Flying adsorption walking robot device

Abstract

The invention discloses a flying adsorption walking robot device. Comprising a flying mechanism, an operation tool mechanism and an adsorption mechanism, the operation tool mechanism is installed on the flying mechanism, the adsorption mechanism is installed on the operation tool mechanism, the adsorption mechanism comprises two adsorption assemblies and an adsorption fan, and the two adsorption assemblies are symmetrically installed on the two sides of the operation tool mechanism correspondingly; the adsorption fan is installed on the lower portion of the center of the flying mechanism, the two adsorption assemblies are used for being adsorbed to a bridge floor, and the adsorption fan is used for providing adsorption force for the two adsorption assemblies. The adsorption assembly adopted by the invention can flexibly change the form to adapt to different bridge floor structures, and ensures that the platform of the operation tool mechanism is kept in a horizontal posture when operating on the bridge floors with different structures. According to the invention, space crossing flight of complex bridges and tunnels, adsorption stopping of bridge floors of different structures, and acousto-optic combined detection identification and repair operation of bridge floor defects can be realized.

Description

Technical Field

[0001] The invention belongs to the field of flying robots, and in particular relates to a flying adsorption walking robot device. Background Art

[0002] Large bridges, represented by cross-sea bridges, are an important part of my country's transportation facilities and one of the key links in the country's transportation arteries. Cross-sea bridges are located at sea, have a harsh working environment, are large in size and structure, and have complex system components, which poses great challenges to the operation and maintenance of bridges. Flying and adsorbable robots are a relatively effective means of bridge maintenance, and are receiving attention from more and more countries and research institutions.

[0003] Some of the current flying adsorption walking robots have the adsorption mechanism set on the side of the flying body, which cannot cope with parallel walls; some can fly to a designated position under the bridge deck to adsorb and inspect the bridge, but the robot cannot adsorb to vertical or inclined walls to inspect the bridge; some can complete flight, wall crawling, and wall adsorption, and are designed with crawling wheels for wall crawling. When adsorbing walls, they can adsorb walls made of a variety of different materials, but the flying robot only adsorbs walls on vertical arm surfaces, and pressure pipes are easily blocked. The lack of an adsorption support arm limits the sensors carried during adsorption; some use ducted fans as the power for flight and adsorption, and the walking device is designed on the robot, which is symmetrically distributed and can be used during operation. Some robots can walk and crawl on the surface, but the ducted fan adsorption device used is easily affected by dust, and the robot does not have an adsorption support arm, which may fall due to insufficient adsorption force, and the robot cannot adsorb inclined rock walls; some have designed two sets of adsorption mechanisms, namely the first adsorption mechanism and the second adsorption mechanism. During adsorption or separation, the two sets of mechanisms act successively to realize flexible switching among the three states of flying, climbing and perching, but there is no adsorption support arm, and the working platform space is small; some can be adsorbed on vertical walls, inclined walls, and ceilings, but the aircraft needs to be controlled to flip during adsorption. No adsorption device is used on parallel walls, and the lift of the four-rotor rotor is directly relied on. The flying platform changes its posture with the wall structure, which is not conducive to the use of working tools.

[0004] The existing technology currently lacks a flexible adsorption support arm, and the adsorption device cannot be adsorbed on the inclined rock wall. The space on the platform for the working tool is insufficient, and it is impossible to carry multiple sensors to detect the bridge wall. The posture of the flying platform changes with the shape of the adsorbed bridge deck, which increases the complexity of the operation of the working tool. The adsorption airflow pipeline is easily blocked, resulting in a decrease in adsorption capacity. In summary, the existing technical equipment is not only complex to operate, has high work intensity, and high safety risks, but also has a large number of dead zones and blind spots, which cannot be effectively detected and maintained, thus bringing serious safety hazards to the long-term safe and stable operation of the bridge. Summary of the invention

[0005] Based on the problems raised in the background technology, the present invention proposes a flying adsorption walking robot device. The adsorption component used in the present invention can flexibly change its shape to adapt to different wall structures, and ensure that the platform of the working tool mechanism maintains a horizontal posture when working on walls of different structures. It also leaves enough space for the working tools of the working tool mechanism on the wall or between different walls, increasing the diversity of loading tools. The present invention can realize complex bridge and tunnel space crossing flight, adsorption and docking on walls of different structures, and sound and light combined detection, identification and repair of wall defects.

