A single-degree-of-freedom cylindrical climbing robot

Abstract

The present invention relates to the technical field of robots, and more specifically, to a single-degree-of-freedom cylindrical climbing robot, comprising a trunk component, a magnetic adsorption component, an end drive component for changing the magnetic force of the magnetic adsorption component, and a swing component for changing the angle between multiple groups of magnetic adsorption units. The trunk component comprises a first motor and two groups of first connecting rods, one end of the two groups of first connecting rods are respectively connected to the two output ends of the first motor, and the other ends of the two groups of first connecting rods are hinged to the second connecting rod, and the second connecting rod is connected to a base; the magnetic adsorption unit comprises a radially magnetized magnetic core and a plurality of groups of permanent magnets surrounding the outer periphery of the magnetic core, and the plurality of permanent magnets are connected in sequence with different poles; the end drive component is installed on the base, the magnetic core is connected to the output shaft of the end drive component through a universal joint, and the swing component is connected between the magnetic adsorption component and the base. The present invention is adsorbed on the inner and outer surfaces of a steel structure plane or a cylindrical steel structure, can adapt to cylindrical climbing with different curvatures, and has rapid action and convenient control.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to a single-degree-of-freedom cylindrical climbing robot. Background Art

[0002] In some special operating environments such as cleaning and maintenance of large oil storage tanks, container inspections, and maintenance of electric poles, robots are required to have certain climbing capabilities, especially cylindrical climbing capabilities. In terms of the choice of the operating situation of the climbing robot body, these scenarios are usually relatively wide obstacle-free environments. The use of traditional multi-degree-of-freedom climbing robots has the problem of overkill and high cost. In terms of the selection of adsorption modules, the existing adsorption modules are of various forms, including negative pressure adsorption, electromagnetic adsorption, gecko-like adsorption, etc., and their principles have certain defects: (1) Negative pressure adsorption requires external vacuum generators and other equipment, which is not conducive to long-distance climbing and does not have the power-off protection feature; (2) Equipment using the electromagnetic adsorption principle is usually complex in structure and heavy, and also does not have the power-off protection feature; (3) Gecko-like adsorption is still in the research and development and improvement stage, and the cost is relatively high. The magnetic adsorption unit using the permanent magnetic adsorption principle has the advantages of small size, large suction force, and sensitive and convenient control, but in the existing scheme, the permanent magnetic adsorption module can only be adsorbed on a large plane.

[0003] Chinese patent CN111547152A discloses a multi-degree-of-freedom climbing robot, including a rotary assembly, a swing assembly, and a magnetic adsorption assembly including a plurality of magnetic adsorption units, two groups of the rotary assemblies are connected to the two ends of the swing assembly, the magnetic adsorption assembly is connected to the rotary assembly, and the magnetic adsorption unit includes a first radial magnet and a second radial magnet coaxially arranged, and the first radial magnet is connected to a transmission assembly that drives the first radial magnet to rotate and adjust the magnetic force. Although the above scheme can replace manual work in various harsh environments or high-altitude operations, it saves a lot of labor input and is safe and efficient. However, the climbing robot in the above scheme has a small suction force and is only suitable for large-surface crawling, and cannot be used for cylindrical climbing. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a single-degree-of-freedom cylindrical climbing robot that can adapt to climbing cylinders of different curvatures, can be adsorbed on the inner and outer surfaces of a steel structure plane or a cylindrical steel structure, and has fast movements, easy control, safety, and high efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] Provided is a single-degree-of-freedom cylindrical climbing robot, comprising a trunk component, a magnetic adsorption component including a plurality of magnetic adsorption units, an end drive component for changing the magnitude of the magnetic force of the magnetic adsorption component, and a swing component for changing the angle between a plurality of groups of magnetic adsorption units, wherein the trunk component comprises a first motor and two groups of first connecting rods, one end of the two groups of first connecting rods are respectively connected to the two output ends of the first motor, the other ends of the two groups of first connecting rods are hinged to the second connecting rod, and the second connecting rod is connected to a base; the magnetic adsorption unit comprises a radially magnetized magnetic core and a plurality of groups of permanent magnets surrounding the outer circumference of the magnetic core, the plurality of permanent magnets are connected in sequence with different poles; the end drive component is mounted on the base, the magnetic core is connected to the output shaft of the end drive component through a universal joint, and the swing component is connected between the magnetic adsorption component and the base.

