展倾转旋翼模块配合前/后臂摆转轮组模块改变俯仰角度,使机器人能够平滑的过度爬行、飞行、降落等跨域运动;在旋转磁阵列模块的作用下,机器人可以稳定吸附于各种壁面;通过改变前后臂摆转轮组模块之间的夹角,可以实现对物体的夹持功能;在飞行模式下,通过前/后臂摆转轮组模块的摆转实现基于变质心的俯仰控制,能够在悬停的状态下调节俯仰角,实现空中和各相壁面之间平滑的跨域运动。
Rotor wing flying and magnetic wheel crawling robot
一种旋翼飞行及磁轮爬行机器人
17.12.2024
Patent
Elektronische Ressource
Chinesisch
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