[0006] The specific technical solution of the present invention is:

[0007] 1. A flying adsorption walking robot device

[0008] It includes a flight mechanism, an operating tool mechanism and an adsorption mechanism;

[0009] The working tool mechanism is mounted on the flight mechanism, and the adsorption mechanism is mounted on the working tool mechanism;

[0010] The adsorption mechanism includes two adsorption components and an adsorption fan. The two adsorption components are symmetrically mounted on both sides of the working tool mechanism, and the adsorption fan is mounted at the lower part of the center of the flight mechanism.

[0011] The two adsorption components are used for being adsorbed to the wall surface, and the adsorption fan is used for providing adsorption force for the two adsorption components.

[0012] The flight mechanism comprises a fuselage, four arms and four flight rotating components;

[0013] The center of the fuselage is hollowed out for the airflow of the adsorption fan, and the adsorption fan is installed at the lower part of the center of the fuselage;

[0014] One ends of the four arms are connected to the four corners of the fuselage respectively, and the other ends of the four arms are connected to four flight rotating components.

[0015] Each of the flight rotating components includes a rotating motor and a rotor;

[0016] The rotating motor is mounted on one end of the arm away from the fuselage, and the rotor is mounted on the rotating motor.

[0017] The flying mechanism also includes four flying drivers installed inside the flying mechanism.

[0018] The working tool mechanism has a platform, on which the working tool and the adsorption mechanism are mounted;

[0019] The working tools include but are not limited to cameras, lidars, navigation radars, GPS and working robotic arms.

[0020] Each of the adsorption components includes an adsorber, three small arms, three driving servos and a servo bracket, wherein the servo bracket is fixedly mounted on the top surface of the working tool mechanism, the body of the driving servo three is fixed on the servo bracket, the output shaft of the driving servo three is connected to one end of the small arm three, the other end of the small arm three is connected to the body of the driving servo two, the output shaft of the driving servo two is connected to one end of the small arm two, the other end of the small arm two is connected to the body of the driving servo one, the output shaft of the driving servo one is connected to one end of the small arm one, the other end of the small arm one is connected to the adsorber, and the adsorber is used to be adsorbed to the wall.

[0021] The upper opening of the adsorption fan is an air flow inlet, and the lower opening is an air flow outlet.

[0022] The flying adsorption walking robot device also includes a control module, which is installed in the fuselage of the flying mechanism. The control module is electrically connected to the flying mechanism, the working tool mechanism and the adsorption mechanism respectively.

[0023] 2. A wall adsorption walking method for a flying adsorption walking robot device

[0024] For different wall operations, the flying adsorption walking robot device controls each driving servo of each adsorption component in the adsorption mechanism to drive each small arm to change its posture, thereby driving the adsorbent to adsorb to the wall in the forward direction of the flying mechanism;

[0025] The wall surface includes a bridge surface and a wall surface.

[0026] When it is necessary to move on the wall or between different walls, the two adsorption components in the adsorption mechanism are controlled to move alternately, thereby driving the adsorbers of the two adsorption components to be alternately adsorbed to the wall along the forward direction of the flight mechanism, thereby achieving the flight mechanism to maintain a horizontal flight posture on the wall or between different walls while adsorbing and walking.

[0027] The wall surface is one or more of a vertical wall surface, a horizontal wall surface, and an inclined wall surface.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The adsorption assembly used in the present invention leaves enough space for the working tools of the working tool mechanism on the wall surface or between different walls, thereby increasing the diversity of the loading tools.

[0030] 2. The adsorption component used in the present invention can flexibly change its shape to adapt to different wall structures, and ensure that the platform of the working tool mechanism maintains a horizontal posture when working on walls of different structures.

[0031] 3. The present invention is based on a quad-rotor for aerial flight and can quickly and stably move to the target position for adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a top view of the flying adsorption walking robot of the present invention;

[0033] Figure 2 This is a left view of the flying adsorption walking robot of the present invention;

[0034] Figure 3 It is a schematic diagram of the state of the flying adsorption walking robot of the present invention when working on a horizontal wall surface;

[0035] Figure 4 It is a schematic diagram of the state of the flying adsorption walking robot of the present invention when working on a vertical wall;

[0036] Figure 5 It is a schematic diagram of the state of the flying adsorption walking robot of the present invention when working on an inclined wall surface.