[0007] The single-degree-of-freedom cylindrical climbing robot of the present invention, driven by the first motor, has two groups of first connecting rods and second connecting rods that are synchronously linked to complete the climbing action, and the robot body movement is driven by only one motor, the first motor; the arrangement of the universal joint and the swing assembly allows the relative positions of the various magnetic adsorption units to change, and can adapt to the cylindrical climbing of the corresponding curvature; the magnetic core is rotated to change the direction of the magnetic pole of the magnetic core, and the magnitude of the external magnetic force of the permanent magnet can be controlled, and it can be conveniently switched between the adsorption state and the non-adsorption state. The present invention is adsorbed on the inner and outer surfaces of the steel structure plane or cylindrical steel structure, and is fast in action and easy to control; it can be used in various work scenes, replacing workers working on steel structures in various harsh environments or working at heights, saving a lot of labor, and is safe and efficient.

[0008] Furthermore, a third connecting rod is hinged between one group of the first connecting rods and one group of the second connecting rods, and a third connecting rod is also hinged between another group of the first connecting rods and another group of the second connecting rods.

[0009] Furthermore, the end drive assembly includes a second motor mounted on a base, an input shaft connected to an output end of the second motor, and a transmission assembly for converting rotation of the input shaft around an axis into rotation of a magnetic core around an axial direction, wherein the transmission assembly is connected between the input shaft and a universal joint.

[0010] Furthermore, the transmission assembly includes a worm, a worm wheel and an output shaft, the worm is arranged on the input shaft, the worm wheel is installed on the output shaft, the output shaft is rotatably connected to the base and both ends of the output shaft pass through the base and are connected to the universal joint, and the worm is meshed with the worm wheel.

[0011] Furthermore, the swing assembly includes a swing bracket and a hinge, the swing bracket is connected to the base through the hinge, and the magnetic adsorption assembly is installed on the swing bracket.

[0012] Furthermore, the swing bracket is connected to a pressing assembly, which includes a fixed bracket, a push rod and a spring. The fixed bracket is installed on the base, the spring is sleeved on the outer circumference of the push rod, and the two ends of the push rod are respectively hinged to the fixed bracket and the swing bracket.

[0013] Furthermore, the magnetic adsorption unit includes a frame and a yoke base, and the magnetic core, permanent magnet assembly and yoke base are all fixed to the frame.

[0014] Furthermore, the first group of permanent magnets and the last group of permanent magnets have a square cross-section and are fixed to the yoke base, the other groups of permanent magnets have a fan-shaped cross-section, and the cross-section of the permanent magnet assembly is a U-shaped structure.

[0015] Furthermore, a hole slot is provided at the end of the magnetic core, one end of the transmission shaft is connected to the hole slot, and the other end of the transmission shaft is connected to the universal joint.

[0016] Furthermore, the magnetic adsorption unit is semi-cylindrical and the bottom surface of the magnetic adsorption unit is the adsorption surface, the swing bracket is provided with an opening matching the shape of the adsorption surface, and the bottom surface of the swing bracket is provided with friction rubber.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The single-degree-of-freedom cylindrical climbing robot of the present invention is adsorbed on the inner and outer surfaces of a steel structure plane or a cylindrical steel structure, can adapt to climbing cylinders with different curvatures, and has quick actions and convenient control. It can be used in various work scenarios to replace workers working on steel structures in various harsh environments or working at high altitudes, saving a lot of labor and being safe and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the single-degree-of-freedom cylindrical climbing robot of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the end drive component and the magnetic adsorption component;

[0021] Figure 3 Schematic diagram of the structure of the end drive assembly

[0022] Figure 4 It is a schematic diagram of the structure of the swing assembly and the pressing assembly;

[0023] Figure 5 It is a structural schematic diagram of a magnetic adsorption unit;

[0024] Figure 6 It is the working schematic diagram of the single-degree-of-freedom cylindrical climbing robot I;

[0025] Figure 7It is a working schematic diagram of the magnetic adsorption unit of the single-degree-of-freedom cylindrical climbing robot;

[0026] Figure 8 Schematic diagram of the working of a climbing robot designed for isometrics;

[0027] Fig. 9 Schematic diagram of the working of the climbing robot designed for non-isometric climbing;

[0028] Fig.10 It is a schematic diagram of the structure of a curvature-adaptive magnetic adsorption component;

