The invention relates to an L-shaped adsorption type flying robot and an adsorption method thereof.The L-shaped adsorption type flying robot comprises a flying platform and a negative pressure cavity, the negative pressure cavity is formed in one side of the flying platform, the negative pressure cavity is vertically arranged to form an L-shaped structure with the flying platform, and the negative pressure cavity is of a cavity structure with one side open; the plane where the open end face of the negative pressure cavity is located is the adsorption face of the negative pressure cavity. The control device controls the flying rotor wings of the flying platform and the ducted fan to provide lift force, so that the robot flies, the adsorption face of the negative pressure cavity is attached to the wall, the ducted fan enables negative pressure to be formed in the negative pressure cavity, so that the robot is adsorbed to the wall, and the control device controls the flying rotor wings on the side, away from the wall, of the flying platform to continue working and maintain the lift force. And rollover of the robot is prevented. And when the flatness of the wall is poor and negative pressure is difficult to form between the negative pressure cavity and the wall, the flying state can be switched for transition, the robot is prevented from falling off, and therefore the obstacle crossing ability of the robot is further improved.
本发明涉及一种L形吸附式飞行机器人及其吸附方法,包括飞行平台和负压腔体,所述飞行平台的一侧设置有所述负压腔体,所述负压腔体竖直设置与所述飞行平台形成L形结构,所述负压腔体为一侧敞口的空腔结构,负压腔体的敞口端面所在的平面为负压腔体的吸附面。控制装置控制飞行平台的飞行旋翼和涵道风机提供升力,使机器人飞行,负压腔体的吸附面贴近墙壁,涵道风机使负压腔体内形成负压,使机器人吸附墙壁,控制装置控制飞行平台远离墙壁一侧的飞行旋翼继续工作,保持升力,防止机器人侧翻。在遇到墙壁的平整度差,所述负压腔体与墙壁难以形成负压时,可以切换为飞行状态进行过渡,避免机器人掉落,从而进一步提升了机器人的越障能力。
L-shaped adsorption type flying robot and adsorption method thereof
一种L形吸附式飞行机器人及其吸附方法
2022-11-29
Patent
Electronic Resource
Chinese
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