[0037] In the figure: 1. adsorber; 2. adsorber mechanism; 3. flight mechanism; 4. working tool mechanism; 2-1. forearm one; 2-2. forearm two; 2-3. forearm three; 2-4. driving servo one; 2-5. driving servo two; 2-6. driving servo three; 2-7. servo bracket; 3-1. rotor; 3-2. rotor motor; 3-3. fuselage. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] Combination Figure 1 and Figure 2The flying adsorption walking robot device comprises a flying mechanism 3, an operating tool mechanism 4 and an adsorption mechanism 2; the operating tool mechanism 4 is mounted on the flying mechanism 3, and the adsorption mechanism 2 is mounted on the operating tool mechanism 4; the adsorption mechanism 2 comprises two adsorption components, which are symmetrically mounted on both sides of the operating tool mechanism 4 platform, and an adsorption fan is mounted at the lower part of the center of the flying mechanism 3; the two adsorption components are used to be adsorbed to the wall, and the adsorption fan is used to provide adsorption force for the two adsorption components. The flying mechanism 3 comprises a fuselage 3-3, four arms and four flying rotating components; one end of the four arms is connected to the four corners of the fuselage 3-3, and the other end of the four arms is connected to the four flying rotating components. Each flying rotating component comprises a rotating motor 3-2 and a rotor 3-1; the rotating motor 3-2 is mounted at one end of the arm away from the fuselage 3-3, and the rotor 3-1 is mounted on the rotating motor 3-2. The flying mechanism 3 also comprises four flying drivers, which are mounted inside the flying mechanism 3 to drive the operation of the rotating motor 3-2.

[0040] In this embodiment, the adsorber 1 preferably adopts negative pressure adsorption technology, and the adsorber 1 includes: a suction cup group, a pressure sensor, etc. The adsorber 1 can follow the extension and turning of the small arm of the adsorption mechanism 2, so that it can adapt to docking on cement surfaces with different inclination angles. When the adsorption fan rotates at high speed, it drives the air in the rotating chamber to rotate at high speed, and under the action of centrifugal force, the upper air is continuously pumped out to the bottom, so that the suction cup assembly connected to the upper cavity forms a negative pressure on the working surface, thereby generating adsorption force.

[0041] Combination Figure 1 and Figure 2 As shown, each adsorption assembly includes an adsorber 1, three small arms, three driving servos and a servo bracket 2-7, the servo bracket 2-7 is fixedly mounted on one side of the top surface of the working tool mechanism 4, the body of the driving servo three 2-6 is fixed on the servo bracket 2-7, the output shaft of the driving servo three 2-6 is connected to one end of the small arm three 2-3, the other end of the small arm three 2-3 is connected to the body of the driving servo two 2-5, the output shaft of the driving servo two 2-5 is connected to one end of the small arm two 2-2, the other end of the small arm two 2-2 is connected to the body of the driving servo one 2-4, the output shaft of the driving servo one 2-4 is connected to one end of the small arm one 2-1, and the other end of the small arm one 2-1 is connected to the adsorber 1; the adsorber 1 is used for adsorbing to the wall. Through such a structure, the adsorption mechanism 2 becomes a three-degree-of-freedom robotic arm. By controlling the rotation of driving servo 1 2-4, driving servo 2-5, and driving servo 3 2-6, the adsorption mechanism 2 can flexibly change its shape to achieve actions such as adsorption and walking on walls of different structures.

[0042] like Figure 1As shown, the flight mechanism 3 is a four-rotor flight device, including four rotors 3-1, four rotor motors 3-2, a fuselage 3-3 and four flight drives, and the flight drives are placed inside the aircraft fuselage 3-3.

[0043] like Figure 1 As shown, the working tool mechanism 4 is fixedly mounted on the flight mechanism fuselage 3-3. The working tool mechanism 4 has a platform on which the working tool and the adsorption mechanism 2 are installed. The working tool can be installed with tools such as cameras, laser radars, navigation radars, GPS and working robotic arms.

[0044] The remote control system is the control terminal of the flying adsorption walking robot device, and the operator can realize human-computer interaction with the flying adsorption walking robot device through the remote control system.

[0045] In this embodiment, a buffer mechanism is provided between the forearm 2 - 2 and the forearm 3 2 - 3 of the adsorption mechanism 2 to prevent the impact generated at the moment of adsorption from damaging the flying mechanism 3 and the tools carried by the working tool mechanism 4 .