[0029] Fig.11 Schematic diagram of the working of the magnetic adsorption component with controllable curvature: (a) working on a plane, (b) working on an outer cylinder, (c) working on an inner cylinder;

[0030] In the accompanying drawings: 1-trunk assembly; 11-first motor; 12-first connecting rod; 13-second connecting rod; 14-base; 15-third connecting rod; 2-magnetic adsorption assembly; 21-magnetic adsorption unit; 22-magnetic core; 23-permanent magnet; 24-frame; 25-yoke base; 26-transmission shaft; 27-friction rubber; 3-end drive assembly; 31-second motor; 32-input shaft; 33-transmission assembly; 331-worm; 332-worm wheel; 333-output shaft; 334-first sleeve; 335-second sleeve; 34-universal joint; 4-swing assembly; 41-swing bracket; 42-hinge; 43-first swing bracket; 44-second swing bracket; 6-pressing assembly; 61-fixed bracket; 62-push rod; 63-spring; 64-third motor; 65-screw; 66-fourth connecting rod; 67-fifth connecting rod. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0032] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] Example

[0034] like Figures 1 to 6 The figure shows an embodiment of a single-degree-of-freedom cylindrical climbing robot of the present invention, comprising a trunk component 1, a magnetic adsorption component 2 including a plurality of magnetic adsorption units 21, an end drive component 3 for changing the magnitude of the magnetic force of the magnetic adsorption component 2, and a swing component 4 for changing the angle between the plurality of groups of magnetic adsorption units 21. The trunk component 1 comprises a first motor 11 and two groups of first connecting rods 12, one end of the two groups of first connecting rods 12 are respectively connected to the two output ends of the first motor 11, the other ends of the two groups of first connecting rods 12 are hinged to the second connecting rod 13, and the second connecting rod 13 is connected to the base 14; the magnetic adsorption unit 21 comprises a radially magnetized magnetic core 22 and a plurality of groups of permanent magnets 23 surrounding the outer periphery of the magnetic core 22, and the plurality of permanent magnets 23 are connected in sequence with opposite poles; the end drive component 3 is mounted on the base 14, the magnetic core 22 is connected to the output shaft 333 of the end drive component 3 through a universal joint 34, and the swing component 4 is connected between the magnetic adsorption component 2 and the base 14.

[0035] When this embodiment is implemented, driven by the first motor 11, the two groups of first connecting rods 12 and second connecting rods 13 are synchronously linked to complete the crawling action, and the robot body movement is driven by only one motor, the first motor 11; the setting of the universal joint 34 and the swing assembly 4 allows the relative position of each magnetic adsorption unit 21 to change, and can adapt to the cylinder climbing of the corresponding curvature; rotating the magnetic core 22 and changing the magnetic pole direction of the magnetic core 22 can control the size of the external magnetic force of the permanent magnet 23, and can easily switch between the adsorption state and the non-adsorption state. The present invention is adsorbed on the inner and outer surfaces of the plane or cylindrical steel structure, and is fast in action and easy to control; it can be used in various work scenes, replacing workers working on steel structures in various harsh environments or working at high altitudes, saving a lot of labor, and is safe and efficient.

[0036] In one embodiment, a third link 15 is hinged between one group of first links 12 and one group of second links 13, and a third link 15 is also hinged between another group of first links 12 and another group of second links 13. The third link 15 is hinged to the upper ends of the first link 12 and the second link 13 on the same side, respectively. Driven by the first motor 11, the first link 12, the second link 13 and the third link 15 are synchronously linked to complete the crawling action of the robot; in order to reduce rotational friction, this embodiment sets a sleeve and a bearing at the hinge of the first link 12, the second link 13 and the third link 15 for axial positioning and reducing rotational friction. In this embodiment, in the initial state, the angle between the two groups of first links 12 can be set to 120°, and can also be adaptively adjusted according to the structural characteristics of the surface of the working steel structure.

