The invention belongs to the technical field of ground-air dual-purpose robots, and relates to a four-rotor two-wheel type wall climbing aircraft which comprises a rotor module, a wall climbing module, a motion control module, a suspension module and a main body rack. According to the wall climbing module, upward wall climbing power is provided through driving wheel driving and suspension design to achieve the wall climbing function, modular design is adopted for the main body rack, different functional modules can be rapidly combined, and the multi-scene rescue requirement is met. By integrating the wall climbing stability performance of the wall climbing module and the flight capacity of the rotor wing module, the unmanned aerial vehicle can smoothly switch from the flight attitude to the wall climbing mode to realize wall climbing, climbing and other tasks, and has great application potential in wall detection, unmanned aerial vehicle inspection, unmanned aerial vehicle investigation, unmanned aerial vehicle disaster search and rescue and other scenes.
本发明属于地空两用机器人技术领域,涉及一种四旋翼两轮式攀墙飞行器,包括旋翼模组、爬墙模组、运动控制模组、悬架模组和主体机架,所述旋翼模组通过运动控制模组实现空中的升力和贴墙时水平推力输出,所述爬墙模组通过主动轮驱动和悬架设计提供向上爬墙动力实现攀墙功能,所述主体机架采用模块化设计,可快速组合不同功能模块,满足多场景救援需求。通过整合爬墙模组的攀墙稳定性能和旋翼模组的飞行能力,本发明能够实现从飞行姿态平滑切换到攀墙模式实现墙体攀附、爬行等任务,在墙面检测、无人机巡检、无人机勘察以及无人机灾害搜救等场景下具备极大的应用潜力。
Four-rotor two-wheel type wall climbing aircraft
一种四旋翼两轮式攀墙飞行器
2025-03-18
Patent
Electronic Resource
Chinese
IPC: | B64U |
Four-wheel all-terrain wall-climbing robot and climbing method thereof
European Patent Office | 2023
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