[0046] Preferably, the working tool mechanism 4 can be equipped with a camera, a laser radar, a navigation radar, a GPS, an ultrasonic radar, and a multi-degree-of-freedom manipulator, and can realize operations such as obstacle recognition, spatial positioning and navigation based on SLAM, and sound and light combined detection and repair of bridge defects.

[0047] The flying adsorption walking robot device also includes a control module, which is installed inside the fuselage 3-3 of the flying mechanism 3;

[0048] The control module is electrically connected to the flight mechanism 3 , the working tool mechanism 4 and the adsorption mechanism 2 respectively.

[0049] The control module is electrically connected to the flight drive, the driving servo and the adsorber 1 respectively, the flight drive is electrically connected to the rotor motor 3-2, the rotor motor 3-2 is electrically connected to the rotor 3-1, the driving servo is electrically connected to the small arm, and the adsorber 1 is electrically connected to the adsorption fan.

[0050] Preferably, a broadband connection is used between the ground control system and the robot to form a remote monitoring and teleoperation operation control system. The operator can observe the camera device carried by the operation tool mechanism 4 to understand the state of the operation surface and the operation process in real time, and adjust the position and posture of the end effector through the operating handle to achieve remote visual operation control.

[0051] When not in operation or flying between work surfaces, the adsorption mechanism 2 is folded and retracted to reduce the impact on the robot's flight posture. When the flying adsorption walking robot arrives near the surface to be worked on, the direction and angle of the surface to be docked are identified through machine vision methods or manual settings. The flying adsorption walking robot rotates the adsorber 1 to the direction consistent with the work surface, and the internal vacuum pump starts working, thereby forming an effective negative pressure adsorption force. When the robot needs to walk, the vacuum pump reduces the adsorption pressure to reduce the contact force with the work surface, and moves along the surface to a new work position through the vector power control of the flying mechanism, and then increases the adsorption pressure to fix the flying adsorption walking robot on the new work platform. During the operation process, when the controller detects that the adsorption force is insufficient or there is a risk of falling, it can control the flying adsorption walking robot to safely fly away from the work surface.

[0052] The flying adsorption walking robot of the present invention can perform adsorption operations on vertical walls, horizontal walls, and inclined walls:

[0053] For different wall operations, the flying adsorption walking robot device controls the driving servos of each adsorption component in the adsorption mechanism 2 through the control module to drive the posture change of each small arm, and then drives the adsorber 1 to adsorb to the wall surface in the flying direction of the flying mechanism 3, and the wall surface includes the bridge surface and the wall surface.

[0054] When it is necessary to move on the wall or between different walls, the control module controls the two adsorption components in the adsorption mechanism 2 to move alternately, thereby driving the absorbers 1 of the two adsorption components to be alternately adsorbed to the wall along the forward direction of the flight mechanism 3 while the flying mechanism 3 is flying and moving, thereby realizing the flying mechanism 3 to always maintain a horizontal flying posture on the wall or between different walls.

[0055] like Figure 3 As shown, when the flying adsorption walking robot operates on a horizontal wall, the two adsorbers 1 are in contact with the wall. In this embodiment, due to the action of the lower adsorption fan, a negative pressure state is formed in the contact area of ​​the upper vacuum suction cup, thereby pushing the entire robot toward the horizontal wall under the action of atmospheric pressure.

[0056] like Figure 4 As shown, when the flying adsorption walking robot is operating on a vertical wall, the adsorption mechanism 2 turns the adsorber 1 to the side of the flying mechanism 3 and contacts the vertical wall. In this embodiment, under the negative pressure formed by the suction of the adsorption fan, the flying adsorption walking robot leans towards the working surface. In this working mode, the flying adsorption walking robot is simultaneously affected by gravity, propeller lift, adsorption force, centrifugal pump exhaust reverse thrust and the friction force of the working surface. When the vertical component force is balanced and the horizontal resultant force is greater than zero and points to the working surface, the robot is stable on the vertical working surface.

[0057] like Figure 5 As shown, when the flying adsorption walking robot is operating on an inclined wall, the adsorption mechanism 2 is perpendicular to the inclined wall, and the adsorber 1 is in contact with the wall. In this embodiment, under the negative pressure formed by the suction of the adsorption fan, the adsorber 1 is tightly attached to the inclined wall. In this operating mode, the flying adsorption walking robot is simultaneously subjected to the working effects of gravity, propeller lift, propeller thrust, adsorption force, wall reaction force, centrifugal pump exhaust reverse thrust and friction of the working surface. When the vertical component forces are balanced and the resultant force in the horizontal direction is greater than zero and points to one side of the working surface, the robot is stable on the inclined working surface.