[0037] In one embodiment, the end drive assembly 3 includes a second motor 31 installed on the base 14, an input shaft 32 connected to the output end of the second motor 31, and a transmission assembly 33 for converting the rotation of the input shaft 32 around the axis into the rotation of the magnetic core 22 around the axis, and the transmission assembly 33 is connected between the input shaft 32 and the universal joint 34. When this embodiment is implemented, the second motor 31 works to drive the input shaft 32 to rotate, and through the transmission of the transmission assembly 33, the magnetic core 22 is driven to rotate around the axis, the magnetic pole direction of the magnetic core 22 is changed, and the magnitude of the external magnetic force of the permanent magnet 23 is controlled. Among them, the universal joint 34 in this embodiment adopts a commercially available universal joint 34 or a universal joint to realize variable angle power transmission, and is used for positions where the linear direction of the transmission shaft 26 needs to be changed. It is precisely because of the setting of the universal joint 34 that the position change of the magnetic adsorption unit 21 is provided, so that the climbing robot of the present invention can adapt to the climbing of cylinders with different curvatures, and of course, it can also adapt to the climbing of flat planes.

[0038] In one embodiment, the transmission assembly 33 includes a worm 331, a worm wheel 332 and an output shaft 333. The worm 331 is arranged on the input shaft 32, and the worm wheel 332 is installed on the output shaft 333. The output shaft 333 is rotatably connected with the base 14, and both ends of the output shaft 333 pass through the base 14 and are connected with the universal joint 34, and the worm 331 is meshed with the worm wheel 332. When this embodiment is implemented, the second motor 31 works, drives the input shaft 32 to rotate, the worm 331 fixed on the input shaft 32 rotates, the worm 331 and the worm wheel 332 are meshed, the worm wheel 332 rotates, and the rotation of the worm wheel 332 drives the magnetic core 22 to rotate. In this embodiment, multiple groups of worms 331 can be arranged at different positions on the input shaft 32, and the number of worm wheels 332 equal to the number of worms 331 can be arranged, and the worm wheels 332 are installed on the output shaft 333. The two ends of the output shaft 333 are respectively connected to the two groups of magnetic adsorption units 21. The second motor 31 works and drives the magnetic cores 22 of the multiple groups of magnetic adsorption units 21 to rotate. Among them, the number of magnetic adsorption units 21 can be adjusted according to different application occasions, and the number of worm wheels 332 and the number of worms 331 are half of the number of magnetic adsorption units 21.

[0039] In one embodiment, the worm 331 is arranged on the input shaft 32, and is positioned and fixed in the circumferential direction and axial direction respectively by means of a set screw and a first sleeve 334. The output shaft 333 extends from both sides of the base 14 on both sides, and is designed for output at both ends. The output shaft 333 is connected to the base 14 through a bearing, and the bearing is axially fixed by a snap ring; the worm wheel 332 is arranged on the output shaft 333, and is positioned and fixed in the circumferential direction and axial direction respectively by means of a set screw and a second sleeve 335. In this embodiment, the unfolded helix angle of the worm wheel 332 is greater than the friction angle of the worm 331, so that self-locking can be formed, and the climbing robot can still maintain the adsorption state when the power is off.

[0040] In one embodiment, the swing assembly 4 includes a swing bracket 41 and a hinge 42, the swing bracket 41 is connected to the base 14 through the hinge 42, and the magnetic adsorption assembly 2 is installed on the swing bracket 41. The angle of the swing bracket 41 relative to the base 14 can be adjusted to adapt to the climbing of cylinders with different curvatures. In this embodiment, the angle between the two sets of relatively arranged swing brackets 41 can be set to 150°~200°. The setting of the above angle range can be used to adsorb the inner surface and the outer surface of the column, but it is not a restrictive provision of the present invention. The present invention can be adjusted according to different application scenarios when applied.

[0041] In one embodiment, the swing bracket 41 is connected to a pressing assembly 6, and the pressing assembly 6 includes a fixed bracket 61, a push rod 62 and a spring 63. The fixed bracket 61 is installed on the base 14, and the spring 63 is sleeved on the outer periphery of the push rod 62. The two ends of the push rod 62 are respectively hinged with the fixed bracket 61 and the swing bracket 41. Among them, the push rod 62 can be freely extended and retracted under the action of external force, and can be formed by two or more connecting rods arranged in a sleeve, or a commercially available electric push rod. In this embodiment, the spring 63 is in a pre-compression state, and the push rod 62 is in an extended state under the action of the spring 63, which can drive the swing bracket 41 and the magnetic adsorption unit 21 to swing downward. In the initial state, the swing bracket 41 is in a state of minimum angle under the action of the pressing assembly 6, and the magnetic adsorption unit 21 has no magnetic force to the outside.

[0042] In one embodiment, the magnetic adsorption unit 21 includes a frame 24 and a yoke base 25, and the magnetic core 22, the permanent magnet assembly, and the yoke base 25 are all fixed to the frame 24. The yoke base 25 is used to guide the magnetic circuit. When the direction of the magnetic core 22 is changed, the force between the magnetic core 22 and the permanent magnet assembly changes, thereby controlling the magnitude of the external magnetic force of the magnetic adsorption unit 21. This embodiment adopts the design of setting the permanent magnet assembly on the outer ring of the magnetic core 22, which increases the proportion of magnets in the entire magnetic adsorption unit 21, has strong suction force, light weight, convenient switching, and small magnetic leakage in the closed state.

[0043] In one embodiment, the first group of permanent magnets 23 and the last group of permanent magnets 23 have a square cross-section and are fixed to the yoke base 25, the other groups of permanent magnets 23 have a fan-shaped cross-section, and the cross-section of the permanent magnet assembly is a U-shaped structure. In this embodiment, the yoke base 25 has an upper surface including a first surface that contacts the bottom surface of the first group of permanent magnets 23 and the last group of permanent magnets 23 and contacts the inner surface of the permanent magnet assembly, and the yoke base 25 is used to guide the magnetic circuit.

[0044] In one embodiment, the magnetic core 22 is cylindrical, and the center line of the magnetic core 22 coincides with the center line of the permanent magnet assembly. The yoke base 25 is provided with a cavity matching the magnetic core 22 to allow the magnetic core 22 to rotate. When the magnetic core 22 rotates, the magnetic pole direction of the magnetic core 22 changes accordingly, and the magnitude of the external magnetic force of the permanent magnet adsorption unit 21 changes.

[0045] In one embodiment, a hole slot is provided at the end of the magnetic core 22, one end of the transmission shaft 26 is connected to the hole slot, and the other end of the transmission shaft 26 is connected to the universal joint 34. It should be noted that the hole slot and the transmission shaft 26 are connected in this embodiment to improve the convenience and stability of the connection, and are not intended to be a limiting provision of the present invention.

[0046] In one embodiment, the magnetic adsorption unit 21 is semi-cylindrical and the bottom surface of the magnetic adsorption unit 21 is the adsorption surface, the swing bracket 41 is provided with an opening matching the shape of the adsorption surface, and the bottom surface of the swing bracket 41 is provided with a friction rubber 27. The friction rubber 27 can be used to enhance the friction between the climbing robot and the adsorbed surface.

[0047] In the above embodiment, the turning motion of the climbing robot is usually controlled by controlling the rotation of the trunk component 1, and the climbing is assisted by controlling the adsorption and release of the magnetic adsorption unit 21. Specifically, the other components at the two ends of the trunk component 1 are respectively recorded as end I and end II, then:

[0048] The turning method of the trunk component 1 is as follows: Figure 6 As shown in (a), the end I is in a loose state and the end II is in an adsorbed state; by controlling the rotation of the first motor 11, the first connecting rod 12 is driven to rotate relative to the first motor 11. Under the restriction of the third connecting rod 15, the second connecting rod 13 will also move relative to the hinge between it and the first connecting rod 12; because the end II is in an adsorbed state, the entire trunk assembly 1 will rotate relative to the object being climbed with the end II as the fulcrum, as shown in FIG. Figure 6 (b); when the end I is rotated to contact the object being climbed, the end I is controlled to be adsorbed and the end II is loosened, completing a compensatory climb, as shown in FIG. Figure 6 (c); thereafter, the end I is used as a fulcrum to perform the next step of climbing, and so on.

[0049] The adsorption method of the end is as follows: when one of the ends of the climbing robot approaches the surface of the steel structure to be climbed, the outer side of the swing assembly 4 first contacts the surface of the steel structure to be climbed. Figure 7 (a); at this time, a certain pressure is applied to the end, so that the swing assembly 4 and the magnetic adsorption unit 21 thereon gradually open under the reaction force of the surface of the climbed steel structure, as shown in FIG. Figure 7 (b); when the swing assembly 4 is opened to an angle that matches the curvature of the steel structure surface, the second motor 3121 is controlled to rotate, thereby driving the central axis of the magnetic adsorption unit 215 to rotate a certain angle through the transmission assembly 334, switching from a non-magnetic state to a state with extremely strong attraction, and the end is firmly adsorbed to the surface of the steel structure, as shown in FIG. Figure 7 (c) As shown; when the end of the present invention needs to be loosened from the surface of the steel structure, the second motor 31 is controlled to rotate, thereby driving the central axis of the magnetic adsorption unit 21 to rotate a certain angle on the basis of the adsorption state through the transmission component 33, switching from a state of extremely strong suction to a state of no suction, and then driving the end away from the surface of the climbed steel structure; the swing component 4 and the magnetic adsorption unit 21 thereon restore the initial small angle state under the action of the spring 63 and the push rod 62 to complete the loosening.