Claims

1. A flying adsorption walking robot device, characterized in that: It comprises a flight mechanism (3), an operation tool mechanism (4) and an adsorption mechanism (2); The working tool mechanism (4) is mounted on the flying mechanism (3), and the adsorption mechanism (2) is mounted on the working tool mechanism (4); The adsorption mechanism (2) comprises two adsorption components and an adsorption fan, the two adsorption components are symmetrically mounted on both sides of the working tool mechanism (4), and the adsorption fan is mounted at the lower part of the center of the flight mechanism (3); The two adsorption components are used for being adsorbed to the wall surface, and the adsorption fan is used for providing adsorption force for the two adsorption components.

2. The flying adsorption walking robot device according to claim 1, characterized in that: The flight mechanism (3) comprises a fuselage (3-3), four arms and four flight rotating components; The center of the fuselage (3-3) is hollowed out for the airflow of the adsorption fan, and the adsorption fan is installed at the lower part of the center of the fuselage (3-3); One end of the four arms is connected to the four corners of the fuselage (3-3) respectively, and the other ends of the four arms are connected to four flight rotating components.

3. The flying adsorption walking robot device according to claim 2, characterized in that: Each of the flight rotating components comprises a rotating motor (3-2) and a rotor (3-1); The rotating motor (3-2) is installed at one end of the arm away from the fuselage (3-3), and the rotor (3-1) is installed on the rotating motor (3-2).

4. The flying adsorption walking robot device according to claim 3, characterized in that: The flying mechanism (3) also includes four flying drives installed inside the flying mechanism (3).

5. The flying adsorption walking robot device according to claim 1, characterized in that: The working tool mechanism (4) has a platform on which the working tool and the adsorption mechanism (2) are mounted; The working tools include but are not limited to cameras, lidars, navigation radars, GPS and working robotic arms.

6. The flying adsorption walking robot device according to claim 1, characterized in that: Each of the adsorption components comprises an absorber (1), three small arms, three driving steering gears and a steering gear bracket (2-7); the steering gear bracket (2-7) is fixedly mounted on the top surface of the working tool mechanism (4); the body of the driving steering gear three (2-6) is fixed on the steering gear bracket (2-7); the output shaft of the driving steering gear three (2-6) is connected to one end of the small arm three (2-3); the other end of the small arm three (2-3) is connected to the body of the driving steering gear two (2-5); the output shaft of the driving steering gear two (2-5) is connected to one end of the small arm two (2-2); the other end of the small arm two (2-2) is connected to the body of the driving steering gear one (2-4); the output shaft of the driving steering gear one (2-4) is connected to one end of the small arm one (2-1); the other end of the small arm one (2-1) is connected to the absorber (1); and the absorber (1) is used for adsorbing to the wall surface.

7. The flying adsorption walking robot device according to claim 1, characterized in that: The upper opening of the adsorption fan is an air flow inlet, and the lower opening is an air flow outlet.

8. The flying adsorption walking robot device according to claim 1, characterized in that: The flying adsorption walking robot device also includes a control module installed inside the fuselage (3-3) of the flying mechanism (3); The control module is electrically connected to the flight mechanism (3), the working tool mechanism (4) and the adsorption mechanism (2) respectively.

9. The wall adsorption walking method applied to the flying adsorption walking robot device according to any one of claims 1 to 8, characterized in that: For different wall operations, the flying adsorption walking robot device controls each driving servo of each adsorption component in the adsorption mechanism (2) to drive each small arm to change its posture and move, thereby driving the adsorbent (1) to be adsorbed to the wall surface in the flying movement direction of the flying mechanism (3); The wall surface includes a bridge surface and a wall surface.

10. The wall adsorption walking method according to claim 9, characterized in that: When it is necessary to move on a wall surface or between different wall surfaces, the two adsorption components in the adsorption mechanism (2) are controlled to move alternately, thereby driving the absorbers (1) of the two adsorption components to be alternately adsorbed onto the wall surface along the forward direction of the flight mechanism (3), thereby achieving the adsorption movement of the flight mechanism (3) on the wall surface or between different wall surfaces while always maintaining a horizontal flight posture.

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