[0050] It should be noted that the above embodiment is not only applicable to crawling of a single cylinder. By calculating and planning the step length in advance, the present invention can complete the crawling from one surface to another.

[0051] In another embodiment, the angle between the two sets of first connecting rods 12 of the trunk assembly 1 in the initial and final states is set to 120°, so that crawling with a fixed step distance can be completed. Figure 8 In this embodiment, the step length S1 is equal to the step length S2.

[0052] In another embodiment, the angle between the two sets of first connecting rods 12 is set to different values ​​when the trunk component 1 is in the initial and final states, and the step length changes during crawling, and the step length S1 and the step length S2 are not equal. Fig. 9 shown.

[0053] In another embodiment, the swing assembly 4 is connected to both sides of the base 14, and each side of the swing bracket 41 is divided into two groups, including a first swing bracket 43 and a second swing bracket 44. Two groups of magnetic adsorption units 21 are arranged on each group of the swing bracket 41. Fig.10 As shown. Specifically, the first swing bracket 43 and the base 14 and the first swing bracket 43 and the second swing bracket 44 are connected by hinges 42. The hinges 42 of this embodiment can replace the pressing assembly 6 to achieve the pressing of the first swing bracket 43 and the second swing bracket 44. The hinges 42 of this embodiment can be torsion spring hinges. In addition, the transmission shaft 26 of the magnetic adsorption unit 21 on the first swing bracket 43 passes through the main body of the magnetic adsorption unit 21. Both ends of the transmission shaft 26 extend outward, one end is connected to the output shaft 333 through the universal joint 34, and the other end is connected to the transmission shaft 26 of the magnetic adsorption unit 21 on the second swing bracket 44 through the universal joint 34. The first swing bracket 43 and the second swing bracket 44 are connected by hinges 42. The rotation center of the universal joint 34 and the rotation axis of the hinge 42 are located in the same straight line to ensure that no matter when the first swing bracket 43 and the second swing bracket 44 rotate to any angle in the design stroke, each shaft can be smoothly transmitted through the universal joint 34. In this embodiment, the number of magnetic adsorption surfaces is increased, and the climbing robot can be firmly adsorbed on the surface of the object being climbed. It should be noted that the number of the swing assembly 4 and the magnetic adsorption unit 21 in this embodiment can be adaptively increased or decreased according to the characteristics of the object being climbed.

[0054] In another embodiment, the pressing assembly 6 includes a third motor 64 and a connecting rod mechanism, and the third motor 64 is controlled to drive the connecting rod mechanism to drive the swing bracket 41 and the magnetic adsorption unit 21 to rotate, and the angle between the swing bracket 41 is actively adjusted to adapt to the curvature of the climbed cylindrical surface, so as to achieve the adsorption and bonding of the plane, the outer cylindrical surface, and the inner cylindrical surface, respectively. Fig.11 (a) Fig.11 (b) Fig.11Specifically, the output end of the third motor 64 is connected to the lead screw 65, and the third motor 64 drives the fourth connecting rod 66 to move up and down through the lead screw 65, thereby pushing the swing bracket 41 to swing around the hinge 42 through the fifth connecting rod 67 to adapt to the cylinder surface to be climbed with different curvatures.

[0055] In another embodiment, the pressing component 6 is a hydraulic cylinder, and the hydraulic cylinder is used to drive the swing component 4 and the magnetic adsorption unit 21 to swing.

[0056] In another embodiment, a rotary motor is additionally provided between the trunk component 1 and the ends I and II, so that the ends I and II can rotate around the adsorption end fulcrum in a plane parallel to the climbed surface, thereby increasing the movement freedom of the climbing robot to three degrees of freedom, and the direction can be changed during climbing to broaden its scope of application.

[0057] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A single-degree-of-freedom cylindrical climbing robot, characterized in that: The invention comprises a trunk component (1), a magnetic adsorption component (2) comprising a plurality of magnetic adsorption units (21), an end driving component (3) for changing the magnetic force of the magnetic adsorption component (2), and a swing component (4) for changing the angle between the plurality of magnetic adsorption units (21), wherein the trunk component (1) comprises a first motor (11) and two groups of first connecting rods (12), one end of the two groups of first connecting rods (12) are respectively connected to the two output ends of the first motor (11), and the other ends of the two groups of first connecting rods (12) are both hinged to the second connecting rod (13). The second connecting rod (13) is connected to a base (14); the magnetic adsorption unit (21) comprises a radially magnetized magnetic core (22) and a plurality of groups of permanent magnets (23) surrounding the outer periphery of the magnetic core (22), and the plurality of permanent magnets (23) are connected in sequence with different poles; the end drive component (3) is installed on the base (14), the magnetic core (22) is connected to an output shaft (333) of the end drive component (3) through a universal joint (34), and the swing component (4) is connected between the magnetic adsorption component (2) and the base (14).

2. The single-degree-of-freedom cylindrical climbing robot according to claim 1, characterized in that: A third connecting rod (15) is hinged between one group of first connecting rods (12) and one group of second connecting rods (13), and a third connecting rod (15) is also hinged between another group of first connecting rods (12) and another group of second connecting rods (13).

3. The single-degree-of-freedom cylindrical climbing robot according to claim 1, characterized in that: The end drive assembly (3) comprises a second motor (31) mounted on a base (14), an input shaft (32) connected to an output end of the second motor (31), and a transmission assembly (33) for converting rotation of the input shaft (32) around an axis into rotation of the magnetic core (22) around an axial direction, wherein the transmission assembly (33) is connected between the input shaft (32) and a universal joint (34).

4. The single-degree-of-freedom cylindrical climbing robot according to claim 3, characterized in that: The transmission assembly (33) comprises a worm (331), a worm wheel (332) and an output shaft (333); the worm (331) is arranged on the input shaft (32); the worm wheel (332) is installed on the output shaft (333); the output shaft (333) is rotatably connected to the base (14); two ends of the output shaft (333) pass through the base (14) and are connected to the universal joint (34); the worm (331) is meshed with the worm wheel (332).

5. The single-degree-of-freedom cylindrical climbing robot according to any one of claims 1 to 4, characterized in that: The swing assembly (4) comprises a swing bracket (41) and a hinge (42); the swing bracket (41) is connected to the base (14) via the hinge (42); and the magnetic adsorption assembly (2) is mounted on the swing bracket (41).

6. The single-degree-of-freedom cylindrical climbing robot according to claim 5, characterized in that: The swing bracket (41) is connected to a pressing assembly (6), and the pressing assembly (6) comprises a fixed bracket (61), a push rod (62) and a spring (63). The fixed bracket (61) is installed on a base (14), and the spring (63) is sleeved on the outer periphery of the push rod (62). The two ends of the push rod (62) are respectively hinged to the fixed bracket (61) and the swing bracket (41).

7. The single-degree-of-freedom cylindrical climbing robot according to claim 5, characterized in that: The magnetic adsorption unit (21) comprises a frame (24) and a yoke base (25); the magnetic core (22), the permanent magnet assembly and the yoke base (25) are all fixed to the frame (24); and a transmission shaft (26) passes through the magnetic adsorption unit (21).

8. The single-degree-of-freedom cylindrical climbing robot according to claim 7, characterized in that: The first group of permanent magnets (23) and the last group of permanent magnets (23) have square cross-sections and are fixed to the yoke iron base (25); the other groups of permanent magnets (23) have fan-shaped cross-sections; and the cross-section of the permanent magnet assembly is a U-shaped structure.

9. The single-degree-of-freedom cylindrical climbing robot according to claim 7, characterized in that: A hole groove is provided at the end of the magnetic core (22), one end of the transmission shaft (26) is connected to the hole groove, and the other end of the transmission shaft (26) is connected to the universal joint (34).

10. The single-degree-of-freedom cylindrical climbing robot according to claim 7, characterized in that: The magnetic adsorption unit (21) is semi-cylindrical and the bottom surface of the magnetic adsorption unit (21) is an adsorption surface. The swing bracket (41) is provided with an opening matching the shape of the adsorption surface. The bottom surface of the swing bracket (41) is provided with friction rubber (27).

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